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Proceedings Papers

Proceedings Volume Cover
ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 24–28, 2005
Long Beach, California, USA
Conference Sponsors:
  • Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4744-6
Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B

29th Mechanisms and Robotics Conference

Compliant Mechanisms

Compliant Rolling-Contact Element Mechanisms
Jesse R. Cannon, Craig P. Lusk, Larry L. Howell
IDETC-CIE 2005; 3-13https://doi.org/10.1115/DETC2005-84073
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Topics: Bearings , Rolling contact , Springs
Design of a New Compliant Mechanical Amplifier
P. R. Ouyang, W. J. Zhang, M. M. Gupta
IDETC-CIE 2005; 15-24https://doi.org/10.1115/DETC2005-84371
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Topics: Design , Displacement , Topology , Hinges , Actuators , Bending (Stress) , Corners (Structural elements) , Finite element analysis , Piezoelectric actuators
A Robotic “Jack Spring”™ for Ankle Gait Assistance
Kevin W. Hollander, Thomas G. Sugar, Donald E. Herring
IDETC-CIE 2005; 25-34https://doi.org/10.1115/DETC2005-84492
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Topics: Jacks (Lifting equipment) , Robotics , Springs , Actuators , Engines , Joules , Motors , Tendons , Engineering prototypes , Weight (Mass)
Wide Curve Based Geometric Optimization of Compliant Mechanisms
Hong Zhou, Kwun-Lon Ting
IDETC-CIE 2005; 35-41https://doi.org/10.1115/DETC2005-84605
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Topics: Compliant mechanisms , Optimization , Topology , Algorithms , Matlab , Nonlinear programming , Shapes
Spanning Tree Based Topological Optimization of Compliant Mechanisms
Hong Zhou, Kwun-Lon Ting
IDETC-CIE 2005; 43-50https://doi.org/10.1115/DETC2005-84608
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Topics: Compliant mechanisms , Optimization , Deformation , Displacement , Genetic algorithms , Performance evaluation , Stress , Topology
Optimal Synthesis of Compliant Mechanisms Using a Connectivity Preserving Level Set Method
Shikui Chen, Michael Yu Wang, Shengyin Wang, Qi Xia
IDETC-CIE 2005; 51-60https://doi.org/10.1115/DETC2005-84748
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Topics: Compliant mechanisms , Design , Optimization , Topology
Synthesis of Compliant Mechanisms With Specified Equilibrium Positions
Hai-Jun Su, J. Michael McCarthy
IDETC-CIE 2005; 61-69https://doi.org/10.1115/DETC2005-85085
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Topics: Compliant mechanisms , Equilibrium (Physics) , Design , Bending (Stress) , Design methodology , Linkages , Modeling , Polynomials
Dynamic Modeling and Controller Design of a Planar Parallel 3-RRR Compliant Micromanipulator
Jingjun Yu, Dong Zhao, Shusheng Bi, Guanghua Zong
IDETC-CIE 2005; 71-78https://doi.org/10.1115/DETC2005-85241
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Topics: Control equipment , Design , Dynamic modeling , Dynamics (Mechanics)
Multivariate Parameter Sets for Optimal Synthesis of Compliant Mechanisms
Alexander Shibakov, Stephen L. Canfield, Patrick V. Hull
IDETC-CIE 2005; 79-87https://doi.org/10.1115/DETC2005-85379
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Topics: Compliant mechanisms , Design , Shapes , Tiles , Topology
Design of Parallel Kinematic XY Flexure Mechanisms
Shorya Awtar, Alexander H. Slocum
IDETC-CIE 2005; 89-99https://doi.org/10.1115/DETC2005-85413
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Topics: Design , Flexure mechanisms , Kinematics , Bending (Stress) , Tradeoffs , Displacement , Errors , Finite element analysis
Closed-Form Nonlinear Analysis of Beam-Based Flexure Modules
Shorya Awtar, Alexander H. Slocum
IDETC-CIE 2005; 101-110https://doi.org/10.1115/DETC2005-85440
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Topics: Bending (Stress) , Flexure mechanisms , Approximation , Stiffness , Computational methods , Displacement , Equilibrium (Physics) , Errors , Finite element analysis , Geometry
Damping Flexure Mechanisms Using Low-Density, Low-Wave-Speed Media
Kripa K. Varanasi, Samir A. Nayfeh, Alexander H. Slocum
IDETC-CIE 2005; 111-119https://doi.org/10.1115/DETC2005-85448
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Topics: Damping , Density , Flexure mechanisms , Waves , Bending (Stress) , Constraint systems , Foams (Chemistry) , Frequency response , Poles (Building) , Resonance
Compliant Bistable Dielectric Elastomer Actuators for Binary Mechatronic Systems
Jean-Se´bastien Plante, Matthew Santer, Steven Dubowsky, Sergio Pellegrino
IDETC-CIE 2005; 121-126https://doi.org/10.1115/DETC2005-85576
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Topics: Actuators , Elastomers , Dimensions , Engineering prototypes , Polymers , Switches , Trusses (Building)

