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Proceedings Papers

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:
  • Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-3653-3
In This Volume
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; 3-11https://doi.org/10.1115/DETC2002/MECH-34201
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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; 13-22https://doi.org/10.1115/DETC2002/MECH-34202
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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; 23-33https://doi.org/10.1115/DETC2002/MECH-34203
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Topics: Algorithms , Chain , Compliant mechanisms , Deflection , Design , Errors , Kinematics
Design of Compliant Parallel Kinematic Machines
Yong-Mo Moon, Sridhar Kota
IDETC-CIE 2002; 35-41https://doi.org/10.1115/DETC2002/MECH-34204
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Topics: Design , Kinematics , Machinery , Construction , Degrees of freedom , Displacement , Modular construction , Stress
Dynamic Analysis of Compliant Mechanisms
Zhe Li, Sridhar Kota
IDETC-CIE 2002; 43-50https://doi.org/10.1115/DETC2002/MECH-34205
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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; 51-63https://doi.org/10.1115/DETC2002/MECH-34206
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Topics: Stress , Design , Compliant mechanisms , Design methodology
Design of Large-Displacement Compliant Joints
Yong-Mo Moon, Brian Patrick Trease, Sridhar Kota
IDETC-CIE 2002; 65-76https://doi.org/10.1115/DETC2002/MECH-34207
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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; 77-83https://doi.org/10.1115/DETC2002/MECH-34208
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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; 85-96https://doi.org/10.1115/DETC2002/MECH-34209
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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; 97-108https://doi.org/10.1115/DETC2002/MECH-34210
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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; 109-121https://doi.org/10.1115/DETC2002/MECH-34211
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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; 123-135https://doi.org/10.1115/DETC2002/MECH-34212
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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; 137-149https://doi.org/10.1115/DETC2002/MECH-34213
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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; 151-156https://doi.org/10.1115/DETC2002/MECH-34214
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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; 157-164https://doi.org/10.1115/DETC2002/MECH-34215
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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; 165-170https://doi.org/10.1115/DETC2002/MECH-34216
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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; 171-175https://doi.org/10.1115/DETC2002/MECH-34217
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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; 177-182https://doi.org/10.1115/DETC2002/MECH-34218
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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; 183-190https://doi.org/10.1115/DETC2002/MECH-34219
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Topics: Design , Kinematics , Rapid tooling , Simulation
Dynamic Simulation and Optimization of Underactuated Robotic Fingers
Laura M. Sie, Cle´ment M. Gosselin
IDETC-CIE 2002; 191-199https://doi.org/10.1115/DETC2002/MECH-34220
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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; 201-207https://doi.org/10.1115/DETC2002/MECH-34221
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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; 209-216https://doi.org/10.1115/DETC2002/MECH-34222
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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; 217-224https://doi.org/10.1115/DETC2002/MECH-34223
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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; 225-233https://doi.org/10.1115/DETC2002/MECH-34224
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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; 235-241https://doi.org/10.1115/DETC2002/MECH-34225
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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; 243-251https://doi.org/10.1115/DETC2002/MECH-34226
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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; 253-259https://doi.org/10.1115/DETC2002/MECH-34227
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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; 261-268https://doi.org/10.1115/DETC2002/MECH-34228
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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; 269-277https://doi.org/10.1115/DETC2002/MECH-34229
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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; 279-286https://doi.org/10.1115/DETC2002/MECH-34230
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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; 287-296https://doi.org/10.1115/DETC2002/MECH-34231
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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; 297-304https://doi.org/10.1115/DETC2002/MECH-34232
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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; 315-324https://doi.org/10.1115/DETC2002/MECH-34235
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Topics: Motion analysis
The Kinematics of a Class of 3-DOF 4-Legged Parallel Manipulators
Sammer A. Joshi, Lung-Wen Tasi
IDETC-CIE 2002; 325-334https://doi.org/10.1115/DETC2002/MECH-34236
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Topics: Kinematics , Manipulators , Actuators
Singularity Principle and Distribution of 6-3 Stewart Parallel Manipulator
Z. Huang, L. H. Chen
