Volumes | International Design Engineering Technical Conferences and Computers and Information in Engineering Conference | American Society of Mechanical Engineers Digital Collection

Topics: Kinematics , Robotics , Robots , Manipulators , Rotation , Actuators , End effectors , Mechanical properties , Polynomials , Resolution (Optics)

Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints

P. Dietmaier

IDETC-CIE 1992; 35-40https://doi.org/10.1115/DETC1992-0195

Abstract

View Articletitled, Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints

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Topics: Kinematics , Manipulators , Linkages , Displacement , Polynomials

Hybrid Manipulators

Position Kinematics of a Mixed Mechanism

Muqtada Husain, Kenneth J. Waldron

IDETC-CIE 1992; 41-48https://doi.org/10.1115/DETC1992-0196

Abstract

View Articletitled, Position Kinematics of a Mixed Mechanism

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Topics: Kinematics , Actuators , Chain , Computer software , Design , Hardware , Robotics , Robots

Motion Kinematics of Series-Parallel Robots Using a Virtual Link Concept

Deepak Shukla, Frank W. Paul

IDETC-CIE 1992; 49-58https://doi.org/10.1115/DETC1992-0197

Abstract

View Articletitled, Motion Kinematics of Series-Parallel Robots Using a Virtual Link Concept

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Topics: Kinematics , Robots , Manipulators

A Class of Hybrid-Chain Manipulators Based on Kinematically Simple Branches

Ron P. Podhorodeski, Kenneth H. Pittens

IDETC-CIE 1992; 59-64https://doi.org/10.1115/DETC1992-0198

Abstract

View Articletitled, A Class of Hybrid-Chain Manipulators Based on Kinematically Simple Branches

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Topics: Chain , Manipulators , Displacement , End effectors , Kinematics , Mechanical admittance , Polynomials

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

Yong-Xian Xu, Dilip Kohli, Tzu-Chen Weng

IDETC-CIE 1992; 65-73https://doi.org/10.1115/DETC1992-0199

Abstract

View Articletitled, Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

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Topics: Chain , Kinematics , Manipulators , Stability , Jacobian matrices , Degrees of freedom , Actuators

Stewart Platforms

Direct Position Analysis of the 4-6 Stewart Platforms

Ning-Xin Chen, Shin-Min Song

IDETC-CIE 1992; 75-80https://doi.org/10.1115/DETC1992-0200

Abstract

View Articletitled, Direct Position Analysis of the 4-6 Stewart Platforms

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Topics: Polynomials , Robots , Vehicles

Forward Position Analysis of Nearly General Stewart Platforms

Change-de Zhang, Shin-Min Song

IDETC-CIE 1992; 81-87https://doi.org/10.1115/DETC1992-0201

Abstract

View Articletitled, Forward Position Analysis of Nearly General Stewart Platforms

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Topics: Computers , Polynomials , Rotation

Direct Position Kinematics of the 3-1-1-1 Stewart Platforms

Muqtada Husain, Kenneth J. Waldron

IDETC-CIE 1992; 89-97https://doi.org/10.1115/DETC1992-0202

Abstract

View Articletitled, Direct Position Kinematics of the 3-1-1-1 Stewart Platforms

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Topics: Kinematics , Manufacturing

Solution of the Direct Position Kinematics Problem of the General Stewart Platform Using Advanced Polynomial Continuation

S. V. Sreenivasan, Prabjot Nanua

IDETC-CIE 1992; 99-106https://doi.org/10.1115/DETC1992-0203

Abstract

View Articletitled, Solution of the Direct Position Kinematics Problem of the General Stewart Platform Using Advanced Polynomial Continuation

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Topics: Kinematics , Polynomials , Algorithms , Geometry

Direct Kinematics of General Stewart Platforms

Anoop Dhingra, Dilip Kohli, Yong-Xian Xu

IDETC-CIE 1992; 107-112https://doi.org/10.1115/DETC1992-0204

Abstract

View Articletitled, Direct Kinematics of General Stewart Platforms

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Topics: Kinematics , Sferics , Polynomials