Dynamics of Machines

CMAC Neural Network Control for High Precision Motion of Hybrid Actuator
Zhang Ke, Wang Shengze
IDETC-CIE 2005; 127-131https://doi.org/10.1115/DETC2005-84204
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Topics: Actuators , Artificial neural networks , Algorithms , Control algorithms , Friction , Robots , Servomechanisms , Simulation results
Dynamics Analysis of a Controllable Mechanism
Zhang Ke, Wang Shengze
IDETC-CIE 2005; 133-140https://doi.org/10.1115/DETC2005-84207
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Topics: Dynamics (Mechanics) , Kinematics , Computation , Computers , Reliability
Tooth Profile Modifications for Optimum Dynamic Load in Spur Gears Based on Pseudo-Interference Stiffness Estimation Method
Monsak Pimsarn, Kazem Kazerounian
IDETC-CIE 2005; 141-150https://doi.org/10.1115/DETC2005-84562
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Topics: Spur gears , Stiffness , Stress , Gears , Design , Durability , Fatigue , Temperature , Dynamic response , Dynamics (Mechanics)
Characteristics Analysis of Hydraulic Servo-Valve Torque Motor Using Magnetic Fluid
Songjing Li, Dan Jiang, Wen Bao
IDETC-CIE 2005; 151-158https://doi.org/10.1115/DETC2005-84704
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Topics: Finite element analysis , Magnetic fluids , Servomechanisms , Torque motors , Valves
Micro-Macro or Link-Integrated Micro-Actuator Manipulation: A Kinematics and Dynamics Perspective
J. Zhang, J. Rastegar
IDETC-CIE 2005; 159-166https://doi.org/10.1115/DETC2005-84706
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Topics: Dynamics (Mechanics) , Kinematics , Microactuators , Manipulators , Chain , Actuators , End effectors , Dynamic response , Vibration , Robots
Integrated Design and Control of a Biped Robot
James P. Schmiedeler, Eric R. Westervelt, Adam R. Dunki-Jacobs
IDETC-CIE 2005; 167-173https://doi.org/10.1115/DETC2005-84848
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Topics: Design , Robots , Control equipment , Construction , Control systems , Design engineering , Dynamics (Mechanics) , Engineering prototypes , Performance , Stability
Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism
M. Necip Sahinkaya, Yanzhi Li
IDETC-CIE 2005; 175-181https://doi.org/10.1115/DETC2005-85252
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Topics: Dynamic analysis , Parallel mechanisms , Dynamics (Mechanics) , Control equipment , Degrees of freedom , Electric motors , Engineering simulation , Errors , Simulation , System dynamics

