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Proceedings Papers

Proceedings Volume Cover
ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 10–13, 2006
Philadelphia, Pennsylvania, USA
Conference Sponsors:
  • Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4256-8
Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B

30th Annual Mechanisms and Robotics Conference

Adaptronics in Machines and Mechanisms

Optimally Unstable Underactuated Gripper: Synthesis and Applications
Lionel Birglen, Cle´ment M. Gosselin
IDETC-CIE 2006; 3-11https://doi.org/10.1115/DETC2006-99047
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Topics: Design , Equilibrium (Physics) , Grippers
Designing Adaptronical Components for Compensation of Static and Quasi-Static Loads
Ju¨rgen Fleischer, Andreas Kno¨del, Christian Munzinger, Martin Weis
IDETC-CIE 2006; 13-22https://doi.org/10.1115/DETC2006-99461
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Topics: Design , Hydrostatics , Kinematics , Piezoelectric transducers , Stress , Actuators , Dynamics (Mechanics) , Mechatronics , Sensors , Bearings
The Increase of the Dynamic and Static Stiffness of a Grinding Machine
Marc Simnofske, Ju¨rgen Hesselbach
IDETC-CIE 2006; 23-30https://doi.org/10.1115/DETC2006-99740
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Topics: Grinding equipment , Stiffness

