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Proceedings Volume Cover

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

September 29–October 2, 2002

Montreal, Quebec, Canada

Conference Sponsors:

ISBN:

0-7918-3653-3

In This Volume

Mechanisms and Robotics (170)

Volume 5: 27th Biennial Mechanisms and Robotics Conference

Mechanisms and Robotics

Optimization and Control of a Spatial Compliant Manipulator

Stephen L. Canfield, James W. Beard, Matthew Stefanick, David Bennett, Nic Lobontiu, Jeffrey Paine

IDETC-CIE 2002; 3-11doi:https://doi.org/10.1115/DETC2002/MECH-34201

Topics: Manipulators , Optimization , Design , Motion control , Manufacturing , Topology

A Three Degree of Freedom Pseudo-Rigid-Body Model for the Design of a Fully Compliant Bistable Micromechanism

Nathan D. Masters, Larry L. Howell

IDETC-CIE 2002; 13-22doi:https://doi.org/10.1115/DETC2002/MECH-34202

Topics: Degrees of freedom , Design , Micromechanical devices , Displacement , Fatigue testing , Finite element model , Geometry , Manufacturing , Reliability

A Simplified Pseudo-Rigid-Body Model for Fixed-Fixed Flexible Segments

Scott M. Lyon, Larry L. Howell

IDETC-CIE 2002; 23-33doi:https://doi.org/10.1115/DETC2002/MECH-34203

Topics: Algorithms , Chain , Compliant mechanisms , Deflection , Design , Errors , Kinematics

Design of Compliant Parallel Kinematic Machines

Yong-Mo Moon, Sridhar Kota

IDETC-CIE 2002; 35-41doi:https://doi.org/10.1115/DETC2002/MECH-34204

Topics: Design , Kinematics , Machinery , Construction , Degrees of freedom , Displacement , Modular construction , Stress

Dynamic Analysis of Compliant Mechanisms

Zhe Li, Sridhar Kota

IDETC-CIE 2002; 43-50doi:https://doi.org/10.1115/DETC2002/MECH-34205

Topics: Compliant mechanisms , Dynamic analysis , Design , Actuators , Design sensitivity analysis , Dynamic response , Microelectromechanical systems

Selection of Compliant Constant-Force Mechanisms Based on Stress and Force Criteria

Brent L. Weight, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2002; 51-63doi:https://doi.org/10.1115/DETC2002/MECH-34206

Topics: Stress , Design , Compliant mechanisms , Design methodology

Design of Large-Displacement Compliant Joints

Yong-Mo Moon, Brian Patrick Trease, Sridhar Kota

IDETC-CIE 2002; 65-76doi:https://doi.org/10.1115/DETC2002/MECH-34207

Topics: Design , Displacement , Stiffness , Bending (Stress) , Computers , Stress , Universal joints

Design of a Novel Compliant Transmission for Secondary Microactuators in Disk Drives

Charles Kim, Sridhar Kota

IDETC-CIE 2002; 77-83doi:https://doi.org/10.1115/DETC2002/MECH-34208

Topics: Design , Disks , Microactuators , Actuators , Density , Energy efficiency , Kinematics , Optimization , Resonance , Stress

On Multiple-Material Optimal Compliant Topologies: Discrete Variable Parameterization Using Genetic Algorithm

Anupam Saxena

IDETC-CIE 2002; 85-96doi:https://doi.org/10.1115/DETC2002/MECH-34209

Topics: Genetic algorithms , Design , Topology , Algorithms , Compliant mechanisms , Approximation , Density , Finite element analysis , Manufacturing , Materials properties

PennSyn 2.0: Enhancements to a Synthesis Software for Compliant Mechanisms

Anupam Saxena, Luzhong Yin, G. K. Ananthasuresh

IDETC-CIE 2002; 97-108doi:https://doi.org/10.1115/DETC2002/MECH-34210

Topics: Compliant mechanisms , Computer software , Design , Approximation , Failure , Genetic algorithms , Graphical user interfaces , Quadratic programming , Simulated annealing , Stress

Contact Aided Compliant Mechanisms: Concept and Preliminaries

Nilesh D. Mankame, G. K. Ananthasuresh

IDETC-CIE 2002; 109-121doi:https://doi.org/10.1115/DETC2002/MECH-34211

Topics: Compliant mechanisms , Deflection , Optimization , Rigid-body mechanisms , Bridges (Structures) , Construction , Deformation , Elasticity , Engineering design processes , Kinematics

Topology Design of Multifunctional Compliant Mechanisms With Smart Material Actuation

Ryan P. Dziedzic, Mary I. Frecker, Randy S. Haluck

IDETC-CIE 2002; 123-135doi:https://doi.org/10.1115/DETC2002/MECH-34212

Topics: Advanced materials , Compliant mechanisms , Design , Smart materials , Topology , Actuators , Instrumentation , Optimization , Surgery

A Novel Formulation for the Design of Distributed Compliant Mechanisms

Luzhong Yin, G. K. Ananthasuresh

IDETC-CIE 2002; 137-149doi:https://doi.org/10.1115/DETC2002/MECH-34213

Topics: Bearings , Bending (Stress) , Compliant mechanisms , Deflection , Design , Linkages , Optimization , Stiffness , Stress , Topology

Dynamic Modeling of Multiple Cooperating Manipulators

Y. S. Zhao, Q. C. Li, X. P. Guan, Z. Huang

IDETC-CIE 2002; 151-156doi:https://doi.org/10.1115/DETC2002/MECH-34214

Topics: Dynamic modeling , Manipulators , Robots , Stress , Torque control , Virtual work principle

Dynamic Modeling of Multiple Robot Arms With Joint and Link Flexibility

Cheng-Xin Zhang, Yue-Qing Yu

IDETC-CIE 2002; 157-164doi:https://doi.org/10.1115/DETC2002/MECH-34215

Topics: Dynamic modeling , Robots , Dynamic models , Computer simulation , Design , Equations of motion , Kinematics , Manipulators , Simulation , Trajectories (Physics)

Active Balancing of a Flexible Linkage With Redundant Drives

Yue-Qing Yu, Jing Lin

IDETC-CIE 2002; 165-170doi:https://doi.org/10.1115/DETC2002/MECH-34216

Topics: Linkages , Actuators , Dynamics (Mechanics) , Equations of motion

A Novel Method for Dynamic Modeling of Two Flexible Manipulators Grasping a Flexible Payload

Ying-Chun Liu, Yue-Qing Yu

IDETC-CIE 2002; 171-175doi:https://doi.org/10.1115/DETC2002/MECH-34217

Topics: Dynamic modeling , Flexible manipulators , Grasping , Computer simulation , Dynamic models , Finite element methods , Robots

An Efficient Solution of the Elastic Mechanism Non-Linear Differential Equation of Motion

Jianping Wang, Hongzhao Lu, Daning Yuan

IDETC-CIE 2002; 177-182doi:https://doi.org/10.1115/DETC2002/MECH-34218

Topics: Algorithms , Belts , Casting , Dynamic analysis , Equations of motion , Iterative methods , Machinery , Nonlinear differential equations , Oscillations , Shapes

A Novel Force Balancing Method for Real-Time Controllable Mechanisms

P. R. Ouyang, W. J. Zhang

IDETC-CIE 2002; 183-190doi:https://doi.org/10.1115/DETC2002/MECH-34219

Topics: Design , Kinematics , Rapid tooling , Simulation

Dynamic Simulation and Optimization of Underactuated Robotic Fingers

Laura M. Sie, Cle´ment M. Gosselin

IDETC-CIE 2002; 191-199doi:https://doi.org/10.1115/DETC2002/MECH-34220

Topics: Optimization , Robotics , Simulation , Design , Computer software , Friction , Grippers , Modeling , Simulation results