Mechanism Synthesis, Components, and Applications

The Duality Between Planar Kinematics and Statics
Offer Shai, Gordon R. Pennock
IDETC-CIE 2005; 183-194https://doi.org/10.1115/DETC2005-84002
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Topics: Kinematics , Statics , Theorems (Mathematics)
Motion Synthesis of a Chopstick-Type Gripping Mechanism
Jyh-Jone Lee, Sheng-Lun Hu
IDETC-CIE 2005; 195-200https://doi.org/10.1115/DETC2005-84258
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Topics: Design , Kinematics , Optimization
The Novel Characteristic Representations of Kinematic Chains and Their Applications
Z. Huang, H. F. Ding, Y. Cao
IDETC-CIE 2005; 201-210https://doi.org/10.1115/DETC2005-84282
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Topics: Kinematic chains , Databases , Computer programming languages , Computer software
A New Appraoch to Shape Optimization for Closed Path Synthesis of Planar Mechanisms
Ahmad Smaili, Nadim Diab
IDETC-CIE 2005; 211-218https://doi.org/10.1115/DETC2005-84301
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Topics: Computer-aided design , Shape optimization
A New Approach for Exact/Approximate Point Synthesis of Planar Mechanisms
Ahmad Smaili, Nadim Diab
IDETC-CIE 2005; 219-226https://doi.org/10.1115/DETC2005-84339
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Topics: Algorithms , Errors , Optimization
Supension System Vehicle Design Using a Local Optimization Procedure
Ramon Sancibrian, Pablo Garcia, Fernando Viadero, Alfonso Fernandez
IDETC-CIE 2005; 227-236https://doi.org/10.1115/DETC2005-84441
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Topics: Automotive design , Optimization , Suspension systems , Design , Kinematics , Multibody systems
Design of Lead Screw Actuators for Wearable Robotic Applications
Kevin W. Hollander, Thomas G. Sugar
IDETC-CIE 2005; 237-246https://doi.org/10.1115/DETC2005-84595
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Topics: Actuators , Design , Robotics , Screws , Weight (Mass) , Mechanical efficiency , Engines , Motors , Muscle , Robots
Laplace and Extended Adjacency Matrices for Isomorphism Detection of Kinematic Chains Using the Characteristic Polynomial Approach
Rajesh Pavan Sunkari, Linda C. Schmidt
IDETC-CIE 2005; 247-254https://doi.org/10.1115/DETC2005-84609
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Topics: Kinematic chains , Polynomials , Reliability , Algebra , Algorithms , Chain , Eigenvalues
Critical Review of Existing Degeneracy Testing and Mobility Type Identification Algorithms for Kinematic Chains
Rajesh Pavan Sunkari, Linda C. Schmidt
IDETC-CIE 2005; 255-263https://doi.org/10.1115/DETC2005-84626
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Topics: Algorithms , Kinematic chains , Mechanical admittance , Testing , Errors , Chain
Static Balancing of Tensegrity Mechanisms
Marc Arsenault, Cle´ment M. Gosselin
IDETC-CIE 2005; 265-273https://doi.org/10.1115/DETC2005-84649
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Topics: Tensegrity mechanisms , Architecture , Computation , Equilibrium (Physics) , Stress
Patterned Bootstrap: A New Method Which Gives Efficiency for Precision Position Synthesis of Planar Linkages
Zhenjun Luo, Jian S. Dai
IDETC-CIE 2005; 275-283https://doi.org/10.1115/DETC2005-84658
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Topics: Linkages , Polynomials , Algorithms , Nonlinear equations , Tunnel construction
On the Design of a Novel Controllable Mechanical Metal Forming Press Based on 2-DOF Planar Mechanism
Zhenlin Jin, Kai He, R. Du
IDETC-CIE 2005; 285-290https://doi.org/10.1115/DETC2005-84713
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Topics: Design , Metalworking , Power presses , Kinematics , Servomotors , Stress , Blanking (Metalworking) , Computer programming , Engineering prototypes , Engines
Research of Valve-Less Pumps With Changeable Cone Angle Nozzle/Diffuser Elements
Jie Kou, Jianhui Zhang, Dehua Lai, Yuhao Yang
IDETC-CIE 2005; 291-295https://doi.org/10.1115/DETC2005-84750
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Topics: Diffusers , Nozzles , Pumps , Valves , Flow (Dynamics) , Manufacturing
Dimension Synthesis for Higher-Order Kinematic Parameters and Self-Adjustability Design of Planar Linkage Mechanisms
Jun Lin, Maolin Huang
IDETC-CIE 2005; 297-305https://doi.org/10.1115/DETC2005-84762
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Topics: Design , Dimensions , Generators , Impulse (Physics) , Kinematics , Linkages
Some Special Cases of the Burmester Problem for Four and Five Poses
Jorge Angeles, Shaoping Bai
IDETC-CIE 2005; 307-314https://doi.org/10.1115/DETC2005-84871
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Topics: Displacement , Linkages
Robustness Study of Generic and Non-Generic 3R Positioning Manipulators
Stephane Caro, Philippe Wenger, Fouad Bennis
IDETC-CIE 2005; 315-324https://doi.org/10.1115/DETC2005-84903
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Topics: Manipulators , Robustness
A Matrix Based Mobility Criterion for Parallel Platforms
Jose´ M. Rico, Luis D. Aguilera, Jaime Gallardo, Ramo´n Rodriguez, Horacio Orozco, Juan Manuel Barrera
IDETC-CIE 2005; 325-342https://doi.org/10.1115/DETC2005-84937
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Topics: Mechanical admittance , Screws , Algebra , Degrees of freedom , Jacobian matrices , Lie algebras , Linear algebra , Manipulators
Identifying and Counting the Number of Mechanisms From Kinematic Chains Subject to Design Constraints
Hong-Sen Yan, Chih-Ching Hung
IDETC-CIE 2005; 343-350https://doi.org/10.1115/DETC2005-84978
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Topics: Design , Kinematic chains
Enumeration of Circuit Breaker Mechanisms Through Boolean Functions
Hrishikesh V. Deo, C. Amarnath
IDETC-CIE 2005; 351-357https://doi.org/10.1115/DETC2005-85120
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Topics: Circuit breakers
The Variable Rocker-Arm Mechanism
Madhusudan Raghavan
IDETC-CIE 2005; 359-366https://doi.org/10.1115/DETC2005-85150
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Topics: Camshafts , Construction , Cylinders , Dynamic analysis , Engines , Friction , Rolling contact , Valves
Analysis for Stiffness of Large-Deformation Flexure Hinge and Its Application
Ming Jia, Jingjun Yu, Shusheng Bi, Yicun Xu
IDETC-CIE 2005; 367-373https://doi.org/10.1115/DETC2005-85169
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Topics: Bending (Stress) , Deformation , Hinges , Stiffness
Curve Representation Using Principal Component Analysis for Shape Optimization of Path Generating Mechanisms
Nassim Khaled, Ahmad Smaili
IDETC-CIE 2005; 375-382https://doi.org/10.1115/DETC2005-85247
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Topics: Principal component analysis , Shape optimization , Image processing , Optimization , Rotation , Shapes , Simulated annealing
An Investigation Into the Use of Springs and Wing Motions to Minimize the Power Expended by a Mechanical Pigeon for Steady Flight
K. Kurien Issac, Sunil K. Agrawal
IDETC-CIE 2005; 383-392https://doi.org/10.1115/DETC2005-85288
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Topics: Flight , Springs , Wings , Actuators , Aerodynamics , Design , Fluid-dynamic forces , Inertia (Mechanics)
Planar Motion Generation Incorporating a 6-Link Mechanism and Non-Circular Elements
Javier Rolda´n-Mckinley, David B. Dooner, Carl Crane, III, Jean-Francois Kammath
IDETC-CIE 2005; 393-403https://doi.org/10.1115/DETC2005-85315
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Topics: Degrees of freedom , Gears , Geometry
Grasping Mechanisms With Self-Centering and Force-Balancing Characteristics
Scott H. Brooks, Spencer P. Magleby, Larry L. Howell
IDETC-CIE 2005; 405-414https://doi.org/10.1115/DETC2005-85478
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Topics: Grasping , Automotive brakes , Compliant mechanisms , Degrees of freedom , Design
Optimal Design of the Coring Bit Cutting Edge in Percussive/Vibratory Drilling
Yinghui Liu, Constantinos Mavroidis, Yoseph Bar-Cohen, Zensheu Chang
IDETC-CIE 2005; 415-423https://doi.org/10.1115/DETC2005-85510
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Topics: Cutting , Design , Drilling , Drills (Tools) , Optimization , Brittleness , Rocks , Shapes , Wedges , Annulus
The Synthesis of Planar 4R Linkages With Three Task Positions and Two Specified Velocities
Nina P. Robson, J. Michael McCarthy
IDETC-CIE 2005; 425-432https://doi.org/10.1115/DETC2005-85516
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Topics: Linkages , Design , Chain , Algebra , Kinematics