Compliant Mechanisms

Analysis of Three Degree of Freedom 6×6 Tensegrity Platform
Antoin Baker, Carl D. Crane, III
IDETC-CIE 2006; 31-37https://doi.org/10.1115/DETC2006-99041
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Topics: Degrees of freedom , Tensegrity , Tensegrity structures , Compression , Parallel mechanisms , Springs , Tension
Evaluating the Flexural Stiffness of Compliant Hinges Made With Close-Wound Helical Springs
Fabrizio Lotti, Andrea Zucchelli, Barbara Reggiani, Gabriele Vassura
IDETC-CIE 2006; 39-53https://doi.org/10.1115/DETC2006-99042
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Topics: Hinges , Springs , Stiffness , Design , Finite element analysis , Deflection , Displacement , Humanoid robots , Robotics
An Introduction to the Analysis of Linkage-Driven Compliant Underactuated Fingers
Lionel Birglen
IDETC-CIE 2006; 55-63https://doi.org/10.1115/DETC2006-99048
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Topics: Linkages , Design , Mechanical admittance , Engineering prototypes , Theoretical analysis
Modeling Compliant Parallel Robots
Annika Raatz, Frank Trauden, Ju¨rgen Hesselbach
IDETC-CIE 2006; 65-76https://doi.org/10.1115/DETC2006-99190
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Topics: Bending (Stress) , Dynamic models , Hinges , Kinematics , Modeling , Robots , Bearings , Compliant mechanisms , Control algorithms , Deformation
Synthesis of Adaptive and Controllable Compliant Systems With Embedded Actuators and Sensors
Brian P. Trease, Sridhar Kota
IDETC-CIE 2006; 77-89https://doi.org/10.1115/DETC2006-99266
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Topics: Actuators , Sensors , Design , Topology , Optimization , Adaptive structures , Aircraft , Compliant mechanisms , Energy efficiency , Finite element analysis
On Optimal Design of Compliant Mechanisms for Specified Nonlinear Path Using Curved Frame Elements and Genetic Algorithm
Ashok Rai, Anupam Saxena, Nilesh D. Mankame, Chandra Shekhar Upadhyay
IDETC-CIE 2006; 91-100https://doi.org/10.1115/DETC2006-99298
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Topics: Compliant mechanisms , Design , Genetic algorithms , Optimization , Topology , Arches , Elastic moduli , Euler-Bernoulli beam theory , Shape optimization , Shapes
Dynamic and Input Tuning Analysis of a Piezodriven 3-DOF Micro-Positioning Stage Utilizing Flexure Hinges
Xianmin Zhang
IDETC-CIE 2006; 101-107https://doi.org/10.1115/DETC2006-99344
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Topics: Bending (Stress) , Hinges , Couplings , Damping , Dynamic analysis , Equations of motion , Simulation results , Stiffness , Vibration
An Objective Evaluation of Displacement-Amplifying Compliant Mechanisms for Sensor Applications
Girish Krishnan, G. K. Ananthasuresh
IDETC-CIE 2006; 109-118https://doi.org/10.1115/DETC2006-99345
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Topics: Compliant mechanisms , Displacement , Sensors , Stiffness , Case studies , Accelerometers , Actuators , Displacement measurement , Failure , Force sensors
Design of Sub-Centimetre Underactuated Compliant Grippers
Eric Boudreault, Cle´ment M. Gosselin
IDETC-CIE 2006; 119-127https://doi.org/10.1115/DETC2006-99415
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Topics: Design , Grippers , Deformation , Engineering prototypes , Hinges , Linkages
Design of Compliant Mechanisms for Minimizing Input Power in Dynamic Applications
Tanakorn Tantanawat, Sridhar Kota
IDETC-CIE 2006; 129-141https://doi.org/10.1115/DETC2006-99430
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Topics: Compliant mechanisms , Design
Hinged Beam Elements for the Topology Design of Compliant Mechanisms Using the Ground Structure Approach
Deepak S. Ramrkahyani, Mary I. Frecker, George A. Lesieutre
IDETC-CIE 2006; 143-149https://doi.org/10.1115/DETC2006-99439