Wheeled Omni-Directional Robot Dynamics Including Slip

Robert L. Williams, II, Brian E. Carter, Paolo Gallina, Giulio Rosati

IDETC-CIE 2002; 201-207doi:https://doi.org/10.1115/DETC2002/MECH-34221

Topics: Dynamic models , Dynamics (Mechanics) , Friction , Mobile robots , Robot dynamics , Robots , Rollers , Simulation , Simulation results , Trajectories (Physics)

The Interaction Between Contact Loads and Tooth Wears of Engaged Plastic Gear Pairs

Jao-Hwa Kuang, Ah-Der Lin

IDETC-CIE 2002; 209-216doi:https://doi.org/10.1115/DETC2002/MECH-34222

Topics: Plastic gears , Stress , Wear , Damping , Dynamic models , Errors , Stiffness , Temperature

Effect of Bending Stiffness on the Dynamic and Steady-State Responses of Belt-Drives

Tamer M. Wasfy, Michael Leamy

IDETC-CIE 2002; 217-224doi:https://doi.org/10.1115/DETC2002/MECH-34223

Topics: Belts , Steady state , Stiffness , Pulleys , Friction , Arches , Coulombs , Finite element model , Springs , Vibration

An Object-Oriented Graphical Interface for Dynamic Finite Element Modeling of Belt-Drives

Tamer M. Wasfy, Michael Leamy

IDETC-CIE 2002; 225-233doi:https://doi.org/10.1115/DETC2002/MECH-34224

Topics: Belts , Finite element analysis , Graphical user interfaces , Modeling , Computers , Dynamic response , Finite element model , Virtual reality

On Dynamic Modeling of Robot Manipulators: The Method of Virtual Links

R. F. Abo-Shanab, N. Sepehri, Q. Wu

IDETC-CIE 2002; 235-241doi:https://doi.org/10.1115/DETC2002/MECH-34225

Topics: Dynamic modeling , Manipulators , Degrees of freedom , Modeling

Gear Walk Instability Studies Using a Vibration Model of a Reduced Scale Landing Gear System

Karthik Balasubramanian, Kambiz Farhang

IDETC-CIE 2002; 243-251doi:https://doi.org/10.1115/DETC2002/MECH-34226

Topics: Gears , Vibration , Stiffness , Wheels , Aircraft , Brakes , Braking , Disks , Dynamic response , Dynamics (Mechanics)

Dynamic Stability of Mobile Manipulators Considering Suspension Characteristics

R. F. Abo-Shanab, N. Sepehri

IDETC-CIE 2002; 253-259doi:https://doi.org/10.1115/DETC2002/MECH-34227

Topics: Dynamic stability , Manipulators , Stability , Dynamic modeling , Dynamic models , Dynamics (Mechanics) , Machinery , Rocks , Trenching machinery

Dynamic Simulation of a Metal Belt CVT Under Transient Conditions

Ettore Pennestri, Daniele Sferra, Pier Paolo Valentini, Filippo Baldascini

IDETC-CIE 2002; 261-268doi:https://doi.org/10.1115/DETC2002/MECH-34228

Topics: Belts , Metals , Simulation , Transients (Dynamics) , Deformation , Pulleys , V-belts , Algorithms , Inertia (Mechanics) , Steady state

Dynamics of a Class of Parallel Wrists

Raffaele Di Gregorio, Vincenzo Parenti-Castelli

IDETC-CIE 2002; 269-277doi:https://doi.org/10.1115/DETC2002/MECH-34229

Topics: Dynamics (Mechanics) , Manipulators , Kinematics , Dynamic models , End effectors , Inertia (Mechanics) , Isotropy , Jacobian matrices , Multibody dynamics

Impulse Analysis and Its Applications to Dynamic Environment

Byung Rok So, Byung-Ju Yi, Whee Kuk Kim

IDETC-CIE 2002; 279-286doi:https://doi.org/10.1115/DETC2002/MECH-34230

Topics: Impulse (Physics) , Robots , Geometry , Modeling , Simulation

Reduction of Impact and Vibration in an Industrial Cam-Follower System Using the Splinedyne Method: A Case Study

Robert P. Gordon, Robert L. Norton

IDETC-CIE 2002; 287-296doi:https://doi.org/10.1115/DETC2002/MECH-34231

Topics: Vibration , Design , Machinery , Trains , B-splines , Dynamic models , Manufacturing

Dynamic Modeling of the Typical Industrial Cam-Follower System: Part 1 — Single-Degree-of-Freedom Models

Robert L. Norton, Charles A. Gillis, Corey N. Maynard

IDETC-CIE 2002; 297-304doi:https://doi.org/10.1115/DETC2002/MECH-34232

Topics: Combustion , Dynamic modeling , Dynamic models , Modeling , System dynamics , Trains , Valves

Two Basic Features of Instantaneous Conjugate Motion and Their Importance in Facilitating Motion Analysis

Chih-Hsin Chen, Janet Hong-Jian Chen

IDETC-CIE 2002; 315-324doi:https://doi.org/10.1115/DETC2002/MECH-34235

Topics: Motion analysis

The Kinematics of a Class of 3-DOF 4-Legged Parallel Manipulators

Sammer A. Joshi, Lung-Wen Tasi

IDETC-CIE 2002; 325-334doi:https://doi.org/10.1115/DETC2002/MECH-34236

Topics: Kinematics , Manipulators , Actuators

Singularity Principle and Distribution of 6-3 Stewart Parallel Manipulator

Z. Huang, L. H. Chen

IDETC-CIE 2002; 335-340doi:https://doi.org/10.1115/DETC2002/MECH-34237

Topics: Manipulators , Kinematics , Screws

Jacobian Analysis of Limited-DOF Parallel Manipulators

Sameer A. Joshi, Lung-Wen Tsai

IDETC-CIE 2002; 341-348doi:https://doi.org/10.1115/DETC2002/MECH-34238

Topics: Manipulators , Degrees of freedom , Jacobian matrices , Reactor protection systems , Screws

Real-Time Inverse Kinematics for Humans

Zan Mi, Jingzhou Yang, Karim Abdel-Malek, Joung H. Mun, Kyle Nebel

IDETC-CIE 2002; 349-359doi:https://doi.org/10.1115/DETC2002/MECH-34239

Topics: Kinematics , Algorithms , Degrees of freedom , Pareto optimization

Synthesis and Analysis of a Group of 3-Degree-of-Freedom Decoupling Parallel Manipulators

Qiong Jin, Ting-Li Yang

IDETC-CIE 2002; 361-368doi:https://doi.org/10.1115/DETC2002/MECH-34240

Topics: Kinematics , Manipulators , Rotation , Topology , Degrees of freedom , Kinematic analysis , Manipulator kinematics , Mechanical admittance , Parallel mechanisms

Force Transmission Index Based Workspace Analysis of a Six DOF Wire-Driven Parallel Manipulator

Ya-Qing Zheng, Xiong-Wei Liu

IDETC-CIE 2002; 369-376doi:https://doi.org/10.1115/DETC2002/MECH-34241

Topics: Manipulators , Wire , Algorithms , Design , Matlab , Pulleys , Servomotors , Simulation results