Medical Devices and Their Applications in Rehabilitation, Surgery

A Robotized Needle Insertion Device for Percutaneous Procedures
Olivier Piccin, Pierre Renaud, Laurent Barbe´, Bernard Bayle, Benjamin Maurin, Michel de Mathelin
IDETC-CIE 2005; 433-440https://doi.org/10.1115/DETC2005-84577
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Topics: Needles , Computerized tomography , Design , Biomedicine , Computers , Haptics , Patient treatment , Robotics , Safety , Sterilization
Method for Optimization of a Nonlinear Static Balance Mechanism With Application to Ophthalmic Surgical Forceps
Katherine M. Powell, Mary I. Frecker
IDETC-CIE 2005; 441-447https://doi.org/10.1115/DETC2005-84759
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Topics: Compliant mechanisms , Optimization , Springs , Surgery
Systematic Sensitivity Analysis of Spatial One-DOF Models of Diarthrodial Joints
R. Di Gregorio, V. Parenti-Castelli
IDETC-CIE 2005; 449-457https://doi.org/10.1115/DETC2005-84939
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Topics: Bone , Degrees of freedom , Geometry , Sensitivity analysis
Gait Rehabilitation With an Active Leg Orthosis
Sai K. Banala, Sunil K. Agrawal
IDETC-CIE 2005; 459-465https://doi.org/10.1115/DETC2005-85071
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Topics: Orthotics , Control equipment , Torque , Actuators , Design , Engineering simulation , Gravity (Force) , Rehabilitation devices , Simulation
Design for Improved Trans-Tibial Prosthetic Devices Using Four Bar Mechanisms
Joseph G. Wells, Jr., Philip A. Voglewede, David N. Rocheleau
IDETC-CIE 2005; 467-473https://doi.org/10.1115/DETC2005-85083
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Topics: Design , Prostheses , Knee , Mechanical admittance , Optimization
Design and Modelling of a Micro Fluid Filter for Separating Spermatogenic Cells
Xianghong Ma, Mark Prince, Mike Ward, Peter Docker
IDETC-CIE 2005; 475-480https://doi.org/10.1115/DETC2005-85357
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Topics: Biomedicine , Design , Filters , Fluids , Microelectromechanical systems , Modeling , Biological tissues , Biomedical engineering , Computational fluid dynamics , Design methodology
A Remote Needle Guidance System for Percutaneous Biopsies
Steven R. H. Barrett, Nevan Hanumara, Conor J. Walsh, Alexander H. Slocum, Rajiv Gupta, Jo-Anne O. Shepard
IDETC-CIE 2005; 481-489https://doi.org/10.1115/DETC2005-85387
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Topics: Needles , Computerized tomography , Design , Engineering prototypes , Feedback , Motors , Oscillations , Phantoms , Robotics , Testing
Design of an Adjustable Compensation Mechanism for Use in a Passive Arm Support
Pieter Lucieer, Just L. Herder
IDETC-CIE 2005; 491-500https://doi.org/10.1115/DETC2005-85442
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Topics: Design , Diseases , Errors , Friction , Gravity (Force) , Muscle , Springs , Stress , Weight (Mass)
Smart Portable Rehabilitation Devices
C. Mavroidis, J. Nikitczuk, B. Weinberg, R. Arango, G. Danaher, K. Jensen, M. Leahey, R. Pavone, P. Pelletier, A. Provo, J. Prugnarola, R. Stuart, D. Yasevac
IDETC-CIE 2005; 501-510https://doi.org/10.1115/DETC2005-85517
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Topics: Rehabilitation devices , Knee , Computer control , Computers , Electrorheological fluids , Mechatronics , Robotics

Micro and Nano-Scale Electromechanical Systems

Modeling and Alleviating Instability in a MEMS Vertical Comb Drive Using a Progressive Linkage
Jessica R. Bronson, Gloria J. Wiens, James J. Allen
IDETC-CIE 2005; 511-517https://doi.org/10.1115/DETC2005-84217
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Topics: Linkages , Microelectromechanical systems , Modeling , Mirrors , Design , Actuators , Capacitance , Delays , Finite element analysis , Micromachining
Residue Level Inverse Kinematics of Peptide Chains in the Presence of Observation Inaccuracies and Bond Length Changes
Raghavendran Subramanian, Kazem Kazerounian
IDETC-CIE 2005; 519-528https://doi.org/10.1115/DETC2005-84352
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Topics: Chain , Kinematics , Atoms , Errors , Proteins , Modeling , Uncertainty
Components, Building Blocks, and Demonstrations of Spherical Mechanisms in Microelectromechanical Systems
Craig P. Lusk, Larry L. Howell
IDETC-CIE 2005; 529-535https://doi.org/10.1115/DETC2005-84672
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Topics: Blocks (Building materials) , Microelectromechanical systems , Design , Micromechanical devices , Kinematics , Manufacturing
Double-Tensural Bistable Mechanisms (DTBM) With On-Chip Actuation and Spring-Like Post-Bistable Behavior
Daniel L. Wilcox, Larry L. Howell
IDETC-CIE 2005; 537-546https://doi.org/10.1115/DETC2005-84697
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Topics: Springs , Finite element analysis , Displacement , Microelectromechanical systems , Switches , Compliant mechanisms , Design , Microactuators , Micromachining , Micromechanical devices
Instabilities in a Class of Dual-Axis MEMS Gyroscopes
Tianfu Wang, Samuel F. Asokanthan
IDETC-CIE 2005; 547-554https://doi.org/10.1115/DETC2005-85380
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Topics: Excitation , Microelectromechanical systems , Stability