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Topics: Compliant mechanisms , Design , Topology , Hinges , Trusses (Building) , Optimization
Bistable Compliant Four-Bar Mechanisms With a Single Torsional Spring
Adarsh Mavanthoor, Ashok Midha
IDETC-CIE 2006; 151-157https://doi.org/10.1115/DETC2006-99453
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Topics: Springs , Compliant mechanisms , Design , Finite element analysis , Equilibrium (Physics) , Simulation
Investigation of Compliant Ortho-Planar Springs for Rotational Applications
Nathan O. Rasmussen, Robert H. Todd, Larry L. Howell, Spencer P. Magleby
IDETC-CIE 2006; 159-171https://doi.org/10.1115/DETC2006-99459
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Topics: Springs , Stress , Design , Buckling , Rotation , Rubber , V-belts
Pseudo-Rigid-Body Model Chain Algorithm: Part 1 — Introduction and Concept Development
Joby Pauly, Ashok Midha
IDETC-CIE 2006; 173-181https://doi.org/10.1115/DETC2006-99460
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Topics: Algorithms , Chain , Design , Compliant mechanisms , Boundary-value problems , Geometry , Stress , Construction , Deflection , Deformation
Pseudo-Rigid-Body Model Chain Algorithm: Part 2 — Equivalent Representations for Combined Load Boundary Conditions
Joby Pauly, Ashok Midha
IDETC-CIE 2006; 183-190https://doi.org/10.1115/DETC2006-99463
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Topics: Algorithms , Boundary-value problems , Chain , Stress , Deformation , Design , Approximation , Compliant mechanisms , Kinematics , Modeling
A 3D Pseudo-Rigid-Body Model for Large Spatial Deflections of Rectangular Cantilever Beams
Nathan O. Rasmussen, Jonathan W. Wittwer, Robert H. Todd, Larry L. Howell, Spencer P. Magleby
IDETC-CIE 2006; 191-198https://doi.org/10.1115/DETC2006-99465
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Topics: Cantilever beams , Deflection , Compliant mechanisms , Design , Cross section (Physics) , Errors , Stress
Towards Uniformly Distributed Compliance in Compliant Mechanisms: A Multi-Objective Approach
Stephen L. Canfield, Daniel L. Chlarson, Alexander Shibakov, Patrick V. Hull
IDETC-CIE 2006; 199-207https://doi.org/10.1115/DETC2006-99601
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Topics: Compliant mechanisms , Finite element analysis , Topology
Conceptual Synthesis of Compliance at a Single Point
Charles Kim, Yong-Mo Moon, Sridhar Kota
IDETC-CIE 2006; 209-219https://doi.org/10.1115/DETC2006-99639
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Topics: Blocks (Building materials) , Compliant mechanisms , Design , Geometry , Kinematics , Manufacturing , Optimization
Generalized Synthesis of Nonlinear Springs for Prescribed Load-Displacement Functions
Christine M. Vehar, Sridhar Kota
IDETC-CIE 2006; 221-230https://doi.org/10.1115/DETC2006-99657
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Topics: Displacement , Optimization , Springs , Stress
An Automated Design Synthesis Method for Compliant Mechanisms With Application to Morphing Wings
Hongqing Vincent Wang, David W. Rosen
IDETC-CIE 2006; 231-239https://doi.org/10.1115/DETC2006-99661
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Topics: Airfoils , Compliant mechanisms , Design , Wings
A Flexible-Link Model for Compliant Member Synthesis
Ahmad Smaili, Mazen Hassanieh
IDETC-CIE 2006; 241-250https://doi.org/10.1115/DETC2006-99715
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Topics: Compliant mechanisms , Deformation , Design , Errors , Integral equations , Optimization algorithms
Elastic Averaging in Flexure Mechanisms: A Muliti-Beam Parallelogram Flexure Case-Study
Shorya Awtar, Edip Sevincer
IDETC-CIE 2006; 251-257https://doi.org/10.1115/DETC2006-99752
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Topics: Bending (Stress) , Case studies , Flexure mechanisms , Manufacturing , Design , Errors , Kinematics , Mechanical admittance , Stiffness , Stress