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

Wang Guozhen

IDETC-CIE 1992; 113-117https://doi.org/10.1115/DETC1992-0205

Abstract

View Articletitled, Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

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Topics: Displacement

General Robotics II

A Sensitivity Analysis Based Method for Robot Calibration

S. Kaizerman, B. Benhabib, R. G. Fenton, G. Zak

IDETC-CIE 1992; 119-127https://doi.org/10.1115/DETC1992-0206

Abstract

View Articletitled, A Sensitivity Analysis Based Method for Robot Calibration

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Topics: Calibration , Robots , Sensitivity analysis , Kinematics , Degrees of freedom , Manipulators

Inverse Kinematics of General 4R2P, 3R3P, 4R1C, 2R2C, and 3C Serial Manipulators

Dilip Kohli, Michael Osvatic

IDETC-CIE 1992; 129-137https://doi.org/10.1115/DETC1992-0207

Abstract

View Articletitled, Inverse Kinematics of General 4R2P, 3R3P, 4R1C, 2R2C, and 3C Serial Manipulators

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Topics: Kinematics , Manipulators , Eigenvalues , Geometry , Polynomials

Design Improvement of Manipulators by Minimizing Shaking Force/Moment and Driving Torques

Muqtada Husain, Akhtar K. Mallik, A. Ghosh

IDETC-CIE 1992; 139-147https://doi.org/10.1115/DETC1992-0208

Abstract

View Articletitled, Design Improvement of Manipulators by Minimizing Shaking Force/Moment and Driving Torques

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Topics: Design , Manipulators , Algorithms , Design engineering , Kinematics , Optimization , Tradeoffs

A Single-DOF Multi-Function Prosthetic Hand Mechanism With an Automatically Variable Speed Transmission

Gongliang Guo, Xikang Qian, Willim A. Gruver

IDETC-CIE 1992; 149-154https://doi.org/10.1115/DETC1992-0209

Abstract

View Articletitled, A Single-DOF Multi-Function Prosthetic Hand Mechanism With an Automatically Variable Speed Transmission

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Topics: Artificial limbs , Degrees of freedom , Design , Gears , Grasping , Levers , Linkages , Mechanical structures , Prostheses , Robotics

General Robotics III

Optimal Synthesis and Analysis of a New Leg Mechanism: The Planetary Gear Leg

Ning-Xin Chen, Shin-Ming Song

IDETC-CIE 1992; 155-161https://doi.org/10.1115/DETC1992-0210

Abstract

View Articletitled, Optimal Synthesis and Analysis of a New Leg Mechanism: The Planetary Gear Leg

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Topics: Planetary gears , Legged locomotion , Actuators , Design , Energy efficiency , Kinematics , Machinery , Optimization , Trajectories (Physics)

Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

Byung-Ju Yi, Robert A. Freeman, Delbert Tesar

IDETC-CIE 1992; 163-172https://doi.org/10.1115/DETC1992-0211

Abstract

View Articletitled, Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

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Topics: Stiffness , Degrees of freedom , Design , Tradeoffs

The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator

Radha Sarma, Steven N. Kramer, V. Ramamurti

IDETC-CIE 1992; 173-178https://doi.org/10.1115/DETC1992-0212

Abstract

View Articletitled, The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator

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Topics: Equations of motion , Geometry , Manipulators , Trusses (Building) , Design , Construction , Engines , Kinematics , Motors , Simulation

Geometrical Properties of Modelled Robot Elasticity: Part I — Decomposition

Harvey Lipkin, Timothy Patterson

IDETC-CIE 1992; 179-185https://doi.org/10.1115/DETC1992-0213

Abstract

View Articletitled, Geometrical Properties of Modelled Robot Elasticity: Part I — Decomposition

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Topics: Elasticity , Robots , Stiffness , Rotational inertia , Screws , Stress

Geometrical Properties of Modelled Robot Elasticity: Part II — Center of Elasticity

Harvey Lipkin, Timothy Patterson

IDETC-CIE 1992; 187-193https://doi.org/10.1115/DETC1992-0214

Abstract

View Articletitled, Geometrical Properties of Modelled Robot Elasticity: Part II — Center of Elasticity

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Topics: Elasticity , Robots , Screws , Stiffness

Manipulator Kinematics

Path Generation for Two Cooperative Puma Robots

Jau-Liang Chen, Joseph Duffy

IDETC-CIE 1992; 195-201https://doi.org/10.1115/DETC1992-0215

Abstract

View Articletitled, Path Generation for Two Cooperative Puma Robots

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Topics: Robots , Collisions (Physics) , Algorithms , Computers , End effectors , Manipulators , Silicon