Robotics: Applications

Robotic Material Handling of Flexible Fuel Cell Membranes
Stephen J. Derby, John Lippiatt
IDETC-CIE 2005; 555-563https://doi.org/10.1115/DETC2005-84174
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Topics: Fuel cells , Materials handling , Membranes , Robotics , Manufacturing , Food products , High temperature , Plastic films , Textiles
Optimization of Biped Gait Synthesis Using Fuzzy Neural Network Controller
Arbnor Pajaziti, Ismajl Gojani, Ahmet Shala, Peter Kopacek
IDETC-CIE 2005; 565-572https://doi.org/10.1115/DETC2005-84191
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Topics: Control equipment , Fuzzy neural nets , Genetic algorithms , Optimization , Path planning , Robots
Research and Design of a Pre-Stressed Six-Component Force/Torque Sensor Based on the Stewart Platform
Yong-Sheng Zhao, Yu-Lei Hou, Zhi-Wei Yan, Hui-Ling Yuan, Jin Gao
IDETC-CIE 2005; 573-581https://doi.org/10.1115/DETC2005-84227
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Topics: Design , Sensors , Torque , Calibration , Engineering prototypes , Dimensions , Isotropy , Kinematics , Screws , Theoretical analysis
Actuating Input Selection of 5-UPS/PRPU Parallel Machine Tool
Jian-She Gao, Ren-Cheng Zheng, Yong-Sheng Zhao
IDETC-CIE 2005; 583-587https://doi.org/10.1115/DETC2005-84251
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Topics: Kinematics , Machine tools , Parallel mechanisms , Screws , Simulation , Torque
A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems
Paul Bosscher, Robert L. Williams, II, Melissa Tummino
IDETC-CIE 2005; 589-598https://doi.org/10.1115/DETC2005-84324
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Topics: Cables , Calibration , Robots
An Adaptive Evolutionary Switching Control for Robot Manipulators
P. R. Ouyang, W. J. Zhang, Madan M. Gupta
IDETC-CIE 2005; 599-608https://doi.org/10.1115/DETC2005-84333
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Topics: Feedback , Manipulators , Trajectories (Physics)
Kinematic Analysis of a Novel Rimless Wheel With Independently Actuated Spokes
Doug Laney, Dennis Hong
IDETC-CIE 2005; 609-614https://doi.org/10.1115/DETC2005-84596
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Topics: Kinematic analysis , Wheels , Robots , Locomotives , Mechanical admittance , Mobile robots , Static stability
Model-Based Sliding Mode Control for a Robot With SMA Actuators
Hashem Ashrafiuon, Jala Vijay Reddy
IDETC-CIE 2005; 615-621https://doi.org/10.1115/DETC2005-84868
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Topics: Actuators , Robots , Sliding mode control , Wire , Constitutive equations , Convection , Engineering simulation , Equations of motion , Phase transitions , Pulleys
Kinematics of a H-Type Pure Translational Parallel Manipulator
Chung-Ching Lee, Jeng-Hong Chiu, Hung-Hui Wu
IDETC-CIE 2005; 623-632https://doi.org/10.1115/DETC2005-84992
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Topics: Kinematics , Manipulators , Jacobian matrices , Displacement , Kinematic analysis , Manufacturing , Matrix algebra , Mechanical admittance , Mechanical properties
Path Planning for Manipulator Robots in Cluttered Environments
Samir Lahouar, Said Zeghloul, Lotfi Romdhane
IDETC-CIE 2005; 633-639https://doi.org/10.1115/DETC2005-84993
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Topics: Manipulators , Path planning , Robots
An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase
Abhishek Agrawal, Sunil K. Agrawal
IDETC-CIE 2005; 641-649https://doi.org/10.1115/DETC2005-85069
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Topics: Actuators , Degrees of freedom , Design , Design methodology , Energy efficiency , Gravity (Force) , Inertia (Mechanics) , Machinery , Manipulator design , Manipulators
Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot
So-Ryeok Oh, Ji-Chul Ryu, Sunil K. Agrawal
IDETC-CIE 2005; 651-660https://doi.org/10.1115/DETC2005-85131
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Topics: Cables , Dynamics (Mechanics) , Robots , Control equipment , Simulation results
A Triad-Based Two-DOF Robomech: Architecture and Optimum Synthesis
Ahmad Smaili, Bachir Chaaya
IDETC-CIE 2005; 661-666https://doi.org/10.1115/DETC2005-85200
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Topics: End effectors , Genetic algorithms , Kinematic chains , Kinematics , Optimization , Wings
A Collision-Free Path Planning Method for an Articulated Mobile Robot in a Free Environment
Patricia Quintero-Alvarez, Gabriel Ramirez, Sai¨d Zeghloul
IDETC-CIE 2005; 667-675https://doi.org/10.1115/DETC2005-85217
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Topics: Collisions (Physics) , Mobile robots , Path planning
Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms
Mark Ingram, Dennis Hong
IDETC-CIE 2005; 677-682https://doi.org/10.1115/DETC2005-85419
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Topics: Skin , Robots , Mobile robots , Ceilings , Endoscopes , Membranes , Robotics , Space , Traction