Kinematic Synthesis of Planar and Spatial Linkages Using Gradients and Superposition of Scalar Fields

John Kebrle, W. T. Adams, P. S. Shiakolas, T. J. Lawley

IDETC-CIE 2002; 377-384doi:https://doi.org/10.1115/DETC2002/MECH-34242

Topics: Kinematics , Linkages , Scalar field theory , Algebra , Chords (Trusses)

The Design of Stacked Linkages for Motion Generation

John A. Mirth

IDETC-CIE 2002; 385-393doi:https://doi.org/10.1115/DETC2002/MECH-34243

Topics: Design , Linkages

Estimation of Object Kinematics From Point Data

Anand R. Vithani, Krishna C. Gupta

IDETC-CIE 2002; 395-403doi:https://doi.org/10.1115/DETC2002/MECH-34244

Topics: Kinematics

Modified 6-PSU Platform

Brian R. Hopkins, Robert L. Williams, II

IDETC-CIE 2002; 405-412doi:https://doi.org/10.1115/DETC2002/MECH-34245

Topics: Manipulators , Mechanical engineering , Universal joints

A Graphical Method to Find the Secondary Instantaneous Centers of Zero Velocity for the Double Butterfly Linkage

David E. Foster, Gordon R. Pennock

IDETC-CIE 2002; 413-420doi:https://doi.org/10.1115/DETC2002/MECH-34246

Topics: Linkages , Theorems (Mathematics)

Eigenvalue and Eigenvector Information of Graphs and Their Validity in Detection of Graph Isomorphism

P. R. He, W. J. Zhang, Q. Li

IDETC-CIE 2002; 421-428doi:https://doi.org/10.1115/DETC2002/MECH-34247

Topics: Eigenvalues , Design , Microelectromechanical systems

On Mobillity Analysis of Linkages Using Group Theory

Jose´ Mari´a Rico, Bahram Ravani

IDETC-CIE 2002; 429-446doi:https://doi.org/10.1115/DETC2002/MECH-34249

Topics: Linkages , Mechanical admittance , Kinematic chains

Kinematics of a Spatial Three Degree-of-Freedom Robot With Rolling Contact Joints

Curtis L. Collins

IDETC-CIE 2002; 447-453doi:https://doi.org/10.1115/DETC2002/MECH-34250

Topics: Degrees of freedom , Kinematics , Robots , Rolling contact , Cables , Chain , End effectors , Gears

Multiloop Kinematotropic Mechanisms

Carlo Galletti, Elena Giannotti

IDETC-CIE 2002; 455-460doi:https://doi.org/10.1115/DETC2002/MECH-34251

Topics: Chain , Degrees of freedom , Displacement , Kinematic chains , Mechanical admittance

Jacobian Matrix of General Parallel and Hybrid Mechanisms With Rigid and Flexible Links: A Software-Oriented Approach

Bruno Monsarrat, Cle´ment M. Gosselin

IDETC-CIE 2002; 461-470doi:https://doi.org/10.1115/DETC2002/MECH-34252

Topics: Computer software , Jacobian matrices , Manipulators , Chain , Equations of motion , Parallel mechanisms , Robots , Torsion

Enumeration and Classification of 12-Bar Planar Simple-Jointed Kinematic Chains Using a Hierarchical Approach

Eric A. Butcher, Chris Hartman

IDETC-CIE 2002; 471-480doi:https://doi.org/10.1115/DETC2002/MECH-34253

Topics: Kinematic chains , Chain , Testing

Advances in Polynomial Continuation for Solving Problems in Kinematics

Andrew J. Sommese, Jan Verschelde, Charles W. Wampler

IDETC-CIE 2002; 481-488doi:https://doi.org/10.1115/DETC2002/MECH-34254

Topics: Kinematics , Polynomials , Degrees of freedom , Manufacturing , Algorithms , Design , Dimensions , Manipulators , Mechanical admittance

Motion Generation of a Casting Manipulator With a Large Working Space

Shinsuke Izumi, Yukio Takeda, Masaru Higuchi, Hiroaki Funabashi, Hitoshi Arisumi

IDETC-CIE 2002; 489-495doi:https://doi.org/10.1115/DETC2002/MECH-34255

Topics: Casting , Manipulators , Grippers , Rotation , Actuators , Computer simulation , Robots , Stability , Transients (Dynamics)

Effective Backward Kinematics for an Industrial 6R Robot

Matteo Zoppi

IDETC-CIE 2002; 497-503doi:https://doi.org/10.1115/DETC2002/MECH-34256

Topics: Kinematics , Manipulators , Robots

Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator

Ilian A. Bonev, Cle´ment M. Gosselin

IDETC-CIE 2002; 505-514doi:https://doi.org/10.1115/DETC2002/MECH-34257

Topics: Algorithms , Computation , Manipulators , Parallel mechanisms , Cross section (Physics) , Domes (Structural elements) , Geometry , Kinematics

Higher Order Local Analysis of Singularities in Parallel Mechanisms

Andreas Mu¨ller

IDETC-CIE 2002; 515-522doi:https://doi.org/10.1115/DETC2002/MECH-34258

Topics: Algebra , Kinematics , Lie algebras , Manifolds , Parallel mechanisms

Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory

Xianwen Kong, Cle´ment M. Gosselin

IDETC-CIE 2002; 523-531doi:https://doi.org/10.1115/DETC2002/MECH-34259

Topics: Manipulators , Screws

Three-Dimensional Kinematic Analysis and Verification for a Flexible Robot Arm

Min Gu, Jean-Claude Piedbœuf

IDETC-CIE 2002; 533-542doi:https://doi.org/10.1115/DETC2002/MECH-34260

Topics: Kinematic analysis , Robots , Deformation , Kinematics , Strain measurement , Rotation , Simulation

SPASUR: Interactive Visualization of the Coupler Surfaces of the Spatial 4C Mechanism

Pierre M. Larochelle, Agnes Agius

IDETC-CIE 2002; 543-551doi:https://doi.org/10.1115/DETC2002/MECH-34261

Topics: Visualization , Computer software , Degrees of freedom , Graphical user interfaces , Kinematic analysis , Linkages

Face Gearing With a Conical Involute Pinion: Part 1 — The Conical Involute Gear: Definition, Geometry and Generation

Jie Tan

IDETC-CIE 2002; 553-562doi:https://doi.org/10.1115/DETC2002/MECH-34262

Topics: Gears , Geometry , Analytical methods , Blanks , Gear teeth

The Comparison of Two Workspace-Density-Driven Inverse Kinematics Methods for Hyper Redundant Manipulators

Yunfeng Wang, Gregory S. Chirikjian

IDETC-CIE 2002; 563-568doi:https://doi.org/10.1115/DETC2002/MECH-34263

Topics: Density , Kinematics , Redundant manipulators , Computation , Data storage systems , End effectors , Errors , Jacobian matrices , Manipulators , Robots

Rotation Singularities in the DELTA-Like Manipulators

Raffaele Di Gregorio

IDETC-CIE 2002; 569-576doi:https://doi.org/10.1115/DETC2002/MECH-34264

Topics: Manipulators , Rotation

The Finite Screw System Associated With the Displacement of a Line

Chintien Huang, Jin-Cheng Wang

IDETC-CIE 2002; 577-583doi:https://doi.org/10.1115/DETC2002/MECH-34265

Topics: Displacement , Screws , Geometry

Kinematic Analysis of Bevel Epicyclic Gear Trains Using Graph Notation

Carl A. Nelson, Raymond J. Cipra

IDETC-CIE 2002; 585-591doi:https://doi.org/10.1115/DETC2002/MECH-34266

Topics: Bevel gears , Kinematic analysis , Kinematics , Planetary gears , Trains

Singularity Analysis of Spatial Stewart-Gough Platforms With Planar Base and Platform