The Characteristic Point and the Characteristic Length of Robotic Manipulators

Murat Tandirci, Jorge Angeles, Farzam Ranjbaran

IDETC-CIE 1992; 203-208https://doi.org/10.1115/DETC1992-0216

Abstract

View Articletitled, The Characteristic Point and the Characteristic Length of Robotic Manipulators

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Topics: Manipulators , Jacobian matrices , End effectors

Inverse Kinematics Analysis Using the Algebra of Rotations for Flexible Link Manipulators

F. Xi, R. G. Fenton

IDETC-CIE 1992; 209-216https://doi.org/10.1115/DETC1992-0217

Abstract

View Articletitled, Inverse Kinematics Analysis Using the Algebra of Rotations for Flexible Link Manipulators

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Topics: Algebra , Kinematics , Manipulators , Displacement , Numerical analysis , Rotation

Geometry-Based Optimal Rate Coordination for Robot Manipulators With Redundancy

K. R. Hareendra Varma, Ming Z. Huang

IDETC-CIE 1992; 217-223https://doi.org/10.1115/DETC1992-0218

Abstract

View Articletitled, Geometry-Based Optimal Rate Coordination for Robot Manipulators With Redundancy

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Topics: Geometry , Manipulators , Redundancy (Engineering) , Algorithms , Chain , Resolution (Optics)

Rate Kinematics for Mobile Manipulators

Chau-Chang Wang, Nilanjan Sarkar, Vijay Kumar

IDETC-CIE 1992; 225-231https://doi.org/10.1115/DETC1992-0219

Abstract

View Articletitled, Rate Kinematics for Mobile Manipulators

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Topics: Kinematics , Manipulators , End effectors , Actuators , Chain , Preferences

Mechanical Systems

Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study

Sridhar R. Thirupathi, Nagi G. Naganathan

IDETC-CIE 1992; 233-241https://doi.org/10.1115/DETC1992-0220

Abstract

View Articletitled, Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study

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Topics: Piezoelectric ceramics , Suspension systems , Wheels , Actuators , Automobiles , Composite materials , Deflection , Hydraulic actuators , Stiffness

A Coulomb Friction Model for Spherical Joints

L. J. Gutkowski, G. L. Kinzel

IDETC-CIE 1992; 243-250https://doi.org/10.1115/DETC1992-0221

Abstract

View Articletitled, A Coulomb Friction Model for Spherical Joints

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Topics: Coulombs , Friction , Screws

Design and Fabrication of Microelectromechanical Systems

G. K. Ananthasuresh, Sridhar Kota, Selden B. Crary, Kensall D. Wise

IDETC-CIE 1992; 251-258https://doi.org/10.1115/DETC1992-0222

Abstract

View Articletitled, Design and Fabrication of Microelectromechanical Systems

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Topics: Design , Manufacturing , Microelectromechanical systems , Blocks (Building materials) , Micromachining , Micromechanical devices , Sensors , Boron , Circuits , Dimensions

A Finite Element Formulation for the Dynamic Analysis of Machine Components Fabricated From Composite Materials

A. Semos, C. Chassapis

IDETC-CIE 1992; 259-267https://doi.org/10.1115/DETC1992-0223

Abstract

View Articletitled, A Finite Element Formulation for the Dynamic Analysis of Machine Components Fabricated From Composite Materials

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Topics: Composite materials , Dynamic analysis , Finite element analysis , Machine components , Dynamic models , Equations of motion , Fiber reinforced composites , Hamilton's principle , Stress

Die Producibility Evaluation Method

Arun Shivaram, Nagi G. Naganathan

IDETC-CIE 1992; 269-281https://doi.org/10.1115/DETC1992-0224

Abstract

View Articletitled, Die Producibility Evaluation Method

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Topics: Evaluation methods , Design , Sheet metal

Robot Hands

Analysis and Synthesis of Frictionless Planar Grasping in an Image Space

J. S. Dai, D. R. Kerr

IDETC-CIE 1992; 283-291https://doi.org/10.1115/DETC1992-0225

Abstract

View Articletitled, Analysis and Synthesis of Frictionless Planar Grasping in an Image Space