Robotics: Theory

Fault Tolerant Motion Planning With Avoidance of the Sudden Change of Joint Velocity for Two Coordinating Redundant Manipulators
Jing Zhao, Kailiang Zhang, Xuebin Yao
IDETC-CIE 2005; 683-689https://doi.org/10.1115/DETC2005-84031
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Topics: Path planning , Redundant manipulators , Manipulators , Algorithms , Failure , Simulation , Simulation results , Stability
Instantaneous Kinematic Characteristics of a Special 3-UPU Parallel Manipulator
Shihua Li, Zhen Huang
IDETC-CIE 2005; 691-697https://doi.org/10.1115/DETC2005-84098
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Topics: Kinematics , Manipulators , Screws , Degrees of freedom
A Novel Three-DOF 3-RRRRR Parallel Platform Mechanism and Its Position Analysis
Shihua Li, Zhen Huang, Jianguang Wu
IDETC-CIE 2005; 699-704https://doi.org/10.1115/DETC2005-84099
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Topics: Degrees of freedom , Kinematics , Manipulators , Parallel mechanisms
Resolution of Singular Configuration Space of 3/6-SPS Parallel Manipulator Using an Equivalent SC Simulation Mechanism
Yi Lu, Zhen Huang
IDETC-CIE 2005; 705-710https://doi.org/10.1115/DETC2005-84112
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Topics: Manipulators , Resolution (Optics) , Simulation , Geometry , Computer-aided engineering , Dimensions , Jacobian matrices , Robots
Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy
Yue-Qing Yu, Ji-Yun Yang
IDETC-CIE 2005; 711-715https://doi.org/10.1115/DETC2005-84160
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Topics: Dynamics (Mechanics) , Flexible manipulators , Kinematics , Motion control , Redundancy (Engineering) , Manipulators , Robots , Computer programming , End effectors , Redundant manipulators
Workspace Analysis and Visualization of Mechanical Manipulators With Non-Unilateral Constraints
Jingzhou Yang, Karim Abdel-Malek
IDETC-CIE 2005; 717-726https://doi.org/10.1115/DETC2005-84180
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Topics: Manipulators , Visualization , Degrees of freedom , Kinematic chains
Application of Taguchi Method on the Tolerance Design of a Four-Bar Function Generation Mechanism
Fu-Chen Chen, Hsing-Hui Huang
IDETC-CIE 2005; 727-733https://doi.org/10.1115/DETC2005-84199
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Topics: Design , Taguchi methods , Errors , Generators , Clearances (Engineering) , Manufacturing
Obstacle Avoidance Influence Coefficients for Manipulator Motion Planning
Troy Harden, Chetan Kapoor, Delbert Tesar
IDETC-CIE 2005; 735-747https://doi.org/10.1115/DETC2005-84223
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Topics: Manipulators , Path planning , Approximation , Geometry , Modeling , Robotics , Robots
A Generalized Transmission Index for Spatial Linkages
Chao Chen, Jorge Angeles
IDETC-CIE 2005; 749-756https://doi.org/10.1115/DETC2005-84291
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Topics: Linkages , Screws
Fully-Isotropic T1R2-Type Parallel Robots With Three Degrees of Freedom
Grigore Gogu
IDETC-CIE 2005; 757-764https://doi.org/10.1115/DETC2005-84313
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Topics: Degrees of freedom , Robots , Jacobian matrices , Manipulators , Space
Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion
Ofelia Alba-Gomez, Philippe Wenger, Alfonso Pamanes
IDETC-CIE 2005; 765-774https://doi.org/10.1115/DETC2005-84326
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Topics: Kinematics , Manipulators , Jacobian matrices , Redundancy (Engineering)
Hybrid Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators
David J. Giblin, Zongliang Mu, ZhongXue Gan, Kazem Kazerounian
IDETC-CIE 2005; 775-784https://doi.org/10.1115/DETC2005-84349
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Topics: Manipulators , Position control , Kinematics , Errors , Feedback , Force feedback , Hybrid control , Simulation experiments
On the Different Actuation’s Ways of the Spherically Actuated Platform Manipulator
Mohammad Vakil, Hodjat Pendar, Hassan Zohoor
IDETC-CIE 2005; 785-792https://doi.org/10.1115/DETC2005-84551
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Topics: Kinematics , Manipulators , Kinematic analysis , Actuators , Algebra , Degrees of freedom , Nonlinear equations , Parallel mechanisms , Simulation
Kinematics and Force Optimization for Efficient Self-Reconfiguration of Chain-Type Modular Robots
Carl A. Nelson, Raymond J. Cipra
IDETC-CIE 2005; 793-801https://doi.org/10.1115/DETC2005-84612
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Topics: Chain , Kinematics , Optimization , Robots
Static and Dynamic Analysis of the PAMINSA (Parallel Manipulator of the I.N.S.A.)