IDETC-CIE 2002; 335-340https://doi.org/10.1115/DETC2002/MECH-34237
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Topics: Manipulators , Kinematics , Screws
Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi, Lung-Wen Tsai
IDETC-CIE 2002; 341-348https://doi.org/10.1115/DETC2002/MECH-34238
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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; 349-359https://doi.org/10.1115/DETC2002/MECH-34239
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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; 361-368https://doi.org/10.1115/DETC2002/MECH-34240
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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; 369-376https://doi.org/10.1115/DETC2002/MECH-34241
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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; 377-384https://doi.org/10.1115/DETC2002/MECH-34242
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Topics: Kinematics , Linkages , Scalar field theory , Algebra , Chords (Trusses)
The Design of Stacked Linkages for Motion Generation
John A. Mirth
IDETC-CIE 2002; 385-393https://doi.org/10.1115/DETC2002/MECH-34243
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Topics: Design , Linkages
Estimation of Object Kinematics From Point Data
Anand R. Vithani, Krishna C. Gupta
IDETC-CIE 2002; 395-403https://doi.org/10.1115/DETC2002/MECH-34244
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Topics: Kinematics
Modified 6-PSU Platform
Brian R. Hopkins, Robert L. Williams, II
IDETC-CIE 2002; 405-412https://doi.org/10.1115/DETC2002/MECH-34245
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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; 413-420https://doi.org/10.1115/DETC2002/MECH-34246
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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; 421-428https://doi.org/10.1115/DETC2002/MECH-34247
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Topics: Eigenvalues , Design , Microelectromechanical systems
On Mobillity Analysis of Linkages Using Group Theory
Jose´ Mari´a Rico, Bahram Ravani
IDETC-CIE 2002; 429-446https://doi.org/10.1115/DETC2002/MECH-34249
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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; 447-453https://doi.org/10.1115/DETC2002/MECH-34250
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Topics: Degrees of freedom , Kinematics , Robots , Rolling contact , Cables , Chain , End effectors , Gears
Multiloop Kinematotropic Mechanisms
Carlo Galletti, Elena Giannotti
IDETC-CIE 2002; 455-460https://doi.org/10.1115/DETC2002/MECH-34251
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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; 461-470https://doi.org/10.1115/DETC2002/MECH-34252
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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; 471-480https://doi.org/10.1115/DETC2002/MECH-34253
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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; 481-488https://doi.org/10.1115/DETC2002/MECH-34254
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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; 489-495https://doi.org/10.1115/DETC2002/MECH-34255
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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; 497-503https://doi.org/10.1115/DETC2002/MECH-34256
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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; 505-514https://doi.org/10.1115/DETC2002/MECH-34257
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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; 515-522https://doi.org/10.1115/DETC2002/MECH-34258
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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; 523-531https://doi.org/10.1115/DETC2002/MECH-34259
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Topics: Manipulators , Screws
Three-Dimensional Kinematic Analysis and Verification for a Flexible Robot Arm
Min Gu, Jean-Claude Piedbœuf
IDETC-CIE 2002; 533-542https://doi.org/10.1115/DETC2002/MECH-34260
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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; 543-551https://doi.org/10.1115/DETC2002/MECH-34261
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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; 553-562https://doi.org/10.1115/DETC2002/MECH-34262
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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; 563-568https://doi.org/10.1115/DETC2002/MECH-34263
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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; 569-576https://doi.org/10.1115/DETC2002/MECH-34264
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Topics: Manipulators , Rotation
The Finite Screw System Associated With the Displacement of a Line
Chintien Huang, Jin-Cheng Wang
IDETC-CIE 2002; 577-583https://doi.org/10.1115/DETC2002/MECH-34265
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Topics: Displacement , Screws , Geometry
Kinematic Analysis of Bevel Epicyclic Gear Trains Using Graph Notation
Carl A. Nelson, Raymond J. Cipra
IDETC-CIE 2002; 585-591https://doi.org/10.1115/DETC2002/MECH-34266
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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; 593-600https://doi.org/10.1115/DETC2002/MECH-34267
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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; 601-606https://doi.org/10.1115/DETC2002/MECH-34268
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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; 607-615https://doi.org/10.1115/DETC2002/MECH-34269
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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; 617-626https://doi.org/10.1115/DETC2002/MECH-34270
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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; 627-633https://doi.org/10.1115/DETC2002/MECH-34271
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Topics: Linkages , Generators
Five Precision Points Synthesis of Spatial RRR Manipulators Using Interval Analysis
Eric Lee, Constantinos Mavroidis, Jean Pierre Merlet