Friedrich Pernkopf, Manfred L. Husty

IDETC-CIE 2002; 593-600doi:https://doi.org/10.1115/DETC2002/MECH-34267

Topics: Actuators , Manipulators , Trajectories (Physics)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

D. Chablat, Ph. Wenger, S. Caro, J. Angeles

IDETC-CIE 2002; 601-606doi:https://doi.org/10.1115/DETC2002/MECH-34268

Topics: Manipulators , Jacobian matrices

Computer Aided Detection of Graph Equivalence Among Multiple Jointed Kinematic Chains and Their Links

A. C. Rao, V. V. N. R. Prasad Raju Pathapati

IDETC-CIE 2002; 607-615doi:https://doi.org/10.1115/DETC2002/MECH-34269

Topics: Computer-aided engineering , Kinematic chains , Structural analysis

A Numerically Robust Algorithm to Solve the Five-Pose Burmester Problem

Khalid Al-Widyan, Jorge Angeles, J. Jesu´s Cervantes-Sa´nchez

IDETC-CIE 2002; 617-626doi:https://doi.org/10.1115/DETC2002/MECH-34270

Topics: Algorithms , Robustness

The Robust Synthesis of Planar Four-Bar Linkages for Motion Generation

Khalid Al-Widyan, Jorge Angeles, J. Jesu´s Cervantes-Sa´nchez

IDETC-CIE 2002; 627-633doi:https://doi.org/10.1115/DETC2002/MECH-34271

Topics: Linkages , Generators

Five Precision Points Synthesis of Spatial RRR Manipulators Using Interval Analysis

Eric Lee, Constantinos Mavroidis, Jean Pierre Merlet

IDETC-CIE 2002; 635-644doi:https://doi.org/10.1115/DETC2002/MECH-34272

Topics: Design , Manipulators

Discontinuous Mobility of One Family of Spatial 6R Mechanisms Through the Group Algebraic Structure of Displacement Set

Chung-Ching Lee, Jacques M. Herve´

IDETC-CIE 2002; 645-653doi:https://doi.org/10.1115/DETC2002/MECH-34273

Topics: Algebra , Displacement , Mechanical admittance , Chain , Kinematics , Manifolds

An Improved Approach to Automatic Sketching of Mechanism Based on Loop Configuration and Its Implementation

Renbin Xiao, Yong Liu, Deshi Wang

IDETC-CIE 2002; 655-660doi:https://doi.org/10.1115/DETC2002/MECH-34274

Topics: Computers , Engineering prototypes , Kinematic chains

Geometric Modelling of Elliptical Gears Generated by Shaper Cutters

Giorgio Figliolini, Jorge Angeles

IDETC-CIE 2002; 661-670doi:https://doi.org/10.1115/DETC2002/MECH-34275

Topics: Gears , Geometric modeling , Algorithms , Computers , Design , Modeling

Static Analysis of Tensegrity Structures: Part 1 — Equilibrium Equations

Carl D. Crane, III, Joseph Duffy, Julio C. Correa

IDETC-CIE 2002; 671-680doi:https://doi.org/10.1115/DETC2002/MECH-34276

Topics: Equilibrium (Physics) , Tensegrity structures , Newton's laws of motion , Stress , Tensegrity

Static Analysis of Tensegrity Structures: Part 2 — Numerical Examples

Carl D. Crane, III, Joseph Duffy, Julio C. Correa

IDETC-CIE 2002; 681-687doi:https://doi.org/10.1115/DETC2002/MECH-34277

Topics: Tensegrity , Tensegrity structures

Static Analysis of Prestressed Tensegrity Structures

Carl D. Crane, III, Joseph Duffy, Julio C. Correa

IDETC-CIE 2002; 689-695doi:https://doi.org/10.1115/DETC2002/MECH-34278

Topics: Tensegrity structures , Equilibrium (Physics) , Tensegrity

A Nip Closing Study of Crowned Rolls

Juha-Matti Kivinen, Ville Ja¨rvinen

IDETC-CIE 2002; 697-706doi:https://doi.org/10.1115/DETC2002/MECH-34279

Topics: Bearings , Calenders (Machinery) , Coating processes , Coatings , Deflection , Finishing , Gravity (Force) , Kinematics , Paper machines , Polymers

Determining the Effective Spring Rate of Air Cylinders Used to Close Cam-Follower Joints

R. L. Norton, C. O’Brien, P. Duperry, J. R. Hall

IDETC-CIE 2002; 707-714doi:https://doi.org/10.1115/DETC2002/MECH-34280

Topics: Pneumatic cylinders , Springs , Cylinders , Machinery , Secondary cells

Projective Convexity in Computational Kinematic Geometry

Q. J. Ge

IDETC-CIE 2002; 715-723doi:https://doi.org/10.1115/DETC2002/MECH-34281

Topics: Geometry , Kinematics , Algorithms , Computation

Design and Tesing of a Halo Orthosis to Reduce Pin Loosening Using Constraint Analysis

Richard E. Stamper, W. Matthew Kuester, Matthew P. Meek

IDETC-CIE 2002; 725-730doi:https://doi.org/10.1115/DETC2002/MECH-34282

Topics: Design , Orthotics

Development of Steerable Endoscopes to Improve Depth Perception During Laparoscopic Surgery

Paul Breedveld, Shigeo Hirose

IDETC-CIE 2002; 731-736doi:https://doi.org/10.1115/DETC2002/MECH-34283

Topics: Endoscopes , Springs , Surgery

Optimizing a Balanced Spring Mechanism

Marc L. Brinkman, Just L. Herder

IDETC-CIE 2002; 737-745doi:https://doi.org/10.1115/DETC2002/MECH-34284

Topics: Approximation , Design , Energy storage , Springs , Transfer functions

Conceptual Design of a Passive Arm Orthosis

Luis F. Cardoso, Se´rgio Toma´zio, Just L. Herder

IDETC-CIE 2002; 747-756doi:https://doi.org/10.1115/DETC2002/MECH-34285

Topics: Conceptual design , Degrees of freedom , Design , Diseases , Gravity (Force) , Muscle , Orthotics , Weight (Mass)

Design of a Robotic Stereotactic Device for Biopsy and Minimally Invasive Interventions in the Breast With Real Time MRI Guidance

Blake T. Larson, Nikolaos V. Tsekos, Arthur G. Erdman, Essa Yacoub, Panagiotis V. Tsekos, Ioannis G. Koutlas

IDETC-CIE 2002; 757-765doi:https://doi.org/10.1115/DETC2002/MECH-34286

Topics: Design , Magnetic resonance imaging , Robotics

On the Design of a Low-Force 5-DOF Force-Feedback Haptic Mechanism

Evangelos Papadopoulos, Kostas Vlachos, Dionyssios Mitropoulos

IDETC-CIE 2002; 767-774doi:https://doi.org/10.1115/DETC2002/MECH-34287

Topics: Design , Force feedback , Haptics , Actuators , Biomedicine , Control algorithms , Degrees of freedom , Dynamics (Mechanics) , Friction , Hardware