Vigen Arakelian, Sylvain Gue´gan, Se´bastien Briot
IDETC-CIE 2005; 803-809https://doi.org/10.1115/DETC2005-84679
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Topics: Dynamic analysis , Dynamic modeling , Manipulators , Computer software , Degrees of freedom , Optimization , Simulation , Stress
Collision Detection of Cylindrical Rigid Bodies Using Line Geometry
John S. Ketchel, Pierre M. Larochelle
IDETC-CIE 2005; 811-825https://doi.org/10.1115/DETC2005-84699
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Topics: Collisions (Physics) , Geometry , Algorithms , Cylinders , Dimensions , Algebra , Biomedicine , Computers , Design , Drilling
Geometric Characterization of the Configuration Space of Rigid Body Mechanisms in Regular and Singular Points
Andreas Mu¨ller
IDETC-CIE 2005; 827-840https://doi.org/10.1115/DETC2005-84712
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Topics: Algebra , Degrees of freedom , Geometry , Kinematics , Rigid-body mechanisms , Topology , Algorithms , Construction , Screws , Space
Bifurcation Characteristics of Six-Bar Linkages
Yu-Xin Wang, Rui-Qin Guo
IDETC-CIE 2005; 841-846https://doi.org/10.1115/DETC2005-84865
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Topics: Bifurcation , Linkages , Design , Robotics , Trajectories (Physics)
Dynamic Modeling and Coupling of Underactuated Flexible Robots
Wei Chen, Yue-Qing Yu, Xu-Ping Zhang
IDETC-CIE 2005; 847-853https://doi.org/10.1115/DETC2005-84919
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Topics: Dynamic modeling , Robots , Deformation , Design , Actuators , Degrees of freedom , Dynamic models , Finite element methods , Flexible manipulators , Simulation results
A Recursive Approach for Analysis of Snake Robots Using Kane’s Equations
Hadi Tavakoli Nia, Hossein Nejat Pishkenari, Ali Meghdari
IDETC-CIE 2005; 855-861https://doi.org/10.1115/DETC2005-84987
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Topics: Robots , Kinematics , Algorithms , Equations of motion , Errors
Conception and Dynamic Modeling of an Assisted Passive Snake-Like Robot Using Gibbs-Appell Method
Golamreza Vossoughi, Hodjat Pendar, Zoya Heidari, Saman Mohammadi
IDETC-CIE 2005; 863-870https://doi.org/10.1115/DETC2005-85008
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Topics: Dynamic modeling , Robots
Modeling and Simulation of Flapping Wing Micro Air Vehicles
Zaeem A. Khan, Sunil K. Agrawal
IDETC-CIE 2005; 871-879https://doi.org/10.1115/DETC2005-85237
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Topics: Modeling , Simulation , Vehicles , Wings , Simulation results , Aerodynamics , Design , Flight , Geometry
Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots
Roberto Lampariello, Gerhard Hirzinger
IDETC-CIE 2005; 881-890https://doi.org/10.1115/DETC2005-85242
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Topics: Experimental design , Modeling , Robots , Accelerometers , End effectors , Energy consumption , Path planning , Satellites , Stress
A New Approach to Sonar Based Indoor Mapping Localization
A. Meghdari, K. Kobravi, H. Safyallah, M. Moeeni, Y. Khatami, H. Khasteh
IDETC-CIE 2005; 891-901https://doi.org/10.1115/DETC2005-85269
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Topics: Algorithms , Failure , Lasers , Navigation , Robot navigation , Vehicles
Rough Terrain Rovers Dynamics Analysis and Optimization
Hadi Tavakoli Nia, Seyed Hamidreza Alemohammad, Saeed Bagheri, Reza Hajiaghaee Khiabani, Ali Meghdari
IDETC-CIE 2005; 903-909https://doi.org/10.1115/DETC2005-85304
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Topics: Dynamics (Mechanics) , Optimization , Surface roughness , Traction , Wheels , Computer software , Genetic algorithms , Mechanical admittance , Modeling
Mobility Analysis of Parallel Mechanisms Based on Screw Theory and the Concept of Equivalent Serial Kinematic Chain
Xianwen Kong, Cle´ment M. Gosselin
IDETC-CIE 2005; 911-920https://doi.org/10.1115/DETC2005-85337
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Topics: Kinematic chains , Mechanical admittance , Parallel mechanisms , Screws
A Note on Denavit-Hartenberg Notation in Robotics
Harvey Lipkin
IDETC-CIE 2005; 921-926https://doi.org/10.1115/DETC2005-85460
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Topics: Chain , Manipulators , Robotics , Robots , Transparency
Effective Teaching of Computer Integrated Mechanism Analysis and Design
Harry H. Cheng, Matt Campbell
IDETC-CIE 2005; 927-938https://doi.org/10.1115/DETC2005-85565
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Topics: Computers , Design , Teaching , Computer programming , Students , Complex systems , Computer-aided design , Computer-aided engineering , Undergraduate students