IDETC-CIE 2002; 635-644https://doi.org/10.1115/DETC2002/MECH-34272
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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; 645-653https://doi.org/10.1115/DETC2002/MECH-34273
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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; 655-660https://doi.org/10.1115/DETC2002/MECH-34274
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Topics: Computers , Engineering prototypes , Kinematic chains
Geometric Modelling of Elliptical Gears Generated by Shaper Cutters
Giorgio Figliolini, Jorge Angeles
IDETC-CIE 2002; 661-670https://doi.org/10.1115/DETC2002/MECH-34275
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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; 671-680https://doi.org/10.1115/DETC2002/MECH-34276
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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; 681-687https://doi.org/10.1115/DETC2002/MECH-34277
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Topics: Tensegrity , Tensegrity structures
Static Analysis of Prestressed Tensegrity Structures
Carl D. Crane, III, Joseph Duffy, Julio C. Correa
IDETC-CIE 2002; 689-695https://doi.org/10.1115/DETC2002/MECH-34278
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Topics: Tensegrity structures , Equilibrium (Physics) , Tensegrity
A Nip Closing Study of Crowned Rolls
Juha-Matti Kivinen, Ville Ja¨rvinen
IDETC-CIE 2002; 697-706https://doi.org/10.1115/DETC2002/MECH-34279
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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; 707-714https://doi.org/10.1115/DETC2002/MECH-34280
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Topics: Pneumatic cylinders , Springs , Cylinders , Machinery , Secondary cells
Projective Convexity in Computational Kinematic Geometry
Q. J. Ge
IDETC-CIE 2002; 715-723https://doi.org/10.1115/DETC2002/MECH-34281
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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; 725-730https://doi.org/10.1115/DETC2002/MECH-34282
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Topics: Design , Orthotics
Development of Steerable Endoscopes to Improve Depth Perception During Laparoscopic Surgery
Paul Breedveld, Shigeo Hirose
IDETC-CIE 2002; 731-736https://doi.org/10.1115/DETC2002/MECH-34283
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Topics: Endoscopes , Springs , Surgery
Optimizing a Balanced Spring Mechanism
Marc L. Brinkman, Just L. Herder
IDETC-CIE 2002; 737-745https://doi.org/10.1115/DETC2002/MECH-34284
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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; 747-756https://doi.org/10.1115/DETC2002/MECH-34285
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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; 757-765https://doi.org/10.1115/DETC2002/MECH-34286
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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; 767-774https://doi.org/10.1115/DETC2002/MECH-34287
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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; 775-782https://doi.org/10.1115/DETC2002/MECH-34288
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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; 783-790https://doi.org/10.1115/DETC2002/MECH-34289
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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; 791-796https://doi.org/10.1115/DETC2002/MECH-34290
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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; 797-803https://doi.org/10.1115/DETC2002/MECH-34291
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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; 805-811https://doi.org/10.1115/DETC2002/MECH-34292
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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; 813-817https://doi.org/10.1115/DETC2002/MECH-34293
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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; 819-824https://doi.org/10.1115/DETC2002/MECH-34294
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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; 825-831https://doi.org/10.1115/DETC2002/MECH-34296
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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; 833-841https://doi.org/10.1115/DETC2002/MECH-34297
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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; 843-850https://doi.org/10.1115/DETC2002/MECH-34298
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Topics: Computer simulation , Dimensions , Linkages
Some Novel Lower-Mobility Parallel Mechanisms
Z. Huang, Q. C. Li
IDETC-CIE 2002; 851-856https://doi.org/10.1115/DETC2002/MECH-34299
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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; 857-864https://doi.org/10.1115/DETC2002/MECH-34300
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Topics: Design , Engineering prototypes
Design Optimization of a Cartesian Parallel Manipulator
Han Sung Kim, Lung-Wen Tsai
IDETC-CIE 2002; 865-872https://doi.org/10.1115/DETC2002/MECH-34301
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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; 873-880https://doi.org/10.1115/DETC2002/MECH-34302
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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; 881-885https://doi.org/10.1115/DETC2002/MECH-34303
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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; 887-891https://doi.org/10.1115/DETC2002/MECH-34304
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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; 893-898https://doi.org/10.1115/DETC2002/MECH-34305
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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; 899-905https://doi.org/10.1115/DETC2002/MECH-34306
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Topics: Manipulators , Optimization
Structure Synthesis of Parallel Manipulators With 3-Dimension Translation and 1-Dimension Rotation
Qiong Jin, Ting-Li Yang
IDETC-CIE 2002; 907-915https://doi.org/10.1115/DETC2002/MECH-34307