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Topics: Grasping , Algebra , Geometry , Screws , Shapes , Surface properties

A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand

Xiaochun Gao, Shin-Min Song

IDETC-CIE 1992; 293-298https://doi.org/10.1115/DETC1992-0226

Abstract

View Articletitled, A Novel Theory on Grasping Force Control in a Multifingered Robotic Hand

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Topics: End effectors , Force control , Grasping , Simulation results , Stiffness

Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

Jichuan Zhang, Gongliang Guo, William A. Gruver

IDETC-CIE 1992; 299-304https://doi.org/10.1115/DETC1992-0227

Abstract

View Articletitled, Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

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Topics: Design , Linkages , Robotics , Artificial limbs , Bionics , Degrees of freedom , Displacement , End effectors , Engineering simulation , Friction

On the Kinematics of the UPS Wrist for Real Time Control

Jason J. Lee, Sun-Lai Chang

IDETC-CIE 1992; 305-312https://doi.org/10.1115/DETC1992-0228

Abstract

View Articletitled, On the Kinematics of the UPS Wrist for Real Time Control

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Topics: Kinematics , Real-time control , Design , Algorithms , Force control , Kinematic analysis , Machining

A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm

Wei-Ming Lee

IDETC-CIE 1992; 313-322https://doi.org/10.1115/DETC1992-0229

Abstract

View Articletitled, A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm

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Topics: Algorithms , Kinematics , Robots , Jacobian matrices , Switches , Trajectories (Physics)

Robot Workspace Issues I

An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

Clément M. Gosselin, Eric Lavoie, Pierre Toutant

IDETC-CIE 1992; 323-328https://doi.org/10.1115/DETC1992-0230

Abstract

View Articletitled, An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

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Topics: Algorithms , Manipulators , Computer-aided design

Determination of the Singularity Loci of Spherical Three-Degree-of-Freedom Parallel Manipularors

Clément M. Gosselin, Jaouad Sefrioui

IDETC-CIE 1992; 329-336https://doi.org/10.1115/DETC1992-0231

Abstract

View Articletitled, Determination of the Singularity Loci of Spherical Three-Degree-of-Freedom Parallel Manipularors

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Topics: Actuators , Algorithms , Design , End effectors , Jacobian matrices , Kinematics , Manipulators

Workspace Evaluation of Stewart Platforms

Oren Masory, Jian Wang

IDETC-CIE 1992; 337-346https://doi.org/10.1115/DETC1992-0232

Abstract

View Articletitled, Workspace Evaluation of Stewart Platforms

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Topics: Actuators , Design , Dimensions , Kinematics

Structural Instabilities in Platform-Type Parallel Manipulators due to Singular Configurations

X. Shi, R. G. Fenton

IDETC-CIE 1992; 347-352https://doi.org/10.1115/DETC1992-0233

Abstract

View Articletitled, Structural Instabilities in Platform-Type Parallel Manipulators due to Singular Configurations

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Topics: Manipulators , Kinematics , Screws

Computer Aided Design of Robot Work Cell

C. Neogy, S. Mohan, A. H. Soni

IDETC-CIE 1992; 353-358https://doi.org/10.1115/DETC1992-0234

Abstract

View Articletitled, Computer Aided Design of Robot Work Cell

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Topics: Computer-aided design , Robots , Design , Mechanical admittance , Cycles , Flexible manufacturing systems

Robotic Structure

Structural Parameters Which Reduce the Number of Manipulator Configurations

Constantinos Mavroidis, Bernard Roth

IDETC-CIE 1992; 359-366https://doi.org/10.1115/DETC1992-0235

Abstract

View Articletitled, Structural Parameters Which Reduce the Number of Manipulator Configurations

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Topics: Manipulators , Chain , Kinematics , End effectors , Polynomials

Kinematic Structure Analysis and Classification of Single-Loop Spatial Linkage Mechanisms

Y. B. Zhou, R. G. Fenton

IDETC-CIE 1992; 367-378https://doi.org/10.1115/DETC1992-0236

Abstract

View Articletitled, Kinematic Structure Analysis and Classification of Single-Loop Spatial Linkage Mechanisms

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Topics: Kinematics , Linkages , Displacement