Theoretical and Computational Kinematics

Kinematics of a New High Precision Three Degree-of-Freedom Parallel Manipulator
Farhad Tahmasebi
IDETC-CIE 2005; 939-947https://doi.org/10.1115/DETC2005-84059
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Topics: Degrees of freedom , Kinematics , Manipulators , Actuators , Energy dissipation , Manufacturing , Pistons , Polynomials , Resolution (Optics)
Forward/Reverse Velocity and Acceleration Analyses for a Class of Lower-Mobility Parallel Mechanisms
Si J. Zhu, Zhen Huang, Xi J. Guo
IDETC-CIE 2005; 949-955https://doi.org/10.1115/DETC2005-84081
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Topics: Kinematics , Mechanical admittance , Parallel mechanisms
Position and Workspace Analyses of 3-SPR and 3-RPS Parallel Manipulators
Yi Lu, Yonghe Zhao
IDETC-CIE 2005; 957-962https://doi.org/10.1115/DETC2005-84117
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Topics: Manipulators , Reactor protection systems , Simulation , Computer-aided engineering , Dimensions , Geometry
The Systemic Research on Loop Characteristics of Planar Kinematic Chains and Its Applications
H. F. Ding, Z. Huang, Y. Cao
IDETC-CIE 2005; 963-971https://doi.org/10.1115/DETC2005-84283
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Topics: Kinematic chains , Chain , Theorems (Mathematics)
Real-Time Robot Capability Analysis
Chalongrath Pholsiri, Chetan Kapoor, Delbert Tesar
IDETC-CIE 2005; 973-982https://doi.org/10.1115/DETC2005-84353
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Topics: Robots , Decision making , Design , Manipulators , Path planning , Robotics
A Systematic Formulation of Overconstraint Conditions in Kinematic Chains by Displacement Groups
Carlo Galletti, Pietro Fanghella, Elena Giannotti
IDETC-CIE 2005; 983-991https://doi.org/10.1115/DETC2005-84442
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Topics: Displacement , Kinematic chains
Kinematic Analyses of 5-DOF 3-RCRR Parallel Mechanism
Zhen Huang, Si J. Zhu
IDETC-CIE 2005; 993-999https://doi.org/10.1115/DETC2005-84462
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Topics: Kinematic analysis , Kinematics , Mechanical admittance , Parallel mechanisms
Error Modeling in a Reconfigurable Machine Tool
Deepak Giri, Yong-Mo Moon
IDETC-CIE 2005; 1001-1007https://doi.org/10.1115/DETC2005-84513
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Topics: Errors , Machine tools , Modeling , Screws
Orientation-Singularity and Orientation Capability Analyses of the Stewart-Gough Manipulator
Y. Cao, Z. Huang, Q. J. Ge
IDETC-CIE 2005; 1009-1015https://doi.org/10.1115/DETC2005-84556
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Topics: Manipulators , Geometry , Polynomials
Point-Line Distance Under Riemannian Metrics
Yi Zhang, Kwun-Lon Ting
IDETC-CIE 2005; 1017-1023https://doi.org/10.1115/DETC2005-84637
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Topics: Dimensions , Displacement , Engineering systems and industry applications , Manifolds , Screws
Projection Metrics for Rigid-Body Displacements
Pierre M. Larochelle, Andrew P. Murray
IDETC-CIE 2005; 1025-1030https://doi.org/10.1115/DETC2005-84698
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Topics: Calibration , Interpolation , Robots
A New and Efficient Algorithm for the Inverse Kinematics of a General Serial 6R
Manfred L. Husty, Martin Pfurner, Hans-Peter Schro¨cker
IDETC-CIE 2005; 1031-1038https://doi.org/10.1115/DETC2005-84745
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Topics: Algorithms , Kinematics , Chain , Manifolds , Displacement , Geometry , Kinematic chains , Polynomials , Space
On the Polynomial Solution of the Synthesis of Five Plane-Sphere Contacts or PPS Chains That Guide a Rigid Body Through Six Assigned Poses
Raffaele Di Gregorio
IDETC-CIE 2005; 1039-1045https://doi.org/10.1115/DETC2005-84788
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Topics: Chain , Polynomials , Computation , Design
On the Mobility of Single Loop N-Bar Linkage With One Prismatic Joint
W. Z. Guo, R. Du, J. X. Wang
IDETC-CIE 2005; 1047-1055https://doi.org/10.1115/DETC2005-84910
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Topics: Linkages , Mechanical admittance
Mobility Determination of Paradoxical Linkages
Jose´ Mari´a Rico, Bahram Ravani
IDETC-CIE 2005; 1057-1073https://doi.org/10.1115/DETC2005-84936
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Topics: Linkages , Mechanical admittance , Computation , Degrees of freedom
Kinematic Mapping Based Evaluation of Assembly Modes for Planar Four-Bar Synthesis
Hans-Peter Schro¨cker, Manfred L. Husty, J. Michael McCarthy
IDETC-CIE 2005; 1075-1081https://doi.org/10.1115/DETC2005-85037
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Topics: Kinematics , Manufacturing , Linkages , Circuits , Design
On the Computation of Spatial Angular Orientation From Angular Position Sensor Data
Zhe Jin, Q. J. Ge, J. Rastegar
IDETC-CIE 2005; 1083-1089https://doi.org/10.1115/DETC2005-85240
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Topics: Computation , Sensors , Waveguides , Algorithms
On Detecting Undercutting in Conjugate Pairs
Horea T. Ilies¸
IDETC-CIE 2005; 1091-1099https://doi.org/10.1115/DETC2005-85272
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Topics: Algorithms
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