Education in Mechanisms and Robotics

How to Draw Euler Angles and Utilize Euler Parameters
A. L. Schwab, J. P. Meijaard
IDETC-CIE 2006; 259-265https://doi.org/10.1115/DETC2006-99307
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Topics: Algebra , Dynamics (Mechanics) , Kinematics , Rotation

History of Mechanisms and Robotics

IGM-Mechanism Encyclopaedia and the Digital Mechanism Library as a Knowledge Base in Mechanism Theory
Burkhard Corves, Ju¨rgen Niemeyer, Johannes Kloppenburg
IDETC-CIE 2006; 267-273https://doi.org/10.1115/DETC2006-99059
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Topics: Arches , Computer software , Economics , Glass , Industrial sewing machines , Information retrieval , Internet , Kinematics , Machine dynamics , Machinery
The Development of Ancient Earthquake Instruments
Hong-Sen Yan, Kuo-Hung Hsiao
IDETC-CIE 2006; 275-279https://doi.org/10.1115/DETC2006-99107
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Topics: Earthquakes , Instrumentation , China , Design , Machinery , Pendulums
Presentation of the Lifework of Kurt Hain: Pioneer of Applied Kinematics in Germany
Hanfried Kerle, Torsten Brix, Karl-Heinz Modler
IDETC-CIE 2006; 281-290https://doi.org/10.1115/DETC2006-99116
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Topics: Kinematics , Mechanical engineers
Burmester and Allievi: A Theory and Its Application for Mechanism Design at the End of 19th Century
Marco Ceccarelli, Teun Koetsier
IDETC-CIE 2006; 291-300https://doi.org/10.1115/DETC2006-99165
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Topics: Design , Kinematics , Machinery , Stress
Agustin Betancourt: An Early Modern Scientist and Engineer in TMM
Olga Erogova, Marco Ceccarelli, Juan Ignacio Cuadrado Iglesias, Carlos S. Lopez-Cajun, Vladimir E. Pavlov
IDETC-CIE 2006; 301-310https://doi.org/10.1115/DETC2006-99198
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Topics: Engineers
History of Mechanisms: The Odometer of the Mormon Trail
Larry L. Howell
IDETC-CIE 2006; 311-323https://doi.org/10.1115/DETC2006-99604
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Topics: Design , Gears