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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; 917-926https://doi.org/10.1115/DETC2002/MECH-34308
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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; 927-932https://doi.org/10.1115/DETC2002/MECH-34309
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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; 933-941https://doi.org/10.1115/DETC2002/MECH-34310
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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; 943-952https://doi.org/10.1115/DETC2002/MECH-34311
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Topics: Linkages
Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms
Jing Wang, Cle´ment M. Gosselin
IDETC-CIE 2002; 953-960https://doi.org/10.1115/DETC2002/MECH-34312
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Topics: Design , Manipulators , Parallel mechanisms
Input Torque Balancing Using an Inverted Cam Mechanism
Bram Demeulenaere, Farid Al-Bender, Joris De Schutter
IDETC-CIE 2002; 961-968https://doi.org/10.1115/DETC2002/MECH-34313
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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; 969-975https://doi.org/10.1115/DETC2002/MECH-34314
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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; 977-984https://doi.org/10.1115/DETC2002/MECH-34315
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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; 985-993https://doi.org/10.1115/DETC2002/MECH-34316
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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; 995-1001https://doi.org/10.1115/DETC2002/MECH-34317
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Topics: Design , End effectors
A New Technique for Clearance Influence Analysis in Planar Mechanisms
Vincenzo Parenti-Castelli, Stefano Venanzi
IDETC-CIE 2002; 1003-1009https://doi.org/10.1115/DETC2002/MECH-34318
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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; 1011-1017https://doi.org/10.1115/DETC2002/MECH-34319
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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; 1019-1026https://doi.org/10.1115/DETC2002/MECH-34320
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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; 1027-1033https://doi.org/10.1115/DETC2002/MECH-34321
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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; 1035-1040https://doi.org/10.1115/DETC2002/MECH-34322
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Topics: Kinematics , Manipulators , Degrees of freedom , Design , Dimensions
Singularity-Free Fully-Isotropic Translational Parallel Manipulators
Marco Carricato, Vincenzo Parenti-Castelli
IDETC-CIE 2002; 1041-1050https://doi.org/10.1115/DETC2002/MECH-34323
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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; 1051-1064https://doi.org/10.1115/DETC2002/MECH-34324
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Topics: Kinematics , Calibration , Robotics , Robots
Planning for Kinematically Smooth Manipulator Trajectories
Zan Mi, Jingzhou Yang, Karim Abdel-Malek, Laurent Jay
IDETC-CIE 2002; 1065-1073https://doi.org/10.1115/DETC2002/MECH-34325
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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; 1075-1085https://doi.org/10.1115/DETC2002/MECH-34326
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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; 1087-1094https://doi.org/10.1115/DETC2002/MECH-34327
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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; 1095-1103https://doi.org/10.1115/DETC2002/MECH-34330
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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; 1105-1112https://doi.org/10.1115/DETC2002/MECH-34331
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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; 1113-1120https://doi.org/10.1115/DETC2002/MECH-34332
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Topics: Algorithms , Path planning , Robots
A Different Kinematic Model of the Tricept Robot
Rosario Sinatra
IDETC-CIE 2002; 1121-1128https://doi.org/10.1115/DETC2002/MECH-34333
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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; 1129-1133https://doi.org/10.1115/DETC2002/MECH-34334
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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; 1135-1144https://doi.org/10.1115/DETC2002/MECH-34335
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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; 1145-1151https://doi.org/10.1115/DETC2002/MECH-34336
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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; 1153-1162https://doi.org/10.1115/DETC2002/MECH-34338
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Topics: Design , Errors , Kinematics , Manipulators , Rotation , Torque
Robust Control of Coordinated Motion of Space-Based Robot System
Chen Li
IDETC-CIE 2002; 1163-1169https://doi.org/10.1115/DETC2002/MECH-34339
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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; 1171-1175https://doi.org/10.1115/DETC2002/MECH-34340
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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; 1177-1184https://doi.org/10.1115/DETC2002/MECH-34342
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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; 1185-1191https://doi.org/10.1115/DETC2002/MECH-34343
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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; 1193-1199https://doi.org/10.1115/DETC2002/MECH-34344
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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; 1201-1210https://doi.org/10.1115/DETC2002/MECH-34345
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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; 1211-1217https://doi.org/10.1115/DETC2002/MECH-34346