The Health Management of Machines, Mechanisms, and Robots Featuring Macroscopically Smart Composite Materials With Embedded Fiber Optic Sensors

B. P. Hansknecht, B. S. Thompson, M. V. Gandhi, C. Foiles

IDETC-CIE 1992; 379-386https://doi.org/10.1115/DETC1992-0237

Abstract

View Articletitled, The Health Management of Machines, Mechanisms, and Robots Featuring Macroscopically Smart Composite Materials With Embedded Fiber Optic Sensors

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Topics: Composite materials , Fiber optic sensors , Machinery , Robots , Optical fiber , Failure , Actuators , Control algorithms , Cycles , Deflection

A New Approach to Type Synthesis of Spatial Robotic Mechanisms

Akhtar N. Malik, D. R. Kerr

IDETC-CIE 1992; 387-395https://doi.org/10.1115/DETC1992-0238

Abstract

View Articletitled, A New Approach to Type Synthesis of Spatial Robotic Mechanisms

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Topics: End effectors , Kinematics , Manipulators , Mechanical admittance , Robotics , Theorems (Mathematics)

A Synthesis Algorithm of Three-Revolute Manipulators by Means of the Workspace Contour Algebraic Formulation

Marco Ceccarelli

IDETC-CIE 1992; 397-403https://doi.org/10.1115/DETC1992-0239

Abstract

View Articletitled, A Synthesis Algorithm of Three-Revolute Manipulators by Means of the Workspace Contour Algebraic Formulation

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Topics: Algebra , Algorithms , Manipulators , Chain , Design

Robot Path Planning

Path Planning for an Articulated Transporter/Manipulator System

Shih-chien Chiang, Carl D. Crane, III, Joseph Duffy

IDETC-CIE 1992; 405-412https://doi.org/10.1115/DETC1992-0240

Abstract

View Articletitled, Path Planning for an Articulated Transporter/Manipulator System

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Topics: Manipulators , Path planning , Collisions (Physics)

A Drift-Free Navigation System for a Mobile Robotic Vehicle Operating on Unstructured Terrain

S. V. Sreenivasan, Kenneth J. Waldron

IDETC-CIE 1992; 413-422https://doi.org/10.1115/DETC1992-0241

Abstract

View Articletitled, A Drift-Free Navigation System for a Mobile Robotic Vehicle Operating on Unstructured Terrain

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Topics: Navigation , Robotic vehicles , Vehicles , Degrees of freedom , Errors , Robotics

Studies on a New Snake-Like Manipulator

Dibakar Sen, T. S. Mruthyunjaya

IDETC-CIE 1992; 423-438https://doi.org/10.1115/DETC1992-0242

Abstract

View Articletitled, Studies on a New Snake-Like Manipulator

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Topics: Manipulators

Real Time Trajectory Modification Using a Closed Form Solution

Michael R. Hummels, Raymond J. Cipra

IDETC-CIE 1992; 439-444https://doi.org/10.1115/DETC1992-0243

Abstract

View Articletitled, Real Time Trajectory Modification Using a Closed Form Solution

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Topics: Trajectories (Physics) , Robots , Algorithms , Path planning

Robot Coordination

Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

Daniel J. Cox, Delbert Tesar

IDETC-CIE 1992; 445-453https://doi.org/10.1115/DETC1992-0244

Abstract

View Articletitled, Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

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Topics: Manipulators , Robotics , Robots , Actuators , Redundancy (Engineering) , Stress , Intelligent machines , Trajectories (Physics)

Optimal Trajectory Resolution for the Coordination of Two Robots in Contact Operations

E. Tabarah, B. Benhabib, R. G. Fenton, G. Hexner

IDETC-CIE 1992; 455-460https://doi.org/10.1115/DETC1992-0245

Abstract

View Articletitled, Optimal Trajectory Resolution for the Coordination of Two Robots in Contact Operations

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Topics: Resolution (Optics) , Robots , Trajectories (Physics) , Computer simulation , Optimization , Polynomials

A Divide-and-Conquer Method for Planning Collision Free Paths for Cooperating Robots

Jonathan M. Weaver, Stephen J. Derby

IDETC-CIE 1992; 461-471https://doi.org/10.1115/DETC1992-0246

Abstract

View Articletitled, A Divide-and-Conquer Method for Planning Collision Free Paths for Cooperating Robots