Mechanism Synthesis, Components and Applications

Two Novel Spherical 3-DOF Parallel Manipulators With Circular Prismatic Pairs
Qinchuan Li, Qiaohong Chen, Chuanyu Wu, Xudong Hu
IDETC-CIE 2006; 325-328https://doi.org/10.1115/DETC2006-99038
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Topics: Manipulators , Parallel mechanisms , Degrees of freedom , Mechanical admittance , Screws
Geometric Width Control in Topology Optimization Using Level Set Method and a Quadratic Energy Functional
Shikui Chen, Michael Yu Wang
IDETC-CIE 2006; 329-338https://doi.org/10.1115/DETC2006-99081
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Topics: Optimization , Topology , Compliant mechanisms , Geometry , Strips
SphinxCAM-Pro|E: Computer-Aided Modeling and Manufacturing of Spherical Mechanisms Via the Web
Pierre M. Larochelle, Jason M. Schuler, John S. Ketchel
IDETC-CIE 2006; 339-347https://doi.org/10.1115/DETC2006-99103
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Topics: Computer-aided engineering , Manufacturing , Modeling , Computer-aided design , Simulation , Computer software , Design , Degrees of freedom , Geometric modeling , Kinematics
A General Formula of Degree-of-Freedom for Parallel Manipulators and Its Application
Ting-Li Yang, Dong-Jin Sun
IDETC-CIE 2006; 349-358https://doi.org/10.1115/DETC2006-99129
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Topics: Degrees of freedom , Manipulators , Parallel mechanisms , Dimensions , Mechanical admittance
A Study of the Duality Between Epicyclic Gear Trains and Beam Systems
Gordon P. Pennock, Jeremiah J. Alwerdt
IDETC-CIE 2006; 359-370https://doi.org/10.1115/DETC2006-99156
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Topics: Gear trains , Kinematics , Planetary gears , Statics , Trains
An Experimental Comparative Study on Non-Circular Gears and CAM Transmissions for a Blood Pumping System
Erika Ottaviano, Chiara Lanni, Cristina Tavolieri, Domenico Mundo, Guido Danieli, Pietro Fanghella, Marco Ceccarelli
IDETC-CIE 2006; 371-380https://doi.org/10.1115/DETC2006-99166
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Topics: Blood , Gears , Cams , Mechanical drives , Design , Polynomials
Function Generation With Finitely-Separated Precision Points Using Geometric Constraint Programming
Edward C. Kinzel, James P. Schmiedeler, Gordon R. Pennock
IDETC-CIE 2006; 381-390https://doi.org/10.1115/DETC2006-99206
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Topics: Computer programming , Computer-aided design , Kinematics
Optimal Linkage Design for Bicycle Power Transmission Using Symmetric Four-Bar
Carl A. Nelson
IDETC-CIE 2006; 391-397https://doi.org/10.1115/DETC2006-99207
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Topics: Bicycles , Design , Linkages
Ultimate and Practical Limits for Counterweight Balancing of Six-Bar Linkages
Bram Demeulenaere, Jan Swevers, Joris De Schutter
IDETC-CIE 2006; 399-411https://doi.org/10.1115/DETC2006-99219
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Topics: Linkages , Optimization , Tradeoffs
Synthesis of Variable Topology Bar Linkage Mechanisms
Chitta Amarnath
IDETC-CIE 2006; 413-418https://doi.org/10.1115/DETC2006-99263
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Topics: Linkages , Topology , Circuit breakers , Degrees of freedom
Designing Synchronous Belt Transmissions With Variable Velocity Ratio
Carlo Innocenti, Davide Paganelli
IDETC-CIE 2006; 419-427https://doi.org/10.1115/DETC2006-99353
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Topics: Design , Pulleys , Timing belts
Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms
Brian M. Korte, Andrew P. Murray, James P. Schmiedeler
IDETC-CIE 2006; 429-438https://doi.org/10.1115/DETC2006-99431
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Topics: Rigid-body mechanisms , Shapes , Approximation , Chain , Degrees of freedom , Displacement , Geometry , Linkages
On Design and Performance of Internal Epitrochoidal Pumps
Giovanni Mimmi, Giovanni Bonandrini
IDETC-CIE 2006; 439-446https://doi.org/10.1115/DETC2006-99487
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Topics: Design , Pumps , Rotors , Geometry , Machinery , Biomedicine , Construction , Shapes
Low-Friction Rolling-Element Gear Profile Generation Using Instant Centers and Equivalent Four-Bar Linkage
Carl A. Nelson, Wieslaw M. Szydlowski, J. Conrad Vogel
IDETC-CIE 2006; 447-452https://doi.org/10.1115/DETC2006-99555
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Topics: Friction , Gears , Linkages
Spreadsheet-Based Design and Analysis of Mechanisms
Kabileshkumar G. Cheetancheri, Harry H. Cheng
IDETC-CIE 2006; 453-462https://doi.org/10.1115/DETC2006-99576
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Topics: Design , Dynamic analysis , Internet , Kinematics , Linkages
CAM Size Optimization Based on a Fatigue Life Model
Mwafak M. Shakoor, Muhammad Ali, Abir Qamhiyah, Don R. Flugrad
IDETC-CIE 2006; 463-468https://doi.org/10.1115/DETC2006-99598
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Topics: Fatigue life , Optimization , Risk , Rollers , Computer software , Design , Displacement , Endurance limit , Polynomials , Stress
The Operation and Kinematic Analysis of a Novel CAM-Based Infinitely Variable Transmission
Derek F. Lahr, Dennis W. Hong
IDETC-CIE 2006; 469-474https://doi.org/10.1115/DETC2006-99634
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Topics: Equations of motion , Gears , Indexing (Machining) , Kinematic analysis
Generation of Globoidal Cam Surfaces With Conical Roller-Followers
Der-Min Tsay, Sheng-Yang Lin
IDETC-CIE 2006; 475-482https://doi.org/10.1115/DETC2006-99683
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Topics: Rollers , Geometry , Grinding , Machining , Milling , Screws
Analysis and Optimum Synthesis of Planar Mechanisms With Clearances and Tolerances Using Interval Analysis
Nadim Diab, Ahmad Smaili
IDETC-CIE 2006; 483-493https://doi.org/10.1115/DETC2006-99713
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Topics: Design , Errors , Optimization , Trajectories (Physics)
Stackable 5R Chains With Multiple End-Effectors: Architecture and Optimum Synthesis
Ahmad Smaili, Bachir Chaaya
IDETC-CIE 2006; 495-499https://doi.org/10.1115/DETC2006-99717
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Topics: Chain , End effectors , Genetic algorithms
Design of a Statically Balanced Tensegrity Mechanism
Mark Schenk, Just L. Herder, Simon D. Guest
IDETC-CIE 2006; 501-511https://doi.org/10.1115/DETC2006-99727
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Topics: Design , Tensegrity mechanisms , Tensegrity structures , Engineering prototypes , Equilibrium (Physics)
Mechanics of the Whole Skin Locomotion Mechanism Concentric Solid Tube Model: The Effects of Geometry and Friction on the Efficiency and Force Transmission Characteristics
Mark Ingram, Dennis Hong
IDETC-CIE 2006; 513-518https://doi.org/10.1115/DETC2006-99750
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Topics: Friction , Geometry , Skin , Actuators , Composite materials , Mobile robots , Propulsion , Tension