Mechanical Design of a Haptic Interface for the Hand

A. Frisoli, F. Simoncini, M. Bergamasco

IDETC-CIE 2002; 775-782doi:https://doi.org/10.1115/DETC2002/MECH-34288

Topics: Design engineering , Haptics , Kinematics , Dimensions

Design of Mechanisms for Storage, Folding, and Delivery of an Intra-Ocular Lens (IOL) During Cataract Surgery

Arthur G. Erdman, Paul E. Loftness

IDETC-CIE 2002; 783-790doi:https://doi.org/10.1115/DETC2002/MECH-34289

Topics: Design , Lenses (Optics) , Storage , Surgery , Containers

The Design and Development of a New Biopsy Device for Prostate Cancer Examination

Rick H. Zhang, Arthur Erdman, Ron McGlennen, David Wulfman, Dennis Polla

IDETC-CIE 2002; 791-796doi:https://doi.org/10.1115/DETC2002/MECH-34290

Topics: Cancer , Design , Biological tissues , Transfer functions , Conceptual design , Diseases , Instrumentation , Storage , Three-dimensional models , Ultrasonic imaging

Two-Position Micro Latching Mechanism Requiring a Single Actuator

Brent L. Weight, Larry L. Howell, Scott M. Lyon, Sydney M. Wait

IDETC-CIE 2002; 797-803doi:https://doi.org/10.1115/DETC2002/MECH-34291

Topics: Actuators , Stress , Microelectromechanical systems , Potential energy , Testing

Strain at Fracture Data for Use in Polysilicon Microsystem Design

Deanne Clements Kemeny, Larry L. Howell, Sarah Fort, Susan Bromley, Nathan D. Masters

IDETC-CIE 2002; 805-811doi:https://doi.org/10.1115/DETC2002/MECH-34292

Topics: Compliant mechanisms , Design , Fracture (Materials) , Fracture (Process) , Microelectromechanical systems , Polysilicon

Mechanical Design and Modeling of a New MEMS Vertical Actuator

Dong Yan, Amir Khajepour, Raafat Mansour

IDETC-CIE 2002; 813-817doi:https://doi.org/10.1115/DETC2002/MECH-34293

Topics: Actuators , Design engineering , Microelectromechanical systems , Modeling , Deflection , Design , Shapes , Electrical resistance , Capacitors , Electric current

Motion-Planning for the Axis-Control of Miniature Spacecraft Using Microactuators

Sung K. Koh, G. K. Ananthasuresh

IDETC-CIE 2002; 819-824doi:https://doi.org/10.1115/DETC2002/MECH-34294

Topics: Microactuators , Path planning , Space vehicles , Algorithms , Rotation , Wheels , Kinematics , Photovoltaic panels

On the Bases of Wrench Spaces for the Kinematic and Dynamic Analyses of Mechanisms

Koichi Sugimoto

IDETC-CIE 2002; 825-831doi:https://doi.org/10.1115/DETC2002/MECH-34296

Topics: Dynamic analysis , Kinematics , Space , Algebra , Gravity (Force)

Design and Analysis of an Inherently-Compliant Light-Weight Active Hand Prosthesis

Jingzhou Yang, Karim Abdel-Malek, D. DeGraff, E. Pen˜a Pitarch

IDETC-CIE 2002; 833-841doi:https://doi.org/10.1115/DETC2002/MECH-34297

Topics: Design , Kinematics , Prostheses , Weight (Mass)

Computer Simulation of Unified Synthesis and Analysis With RSSR-SC Spatial Five-Bar Linkage

Lu Yi, Tatu Leinonen

IDETC-CIE 2002; 843-850doi:https://doi.org/10.1115/DETC2002/MECH-34298

Topics: Computer simulation , Dimensions , Linkages

Some Novel Lower-Mobility Parallel Mechanisms

Z. Huang, Q. C. Li

IDETC-CIE 2002; 851-856doi:https://doi.org/10.1115/DETC2002/MECH-34299

Topics: Mechanical admittance , Parallel mechanisms , Degrees of freedom , Mechanical structures , Symmetry (Physics)

Design and Test of an Articulated Mechanism for a 1 DOF Anthropomorphic Finger

Giuseppe Carbone, Roberto Civitillo, Marco Ceccarelli

IDETC-CIE 2002; 857-864doi:https://doi.org/10.1115/DETC2002/MECH-34300

Topics: Design , Engineering prototypes

Design Optimization of a Cartesian Parallel Manipulator

Han Sung Kim, Lung-Wen Tsai

IDETC-CIE 2002; 865-872doi:https://doi.org/10.1115/DETC2002/MECH-34301

Topics: Design , Manipulators , Optimization , Degrees of freedom , Machinery , Stiffness

Kinematic Synthesis of Spatial 3-RPS Parallel Manipulators

Han Sung Kim, Lung-Wen Tsai

IDETC-CIE 2002; 873-880doi:https://doi.org/10.1115/DETC2002/MECH-34302

Topics: Kinematics , Manipulators , Reactor protection systems , Chain , Degrees of freedom , Design , End effectors

A 2T-2R, 4-DOF Parallel Manipulator

Wen-jia Chen, Ming-yang Zhao, Ji-ping Zhou, Yong-fa Qin

IDETC-CIE 2002; 881-885doi:https://doi.org/10.1115/DETC2002/MECH-34303

Topics: Kinematics , Manipulators

Kinematic and Dynamic Analysis of a New Cylindrical 3-DOF Parallel Manipulator

Qi-Ming Wang, Jinsong Wang, Xin-Jin Liu, Hui Zhang

IDETC-CIE 2002; 887-891doi:https://doi.org/10.1115/DETC2002/MECH-34304

Topics: Dynamic analysis , Kinematics , Manipulators , Degrees of freedom , Actuators , Control algorithms , Design , Dynamic modeling , Dynamics (Mechanics) , Modeling

Suspension Mechanism Synthesis for Linear Toe Curves

Madhusudan Raghavan

IDETC-CIE 2002; 893-898doi:https://doi.org/10.1115/DETC2002/MECH-34305

Topics: Algorithms , Computation , Cycles , Design , Design methodology , Packaging , Suspension systems , Tie rods , Wheels

The Synthesis of Parallel Manipulators for Optimal Desired Workspaces With Respect to the Condition Number

A. M. Hay, J. A. Snyman

IDETC-CIE 2002; 899-905doi:https://doi.org/10.1115/DETC2002/MECH-34306

Topics: Manipulators , Optimization

Structure Synthesis of Parallel Manipulators With 3-Dimension Translation and 1-Dimension Rotation

Qiong Jin, Ting-Li Yang

IDETC-CIE 2002; 907-915doi:https://doi.org/10.1115/DETC2002/MECH-34307

Topics: Chain , Dimensions , Manipulators , Rotation

On the Design of Spring-Type Mechanism for 69KV SF₆ Gas Insulated Circuit Breaker

Fu-Chen Chen

IDETC-CIE 2002; 917-926doi:https://doi.org/10.1115/DETC2002/MECH-34308

Topics: Circuit breakers , Design , Springs

Dynamic Analysis of a Feed Fine-Tuning Test Platform for the Large Radio Telescope

Qi-Ming Wang, Jinsong Wang, Hui Zhang

IDETC-CIE 2002; 927-932doi:https://doi.org/10.1115/DETC2002/MECH-34309

Topics: Dynamic analysis , Radiotelescopes , End effectors , China , Stability

On the Development of Reactionless Spatial 3-DOF Parallel-Piped Mechanisms

Cle´ment M. Gosselin, Yangnian Wu

IDETC-CIE 2002; 933-941doi:https://doi.org/10.1115/DETC2002/MECH-34310

Topics: Angular momentum , Center of mass , Computer software , Design , Kinematics , Manipulators , Optimization , Parallel mechanisms , Simulation , Trajectories (Physics)