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Topics: Collisions (Physics) , Robots , Algorithms , Manipulators , Path planning

Inverse Kinematic Solutions of a Rolling Disk Between Two Planar Manipulators

Sunil Kumar Agrawal, R. Pandravada

IDETC-CIE 1992; 473-478https://doi.org/10.1115/DETC1992-0247

Abstract

View Articletitled, Inverse Kinematic Solutions of a Rolling Disk Between Two Planar Manipulators

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Topics: Disks , Kinematics , Manipulators , Algebra , Algorithms , Chain , Manufacturing , Path planning , Robots

An Application of Planar Two Parameter Motion Curvature Theory to the Trajectory Generation Problem of a Two-Link Manipulator

M. M. Stanišić, K. Lodi, G. R. Pennock

IDETC-CIE 1992; 479-483https://doi.org/10.1115/DETC1992-0248

Abstract

View Articletitled, An Application of Planar Two Parameter Motion Curvature Theory to the Trajectory Generation Problem of a Two-Link Manipulator

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Topics: Manipulators , Trajectories (Physics) , Geometry

Robot Workspace Issues II

On The Kinematic Design of Manipulators for Limited Access Workspaces (LAWS)

Steven B. Shooter, Charles F. Reinholtz, Sanjay G. Dhande

IDETC-CIE 1992; 485-491https://doi.org/10.1115/DETC1992-0249

Abstract

View Articletitled, On The Kinematic Design of Manipulators for Limited Access Workspaces (LAWS)

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Topics: Design , Kinematics , Manipulators , Robots , Biomedicine , Mining , Nuclear construction

Determination of the Workspace of the 3-DOF Double-Octahedral Variable-Geometry-Truss Manipulator

V. Arun, Babu Padmanabhan, Krishnan Kolady, Charles F. Reinholtz

IDETC-CIE 1992; 493-500https://doi.org/10.1115/DETC1992-0250

Abstract

View Articletitled, Determination of the Workspace of the 3-DOF Double-Octahedral Variable-Geometry-Truss Manipulator

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Topics: Geometry , Manipulators , Trusses (Building) , Construction

Extrinsic Calibration of Portable Manipulators

Steven B. Shooter, Charles F. Reinholtz

IDETC-CIE 1992; 501-506https://doi.org/10.1115/DETC1992-0251

Abstract

View Articletitled, Extrinsic Calibration of Portable Manipulators

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Topics: Calibration , Manipulators , Inspection , Asbestos removal , Feedback , Maintenance , Nuclear reactor steam generators , Nuclear reactors , Structures

Push-Pull Pair of Single Action Mechanisms to Preload Strut and Node Joints in the Robotic Assembly of Structures in Space

W. V. Brewer

IDETC-CIE 1992; 507-512https://doi.org/10.1115/DETC1992-0252

Abstract

View Articletitled, Push-Pull Pair of Single Action Mechanisms to Preload Strut and Node Joints in the Robotic Assembly of Structures in Space

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Topics: Robotic assembly , Struts (Engineering) , Manufacturing , Trusses (Building) , Construction , Design , Dimensions , Maintenance , Robotics , Separation (Technology)

Full-Wave Bi-Directional Rotation-Rectifier to Assist Robotic End-Effectors in the Automated Assembly of Large Truss Structures in Space

W. V. Brewer

IDETC-CIE 1992; 513-519https://doi.org/10.1115/DETC1992-0253

Abstract

View Articletitled, Full-Wave Bi-Directional Rotation-Rectifier to Assist Robotic End-Effectors in the Automated Assembly of Large Truss Structures in Space

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Topics: End effectors , Manufacturing , Robotics , Rotation , Trusses (Building) , Waves , Robots , Engines , Motors , Computation

Robot Displacement Analysis

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

W. Lin, Carl D. Crane, III, J. Duffy

IDETC-CIE 1992; 521-527https://doi.org/10.1115/DETC1992-0254

Abstract

View Articletitled, Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

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Topics: Displacement , Polynomials