Mechanisms for In-Space Applications

A Kinematic Theory for Planar Hoberman and Other Novel Foldable Mechanisms
Jiten Patel, G. K. Ananthasuresh
IDETC-CIE 2006; 519-527https://doi.org/10.1115/DETC2006-99350
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Topics: Kinematics , Linkages , Design , Algebra , Blocks (Building materials) , Preservation , Shapes
Dynamic Testing and Model Validation of a Capture Mechanism for Rendezvous Between a Space Tether and Payload
Stephen L. Canfield, Marshall A. Norris, Seth V. Knight, Kirk F. Sorensen
IDETC-CIE 2006; 529-538https://doi.org/10.1115/DETC2006-99594
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Topics: Design , Dynamic models , Dynamic testing (Engineering) , Dynamic testing (Materials) , Dynamics (Mechanics) , Electric motors , Engineering prototypes , Magnetic fields , Manufacturing , Model validation

Medical Devices and Their Applications in Rehabilitation and Surgery

Extraction of Load Information From Photoelastic Images Using Neural Networks
Venketesh N. Dubey, Gurtej S. Grewal, Denzil J. Claremont
IDETC-CIE 2006; 539-545https://doi.org/10.1115/DETC2006-99067
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Topics: Artificial neural networks , Stress
Design and Development of Two Concepts for a 4 DOF Portable Haptic Interface With Active and Passive Multi-Point Force Feedback for the Index Finger
Mark J. Lelieveld, Takashi Maeno, Tetsuo Tomiyama
IDETC-CIE 2006; 547-556https://doi.org/10.1115/DETC2006-99111
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Topics: Design , Force feedback , Haptics , End effectors , Brakes , Degrees of freedom , Design methodology , Linkages , Springs , Torque
Design of a 1.0mm Multifunctional Forceps-Scissors Instrument for Minimally Invasive Surgery
Milton E. Aguirre, Mary Frecker
IDETC-CIE 2006; 557-563https://doi.org/10.1115/DETC2006-99446
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Topics: Design , Instrumentation , Surgery , Compliant mechanisms , Finite element analysis , Optimization , Cantilever beams , Cutting , Deflection , Deformation
Design and Fabrication of an Elastic Knee Orthosis: Preliminary Results
Michael S. Cherry, Dave J. Choi, Kevin J. Deng, Sridhar Kota, Daniel P. Ferris
IDETC-CIE 2006; 565-573https://doi.org/10.1115/DETC2006-99622
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Topics: Design , Knee , Manufacturing , Orthotics , Springs , Stiffness , Bracing (Construction) , Exoskeleton devices , Neuromuscular stimulation , Biomechanics
Dynamic Pace Controller for the Robotic Gait Trainer
Jeffrey A. Ward, Joseph Hitt, Thomas Sugar, Kartik Bharadwaj
IDETC-CIE 2006; 575-581https://doi.org/10.1115/DETC2006-99733
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Topics: Control equipment , Robotics , Robots , Artificial neural networks , Cycles , Design , Matlab , Mechanical admittance , Patient treatment
Design of Dissipative and Stable Assist Robots
Sunil K. Agrawal, Ji-Chul Ryu
IDETC-CIE 2006; 583-589https://doi.org/10.1115/DETC2006-99734
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Topics: Design , Robots , Actuators , Equations of motion , Inertia (Mechanics) , Manipulators , Simulation , Stability
Energy-Free Adjustment of Gravity Equilibrators With Application in a Mobile Arm Support
Wouter D. van Dorsser, Rogier Barents, Boudewijn M. Wisse, Just L. Herder
IDETC-CIE 2006; 591-599https://doi.org/10.1115/DETC2006-99745
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Topics: Gravity (Force) , Springs , Design , Dimensions , Diseases , Linkages , Muscle , Potential energy

Micro and Nano-Scale Electromechanical Systems

Improved Molecular Model of a Peptide Unit for Proteins
Raghavendran Subramanian, Kazem Kazerounian
IDETC-CIE 2006; 601-613https://doi.org/10.1115/DETC2006-99315
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Topics: Proteins , Chain , Atoms , Errors , Optimization , Torsion , X-ray diffraction
Design Analysis and Precision Control for a Piezo-Driven Planar Platform
Yung Ting, Chun-Chung Li, Ho-Chin Jar, Jeng-Lin Huang
IDETC-CIE 2006; 615-622https://doi.org/10.1115/DETC2006-99363
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Topics: Actuators , Bending (Stress) , Composite materials , Control equipment , Design , Feedback , Feedforward control , Genetic algorithms , Hinges , Nanoscale phenomena
Topology Optimization of Electrostatically Actuated Micromechanical Structures With Accurate Electrostatic Modeling of the Interpolated Material Model
Aravind Alwan, G. K. Ananthasuresh
IDETC-CIE 2006; 623-628https://doi.org/10.1115/DETC2006-99684
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Topics: Modeling , Optimization , Topology , Boundary-value problems , Capacitors , Design , Interpolation , Leakage
Design and Modeling of a Peptide Based NanoTweezer
Gaurav Sharma, Kaushal Rege, Constantinos Mavroidis, Martin L. Yarmush
IDETC-CIE 2006; 629-634https://doi.org/10.1115/DETC2006-99701
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Topics: Design , Modeling , Architecture , Chain , Deflection , Molecular dynamics