On the Synthesis of Reactionless Spatial 3-DOF Mechanisms Using Planar 4-Bar Linkages

Yangnian Wu, Cle´ment M. Gosselin

IDETC-CIE 2002; 943-952doi:https://doi.org/10.1115/DETC2002/MECH-34311

Topics: Linkages

Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms

Jing Wang, Cle´ment M. Gosselin

IDETC-CIE 2002; 953-960doi:https://doi.org/10.1115/DETC2002/MECH-34312

Topics: Design , Manipulators , Parallel mechanisms

Input Torque Balancing Using an Inverted Cam Mechanism

Bram Demeulenaere, Farid Al-Bender, Joris De Schutter

IDETC-CIE 2002; 961-968doi:https://doi.org/10.1115/DETC2002/MECH-34313

Topics: Torque , Design , Approximation , Camshafts , Design methodology , Surface roughness

Geometric Design of Spatial PRR Manipulators Using Polynomial Elimination Techniques

Eric Lee, Constantinos Mavroidis

IDETC-CIE 2002; 969-975doi:https://doi.org/10.1115/DETC2002/MECH-34314

Topics: Design , Manipulators , Polynomials

An Integrated Method of Kinematic, Force, Power Flow and Efficiency Analyses for 3-D Epicyclic Gear Trains

Carl A. Nelson, Raymond J. Cipra

IDETC-CIE 2002; 977-984doi:https://doi.org/10.1115/DETC2002/MECH-34315

Topics: Flow (Dynamics) , Kinematic analysis , Kinematics , Planetary gears , Trains

On the Development of a Planar 3-DOF Reactionless Parallel Mechanism

Simon Foucault, Cle´ment M. Gosselin

IDETC-CIE 2002; 985-993doi:https://doi.org/10.1115/DETC2002/MECH-34316

Topics: Parallel mechanisms , Engineering prototypes , Inertia (Mechanics) , Linkages , Optimization

A Finger Mechanism for Adaptive End Effectors

Venketesh N. Dubey, Richard M. Crowder

IDETC-CIE 2002; 995-1001doi:https://doi.org/10.1115/DETC2002/MECH-34317

Topics: Design , End effectors

A New Technique for Clearance Influence Analysis in Planar Mechanisms

Vincenzo Parenti-Castelli, Stefano Venanzi

IDETC-CIE 2002; 1003-1009doi:https://doi.org/10.1115/DETC2002/MECH-34318

Topics: Clearances (Engineering) , Errors

Two Position, Two Velocity Synthesis of a Spherical Mechanism With Translating Center

Lauren S. Perry, Michael L. Turner, Andrew P. Murray

IDETC-CIE 2002; 1011-1017doi:https://doi.org/10.1115/DETC2002/MECH-34319

Topics: Actuators , Dimensions

Improving Indexing Accuracy of Grooved Globoidal Cam Mechanisms Using Asymmetrical Turret Motions

Der Min Tsay, Bor Jeng Lin, Hsin Pao Chen

IDETC-CIE 2002; 1019-1026doi:https://doi.org/10.1115/DETC2002/MECH-34320

Topics: Indexing (Machining) , Kinematics , B-splines , Design , Pressure , Rollers , Vibration

Construction and Kinematic Properties of 3-UPU Parallel Mechanisms

Z. Huang, Q. C. Li

IDETC-CIE 2002; 1027-1033doi:https://doi.org/10.1115/DETC2002/MECH-34321

Topics: Construction , Kinematics , Parallel mechanisms , Mechanical admittance , Manufacturing , Screws

Kinematics of a Special 3-DOF 3-UPU Parallel Manipulator

Shihua Li, Zhen Huang, Rongguo Zuo

IDETC-CIE 2002; 1035-1040doi:https://doi.org/10.1115/DETC2002/MECH-34322

Topics: Kinematics , Manipulators , Degrees of freedom , Design , Dimensions

Singularity-Free Fully-Isotropic Translational Parallel Manipulators

Marco Carricato, Vincenzo Parenti-Castelli

IDETC-CIE 2002; 1041-1050doi:https://doi.org/10.1115/DETC2002/MECH-34323

Topics: Manipulators , Isotropy , Jacobian matrices , Kinematic analysis , Kinematics , Parallel mechanisms , Topology

Enumeration of Contact Geometries for Kinematic Registration Using Tactile Sensing Fixtures

Walter W. Nederbragt, Bahram Ravani

IDETC-CIE 2002; 1051-1064doi:https://doi.org/10.1115/DETC2002/MECH-34324

Topics: Kinematics , Calibration , Robotics , Robots

Planning for Kinematically Smooth Manipulator Trajectories

Zan Mi, Jingzhou Yang, Karim Abdel-Malek, Laurent Jay

IDETC-CIE 2002; 1065-1073doi:https://doi.org/10.1115/DETC2002/MECH-34325

Topics: Algebra , Manipulators , Degrees of freedom , Optimization , Path planning , Switches , Trajectories (Physics)

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

Charles W. Wampler

IDETC-CIE 2002; 1075-1085doi:https://doi.org/10.1115/DETC2002/MECH-34326

Topics: Displacement , Kinematics , Robots , Eigenvalues , Linkages , Manipulators , Rotation

Analysis of Integrated Grasp Stiffness Matrix With Manipulator Parameters

Abdul Ghafoor, Jian S. Dai, Joseph Duffy

IDETC-CIE 2002; 1087-1094doi:https://doi.org/10.1115/DETC2002/MECH-34327

Topics: Manipulators , Stiffness , End effectors , Displacement , Electromagnetic induction , Manufacturing

Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots

Abbas Fattah, Sunil K. Agrawal

IDETC-CIE 2002; 1095-1103doi:https://doi.org/10.1115/DETC2002/MECH-34330

Topics: Cables , Design , Robots , End effectors , Equilibrium (Physics) , Tension

Leg Stiffness and Articulated Leg Design for Dynamic Locomotion

James P. Schmiedeler, Kenneth J. Waldron

IDETC-CIE 2002; 1105-1112doi:https://doi.org/10.1115/DETC2002/MECH-34331

Topics: Design , Stiffness , Engineering prototypes , Geometry , Robots

Determination of Location and Path Planning Algorithms for Industrial Robots

Yung Ting, Ho-Chin Jar, Yu-Shin Chen

IDETC-CIE 2002; 1113-1120doi:https://doi.org/10.1115/DETC2002/MECH-34332

Topics: Algorithms , Path planning , Robots

A Different Kinematic Model of the Tricept Robot

Rosario Sinatra

IDETC-CIE 2002; 1121-1128doi:https://doi.org/10.1115/DETC2002/MECH-34333

Topics: Kinematics , Robots , Algorithms , Architecture , Design , Displacement , Manipulators , Robot kinematics , Robotics , Trajectories (Physics)

Simulation and Modelling for Inchworm Dynamics

Diana M. Rinco´n, Jorge Sotelo

IDETC-CIE 2002; 1129-1133doi:https://doi.org/10.1115/DETC2002/MECH-34334

Topics: Dynamics (Mechanics) , Modeling , Simulation , Robots , Design , Engineering disciplines , Engineering prototypes , Friction