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

D. Zlatanov, M. Q. Dai, R. G. Fenton, B. Benhabib

IDETC-CIE 1992; 529-536https://doi.org/10.1115/DETC1992-0255

Abstract

View Articletitled, Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

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Topics: Degrees of freedom , Design engineering , Kinematic analysis , Manipulators , Kinematics

Optimization of the Robot Calibration Process

G. Zak, R. G. Fenton, B. Benhabib

IDETC-CIE 1992; 537-544https://doi.org/10.1115/DETC1992-0256

Abstract

View Articletitled, Optimization of the Robot Calibration Process

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Topics: Calibration , Optimization , Robots , Errors , Fittings , Kinematics , Polynomials , Response surface methodology

Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm

C. Innocenti, V. Parenti-Castelli

IDETC-CIE 1992; 545-552https://doi.org/10.1115/DETC1992-0257

Abstract

View Articletitled, Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm

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Topics: Algorithms , Kinematics , Parallel mechanisms , Geometry , Numerical analysis

Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators

C. Innocenti, V. Parenti-Castelli

IDETC-CIE 1992; 553-560https://doi.org/10.1115/DETC1992-0258

Abstract

View Articletitled, Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators

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Topics: Manipulators , Architecture , Geometry , Kinematics

Mobile Robots

Walking Machine Design Based on Certain Aspects of Insect Leg Design

E. F. Fichter, D. R. Kerr

IDETC-CIE 1992; 561-566https://doi.org/10.1115/DETC1992-0259

Abstract

View Articletitled, Walking Machine Design Based on Certain Aspects of Insect Leg Design

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Topics: Design , Legged locomotion , Control systems , Equilibrium (Physics) , Kinematics

Workspace of Beetle Body As a Function of Foot Position

C. K. Foo, E. F. Fichter, B. L. Fichter

IDETC-CIE 1992; 567-572https://doi.org/10.1115/DETC1992-0260

Abstract

View Articletitled, Workspace of Beetle Body As a Function of Foot Position

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Topics: Design , Legged locomotion , Shapes , Simulation models , Symmetry (Physics)

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

Peter V. Nagy, Subhas Desa, William L. Whittaker

IDETC-CIE 1992; 573-580https://doi.org/10.1115/DETC1992-0261

Abstract

View Articletitled, Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

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Topics: Modeling , Robots , Stability , Static stability

Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

Akhil Madhani, Steven Dubowsky

IDETC-CIE 1992; 581-590https://doi.org/10.1115/DETC1992-0262

Abstract

View Articletitled, Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

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Topics: Design , Path planning , Robotics , Actuators , Friction , Kinematics , Machinery , Torque

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Shannon Ridgeway, Carl D. Crane, III, Phillip Adsit, Roy Harrell

IDETC-CIE 1992; 591-597https://doi.org/10.1115/DETC1992-0263

Abstract

View Articletitled, The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

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Topics: Design engineering , Mobile robots , Design , Actuators , Kinematics , Torque

Instability and Chaos in Quadruped Gallop

Prabjot Nanua, Kenneth J. Waldron

IDETC-CIE 1992; 599-607https://doi.org/10.1115/DETC1992-0264

Abstract

View Articletitled, Instability and Chaos in Quadruped Gallop

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Topics: Actuators , Chaos , Control equipment , Dampers , Dynamic models , Poincaré maps , Springs , Stability , Stiffness

General Robotics IV

Kinematic Analysis and Design of Articulated Manipulators With Joint Motion Constraints

T. A. Dwarakanath, A. Ghosal, U. Shrinivasa

IDETC-CIE 1992; 609-618https://doi.org/10.1115/DETC1992-0265

Abstract

View Articletitled, Kinematic Analysis and Design of Articulated Manipulators With Joint Motion Constraints

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Topics: Design , Kinematic analysis , Manipulators , Rotation , Kinematics , Painting , Welding

Finite Element Analysis of Revolute Manipulators With Link and Joint Compliance by Joint-Beam Elements

Zhijia Yang, J. P. Sadler

IDETC-CIE 1992; 619-625https://doi.org/10.1115/DETC1992-0266

Abstract

View Articletitled, Finite Element Analysis of Revolute Manipulators With Link and Joint Compliance by Joint-Beam Elements

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Topics: Finite element analysis , Manipulators , Flexible manipulators , Actuators , Composite materials , Design , Errors , Inertia (Mechanics) , Modeling , Robots