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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; 1219-1223https://doi.org/10.1115/DETC2002/MECH-34347
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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; 1225-1231https://doi.org/10.1115/DETC2002/MECH-34348
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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; 1233-1238https://doi.org/10.1115/DETC2002/MECH-34349
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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; 1239-1245https://doi.org/10.1115/DETC2002/MECH-34350
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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; 1247-1252https://doi.org/10.1115/DETC2002/MECH-34351
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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; 1253-1258https://doi.org/10.1115/DETC2002/MECH-34352
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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; 1259-1266https://doi.org/10.1115/DETC2002/MECH-34353
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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; 1267-1273https://doi.org/10.1115/DETC2002/MECH-34354
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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; 1275-1282https://doi.org/10.1115/DETC2002/MECH-34355
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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; 1283-1288https://doi.org/10.1115/DETC2002/MECH-34356
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Topics: Optimization , Robots , Vibration
Identification of Contact Dynamics Model Parameters From Constrained Robotic Operations
M. Weber, O. Ma, I. Sharf
IDETC-CIE 2002; 1289-1298https://doi.org/10.1115/DETC2002/MECH-34357
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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; 1299-1306https://doi.org/10.1115/DETC2002/MECH-34358
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Topics: Manipulators , Optimization
Motion Generation for Groups of Robots: A Centralized Geometric Approach
Calin Belta, Vijay Kumar
IDETC-CIE 2002; 1307-1315https://doi.org/10.1115/DETC2002/MECH-34359
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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; 1317-1326https://doi.org/10.1115/DETC2002/MECH-34360
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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; 1327-1333https://doi.org/10.1115/DETC2002/MECH-34361
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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; 1335-1345https://doi.org/10.1115/DETC2002/MECH-34362
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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; 1347-1354https://doi.org/10.1115/DETC2002/MECH-34363
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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; 1355-1360https://doi.org/10.1115/DETC2002/MECH-34364
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Topics: Calibration , Force sensors , Grinding , Robots
Workspace Optimization of Orientational 3-Legged UPS Parallel Platforms
Mircea Badescu, Jeremy Morman, Constantinos Mavroidis
IDETC-CIE 2002; 1361-1367https://doi.org/10.1115/DETC2002/MECH-34366
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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; 1369-1374https://doi.org/10.1115/DETC2002/MECH-34367
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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; 1375-1381https://doi.org/10.1115/DETC2002/MECH-34368
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Topics: Errors , Performance characterization , Robotics , Robots , Testing performance
SAM: Simulation and Analysis of Mechanisms
Adrian M. Rankers, Herbert W. Schrama
IDETC-CIE 2002; 1383-1387https://doi.org/10.1115/DETC2002/MECH-34370
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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; 1389-1396https://doi.org/10.1115/DETC2002/MECH-34371
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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; 1397-1403https://doi.org/10.1115/DETC2002/MECH-34372
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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; 1405-1409https://doi.org/10.1115/DETC2002/MECH-34373
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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; 1411-1419https://doi.org/10.1115/DETC2002/MECH-34374
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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; 1421-1425https://doi.org/10.1115/DETC2002/MECH-34375
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Topics: Computer software , Design
Extending Synthesis: Robust Design Using ADAMS/Insight
S. Ravi Shankar, Stephan Koerner, John Janevic
IDETC-CIE 2002; 1427-1432https://doi.org/10.1115/DETC2002/MECH-34376
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Topics: Design , Dynamics (Mechanics) , Kinematics
VRSPATIAL: Designing Spatial Mechanisms Using Virtual Reality
Judy M. Vance, Pierre Larochelle, Denis Dorozhkin
IDETC-CIE 2002; 1433-1437https://doi.org/10.1115/DETC2002/MECH-34377
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Topics: Design , Virtual reality
Solving the Burmester Problem Using Kinematic Mapping
M. J. D. Hayes, P. J. Zsombor-Murray
IDETC-CIE 2002; 1439-1446https://doi.org/10.1115/DETC2002/MECH-34378
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Topics: Kinematics
Inverse Kinematic Solution for Universal-Jointed Hyper-Redundant Robots
Farbod Fahimi, Hashem Ashrafiuon, C. Nataraj
IDETC-CIE 2002; 1447-1454https://doi.org/10.1115/DETC2002/MECH-34428
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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; 1455-1464https://doi.org/10.1115/DETC2002/MECH-34429
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Topics: Shape memory alloys , Manipulators , Algorithms , Robust control , Simulation , Computer simulation , Constitutive equations , Control systems , Degrees of freedom , Heat transfer
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