Optimal Force Distribution for Tethered Climbing Robots in Unstructured Environments

Dennis W. Hong, Raymond J. Cipra

IDETC-CIE 2002; 1135-1144doi:https://doi.org/10.1115/DETC2002/MECH-34335

Topics: Robots

Planning of Safe Kinematic Trajectories for Free Flying Robots Approaching an Uncontrolled Spinning Satellite

Stephen Jacobsen, Christopher Lee, Chi Zhu, Steven Dubowsky

IDETC-CIE 2002; 1145-1151doi:https://doi.org/10.1115/DETC2002/MECH-34336

Topics: Kinematics , Robots , Satellites , Spin (Aerodynamics) , Spinning (Textile) , Trajectories (Physics) , Optimization , Collisions (Physics)

Static Analysis of Spatial 7R Link Constant-Velocity Joints Extended Shaft Angle

Jun Nango, Katsumi Watanabe

IDETC-CIE 2002; 1153-1162doi:https://doi.org/10.1115/DETC2002/MECH-34338

Topics: Design , Errors , Kinematics , Manipulators , Rotation , Torque

Robust Control of Coordinated Motion of Space-Based Robot System

Chen Li

IDETC-CIE 2002; 1163-1169doi:https://doi.org/10.1115/DETC2002/MECH-34339

Topics: Robots , Robust control , Composite materials , Dynamics (Mechanics) , Equations of motion , Inertia (Mechanics) , Kinematics , Momentum , Path planning , Simulation

A High Precision Robotic Docking End Effector for 1 Micron Accuracy

Stephen J. Derby, John McFadden

IDETC-CIE 2002; 1171-1175doi:https://doi.org/10.1115/DETC2002/MECH-34340

Topics: End effectors , Robotics , Manufacturing

A Characterization of the Workspace Boundary of Three-Revolute Manipulators

Sezimaria F. P. Saramago, Erika Ottaviano, Marco Ceccarelli

IDETC-CIE 2002; 1177-1184doi:https://doi.org/10.1115/DETC2002/MECH-34342

Topics: Manipulators

Control of a 3-DOF Over-Actuated Parallel Mechansim

Fre´de´ric Marquet, Olivier Company, Se´bastian Krut, Olivier Gascuel, Franc¸ois Pierrot

IDETC-CIE 2002; 1185-1191doi:https://doi.org/10.1115/DETC2002/MECH-34343

Topics: Actuators , Machining , Parallel mechanisms , Robots

The 3-RRS Wrist: A New, Very Simple and Not Over-Constrained Spherical Parallel Manipulator

Raffaele Di Gregorio

IDETC-CIE 2002; 1193-1199doi:https://doi.org/10.1115/DETC2002/MECH-34344

Topics: Kinematic analysis , Manipulators

A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series

Yukio Takeda, Gang Shen, Hiroaki Funabashi

IDETC-CIE 2002; 1201-1210doi:https://doi.org/10.1115/DETC2002/MECH-34345

Topics: Calibration , Fourier series , Kinematics , Algorithms , Engineering simulation , Errors , Robots , Simulation

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

Jayil Jeong, Dongsoo Kang, Cornel C. Iurascu, Jongwon Kim

IDETC-CIE 2002; 1211-1217doi:https://doi.org/10.1115/DETC2002/MECH-34346

Topics: Calibration , Kinematics , Parallel mechanisms

Mechanism Design Issues of the Materials Processing Research Centrifuge of Auburn University

Petru-Aurelian Simionescu, David G. Beale, Ruel A. Overfelt

IDETC-CIE 2002; 1219-1223doi:https://doi.org/10.1115/DETC2002/MECH-34347

Topics: Design , Materials processing , Containers , Mechanical drives , Solidification , Steel , Trucks , Wheels

Analytics and Motion Planning of a Novel Four-Wheel Vehicle With Expanding Wheels

Sunil K. Agrawal, Jin Yan, Jared Rochester

IDETC-CIE 2002; 1225-1231doi:https://doi.org/10.1115/DETC2002/MECH-34348

Topics: Path planning , Vehicles , Wheels , Control systems , Control equipment , Design , Feedback , Hardware , Matlab , Navigation

Workspace-Based Architecture Selection of a 3-Degree-of-Freedom Planar Parallel Manipulator

Imtehaze Heerah, Bongsoo Kang, James K. Mills, Beno Benhabib

IDETC-CIE 2002; 1233-1238doi:https://doi.org/10.1115/DETC2002/MECH-34349

Topics: Manipulators , Degrees of freedom , Electronic components , Simulation results , Wire bonding

Procedure for Rapid Fabrication of Non-Assembly Mechanisms With Embedded Components

Kathryn J. De Laurentis, Fung Felix Kong, Constantinos Mavroidis

IDETC-CIE 2002; 1239-1245doi:https://doi.org/10.1115/DETC2002/MECH-34350

Topics: Manufacturing , Rapid prototyping , Robotics , Stereolithography

Experimental and Theoretical Analysis of a Uni-Drive Modular Robot: Design and Modeling

Hamidreza Karbasi, Jan Huissoon, Amir Khajepour

IDETC-CIE 2002; 1247-1252doi:https://doi.org/10.1115/DETC2002/MECH-34351

Topics: Design , Modeling , Robots , Theoretical analysis , Mechanical drives , Lumped parameter models , Pulse width modulation , Simulation , Simulation results , Springs

An Approach to Sequence Analysis of Carton Manipulation

David H. Liu, Jian S. Dai

IDETC-CIE 2002; 1253-1258doi:https://doi.org/10.1115/DETC2002/MECH-34352

Topics: Algorithms , Packaging , Robotics , Simulation results , Trajectories (Physics)

A Combined Scheme for Identification and Robust Torque Control of Hydraulic Actuators

Mehrzad Namvar, Farhad Aghili

IDETC-CIE 2002; 1259-1266doi:https://doi.org/10.1115/DETC2002/MECH-34353

Topics: Hydraulic actuators , Torque control , Actuators , Control equipment , Dynamics (Mechanics) , Feedback , Torque , Composite materials , Modeling , Robotics

Rapid Embedded Programming: A Tool for Education

Daniel Burns, Thomas G. Sugar

IDETC-CIE 2002; 1267-1273doi:https://doi.org/10.1115/DETC2002/MECH-34354

Topics: Computer programming , Computer software , Control equipment , Design , Education , Embedded systems , Engines , Feedback , Force feedback , Hardware

Metric Based Dynamic Parameter Identification for Mobile Field Manipulator Systems

Vivek A. Sujan, Steven Dubowsky

IDETC-CIE 2002; 1275-1282doi:https://doi.org/10.1115/DETC2002/MECH-34355

Topics: Manipulators , Algorithms , Robots , Vehicles , Control algorithms , Dynamic systems , Engineering simulation , Excitation , Multibody systems , Sensors

Vibration Reduction in Robots Using Gain Optimization

Saeed Behzadipour, Robert Dekker, Amir Khajepour

IDETC-CIE 2002; 1283-1288doi:https://doi.org/10.1115/DETC2002/MECH-34356

Topics: Optimization , Robots , Vibration

Identification of Contact Dynamics Model Parameters From Constrained Robotic Operations

M. Weber, O. Ma, I. Sharf

IDETC-CIE 2002; 1289-1298doi:https://doi.org/10.1115/DETC2002/MECH-34357

Topics: Contact dynamics , Robotics , End effectors , Simulation , Algorithms , Computer simulation , Computer technology , Design , Manipulators , Robots

Optimal Configuration Selection for a Cooperating System of Mobile Manipulators

Michel Abou-Samah, Venkat Krovi

IDETC-CIE 2002; 1299-1306doi:https://doi.org/10.1115/DETC2002/MECH-34358

Topics: Manipulators , Optimization

Motion Generation for Groups of Robots: A Centralized Geometric Approach

Calin Belta, Vijay Kumar

IDETC-CIE 2002; 1307-1315doi:https://doi.org/10.1115/DETC2002/MECH-34359

Topics: Robots , Trajectories (Physics) , Mobile robots

A New Method for Determining the Steady State Response of Mechanical Systems With Structural Flexibility

L. Yuan, J. Rastegar

IDETC-CIE 2002; 1317-1326doi:https://doi.org/10.1115/DETC2002/MECH-34360

Topics: Steady state , Machinery , Computer simulation , Dynamics (Mechanics) , Kinematics , Modeling , Dynamic response , Filtration , Harmonic motion , Linkages

Mobile Robot for Uneven Terrain

Kenneth Chin, Robert Breslawski, Terry Kientz, Vijay Kumar

IDETC-CIE 2002; 1327-1333doi:https://doi.org/10.1115/DETC2002/MECH-34361

Topics: Mobile robots , Robots , Motors , Wheels , Control systems , Electronics , Engineering prototypes , Linkages , Servomotors

Mechanical Design of a Robotic System for Automatic Installation of Magnetic Markers on the Roadway

Randy James, Basar Ozkan, Bahram Ravani

IDETC-CIE 2002; 1335-1345doi:https://doi.org/10.1115/DETC2002/MECH-34362

Topics: Design engineering , Roads , Robotics , Design , Pavement , Drilling , Dynamic modeling , Manufacturing , Rollers , Signals

A Motor-Integrated Parallel Hybrid Transmission

L. W. Tsai, G. Schultz

IDETC-CIE 2002; 1347-1354doi:https://doi.org/10.1115/DETC2002/MECH-34363

Topics: Engines , Hybrid electric vehicles , Wheels , Electric motors , Flow (Dynamics) , Kinematics , Regenerative braking , Torque , Vehicles

Force Sensor Based Calibration of Robot Grinding

Yue Zhang, Yunquan Sun, Kazem Kazerounian, Zhongxue Gan

IDETC-CIE 2002; 1355-1360doi:https://doi.org/10.1115/DETC2002/MECH-34364

Topics: Calibration , Force sensors , Grinding , Robots

Workspace Optimization of Orientational 3-Legged UPS Parallel Platforms

Mircea Badescu, Jeremy Morman, Constantinos Mavroidis

IDETC-CIE 2002; 1361-1367doi:https://doi.org/10.1115/DETC2002/MECH-34366

Topics: Design , Genetic algorithms , Monte Carlo methods , Optimization , Isotropy

A New Inchworm Mechanism With Hydrauilic Booster

Sara Behjat, Amir Khajepour, Kirsten A. Morris

IDETC-CIE 2002; 1369-1374doi:https://doi.org/10.1115/DETC2002/MECH-34367

Topics: Biological cells , Calibration , Fibers , Instrumentation , Integrated circuit fabrication , Lenses (Optics) , Linear motors , Manipulators , Manufacturing , Mass production

Errors and Corrections of Robotics Standard ANSI/RIA R15.05-1-1990: Industrial Robots and Robot Systems Point to Point and Static Performance Characteristics—Evaluation

Hongliang Cui, Zhenqi Zhu

IDETC-CIE 2002; 1375-1381doi:https://doi.org/10.1115/DETC2002/MECH-34368

Topics: Errors , Performance characterization , Robotics , Robots , Testing performance

SAM: Simulation and Analysis of Mechanisms

Adrian M. Rankers, Herbert W. Schrama

IDETC-CIE 2002; 1383-1387doi:https://doi.org/10.1115/DETC2002/MECH-34370

Topics: Simulation , Finite element analysis , Belts , Computer software , Dampers , Engines , Friction , Gears , Numerical analysis , Springs

An Extensible Java Applet for Spatial Linkage Synthesis

Haijun Su, Curtis Collins, J. Michael McCarthy

IDETC-CIE 2002; 1389-1396doi:https://doi.org/10.1115/DETC2002/MECH-34371

Topics: Linkages , Chain , Design , Computer-aided design

Developing Classifications for Synthesizing, Refining, and Animating Planar Mechanisms

David T. Martin, Andrew P. Murray

IDETC-CIE 2002; 1397-1403doi:https://doi.org/10.1115/DETC2002/MECH-34372

Topics: Computer software , Degrees of freedom , Design , Kinematics , Rotation

Heron’s Synthesis Engine Applied to Linkage Design: The Philosophy of WATT Software

Harry Draijer, Frans Kokkeler

IDETC-CIE 2002; 1405-1409doi:https://doi.org/10.1115/DETC2002/MECH-34373

Topics: Computer software , Design , Engines , Linkages

Computer-Aided Design of a Mechanism for the Continuous, Automated Assembly of Two Parts at High Speed: A Case Study

W. L. Churchill, E. Gilman, C. Gow, D. Yamartino, R. L. Norton

IDETC-CIE 2002; 1411-1419doi:https://doi.org/10.1115/DETC2002/MECH-34374

Topics: Computer-aided design , Manufacturing , Assembly lines , Cams , Computer-aided engineering , Damage , Design , Geometry , Linkages , Snap fitting

LINCAGES 2000: Latest Developments and Case Study

Ning Yu, Arthur G. Erdman, Brandon P. Byers

IDETC-CIE 2002; 1421-1425doi:https://doi.org/10.1115/DETC2002/MECH-34375

Topics: Computer software , Design

Extending Synthesis: Robust Design Using ADAMS/Insight

S. Ravi Shankar, Stephan Koerner, John Janevic

IDETC-CIE 2002; 1427-1432doi:https://doi.org/10.1115/DETC2002/MECH-34376

Topics: Design , Dynamics (Mechanics) , Kinematics

VRSPATIAL: Designing Spatial Mechanisms Using Virtual Reality

Judy M. Vance, Pierre Larochelle, Denis Dorozhkin

IDETC-CIE 2002; 1433-1437doi:https://doi.org/10.1115/DETC2002/MECH-34377

Topics: Design , Virtual reality

Solving the Burmester Problem Using Kinematic Mapping

M. J. D. Hayes, P. J. Zsombor-Murray

IDETC-CIE 2002; 1439-1446doi:https://doi.org/10.1115/DETC2002/MECH-34378

Topics: Kinematics

Inverse Kinematic Solution for Universal-Jointed Hyper-Redundant Robots

Farbod Fahimi, Hashem Ashrafiuon, C. Nataraj

IDETC-CIE 2002; 1447-1454doi:https://doi.org/10.1115/DETC2002/MECH-34428

Topics: Kinematics , Robots , Mode shapes , Algebra , Fittings , Manipulators , Redundancy (Engineering) , Universal joints

Nonlinear Control of a Single-Link Shape Memory Alloy Actuated Arm

Mohammad H. Elahinia, Hashem Ashrafiuon

IDETC-CIE 2002; 1455-1464doi:https://doi.org/10.1115/DETC2002/MECH-34429

Topics: Shape memory alloys , Manipulators , Algorithms , Robust control , Simulation , Computer simulation , Constitutive equations , Control systems , Degrees of freedom , Heat transfer