Multi-Body Dynamics of Machines Modeling, Control and Applications

Modelling of a Flexible Quadrirotor Helicopter
Alexis Mouhingou, Naoufel Azouz
IDETC-CIE 2006; 635-644https://doi.org/10.1115/DETC2006-99001
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Topics: Modeling , Multibody systems
Simulation Research on Dynamics of Belt Conveyor System
Weigang Song, Bangchun Wen, Huijuan Liu
IDETC-CIE 2006; 645-654https://doi.org/10.1115/DETC2006-99024
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Topics: Belt conveyor systems , Dynamics (Mechanics) , Simulation , Conveyor belts , Design , Computer software , Dynamic analysis , Computational methods , Computer simulation , Finite element model
Design of a Dual Piezoelectric Controlled Electrohydraulic Actuator
W. Michael Axtell, David N. Rocheleau
IDETC-CIE 2006; 655-665https://doi.org/10.1115/DETC2006-99060
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Topics: Actuators , Design , Pistons , Displacement , Engineering prototypes , Matlab , Testing , Engines , Modeling , Valves
Modeling of Electrodynamic Suspension Systems
Nam Ho Kim, Long Ge
IDETC-CIE 2006; 667-676https://doi.org/10.1115/DETC2006-99122
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Topics: Damping , Drag (Fluid dynamics) , Dynamic models , Magnetic levitation , Modeling , Optimization , Stability , Suspension systems , Vehicles
A Contact Force Solution for Non-Colliding Contact Dynamics Simulation
Inna Sharf, Yuning Zhang
IDETC-CIE 2006; 677-687https://doi.org/10.1115/DETC2006-99139
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Topics: Contact dynamics , Simulation , Wedges , Contact mechanics , Biomechanics , Deformation , Displacement , Dynamics (Mechanics) , Friction , Geometry
Counterweight Balancing for Reducing Machine Frame Vibration: A Convex Optimization Framework
Myriam Verschuure, Bram Demeulenaere, Jan Swevers, Joris De Schutter
IDETC-CIE 2006; 689-697https://doi.org/10.1115/DETC2006-99167
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Topics: Machinery , Optimization , Vibration , Kinetic energy , Linkages
Variation Analysis of a Two Link Planar Manipulator Using Polynomial Chaos Theory
Philip A. Voglewede, Antonello Monti
IDETC-CIE 2006; 699-707https://doi.org/10.1115/DETC2006-99170
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Topics: Chaos theory , Manipulators , Polynomials , Dynamic analysis , Manufacturing
A Characterization of Cam Transmissions Through an Identification of Lumped Parameters
Giuseppe Carbone, Chiara Lanni, Marco Ceccarelli, Giovanni Incerti, Monica Tiboni
IDETC-CIE 2006; 709-718https://doi.org/10.1115/DETC2006-99218
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Topics: Cams , Damping , Stiffness , Testing
Finite Element Modeling of Coupled Flexible Multibody Dynamics and Liquid Sloshing
Tamer M. Wasfy
IDETC-CIE 2006; 719-727https://doi.org/10.1115/DETC2006-99243
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Topics: Finite element analysis , Modeling , Multibody dynamics , Sloshing , Fluids , Finite element model , Actuators , Algorithms , Computer simulation , Deformation
Dynamic Analysis of a Four-Span Rotor System With Nonlinear Oil-Films
Qingkai Han, Li Wang, Hongliang Yao, Zhaohui Ren, Bangchun Wen
IDETC-CIE 2006; 729-733https://doi.org/10.1115/DETC2006-99258
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Topics: Bifurcation , Dynamic analysis , Rotors
Enhancement of the Vehicle Suspension Performance Using Motion-Doubling Linkage Mechanisms
Jahangir Rastegar, Kavous Jorabchi, Hee J. Park
IDETC-CIE 2006; 735-740https://doi.org/10.1115/DETC2006-99504
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Topics: Linkages , Suspension systems , Vehicles , Computer simulation , Construction , Dynamics (Mechanics) , Rotation , Tires
RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke
Sachin Chitta, Mustafa Karabas, Kevin C. Galloway, Vijay Kumar
IDETC-CIE 2006; 741-748https://doi.org/10.1115/DETC2006-99602
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Topics: Design , Modeling , Robotics , Manufacturing , Shapes , Simulation , Steering wheels
Structural Dynamics and System Identification of Parallel Kinematic Machines
Gloria J. Wiens, David S. Hardage
IDETC-CIE 2006; 749-758https://doi.org/10.1115/DETC2006-99671
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Topics: Kinematics , Machinery , Structural dynamics , Machine tools , Machine design , Machining , Modeling , Vibration
Reduction of Induced Vibration Using Motion-Doubling Linkage Mechanisms
J. Rastegar, J. Zhang
IDETC-CIE 2006; 759-764https://doi.org/10.1115/DETC2006-99704
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Topics: Linkages , Vibration , Torque , Dynamics (Mechanics) , Excitation , Machinery , Rotation
Dynamic Model Verification Process for a Rotating, Elastic In-Space Tether
Kalyan K. Mankala, Sunil K. Agrawal, Stephen L. Canfield, John Peddieson
IDETC-CIE 2006; 765-776https://doi.org/10.1115/DETC2006-99746
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Topics: Dynamic models , Dynamic response , Dynamics (Mechanics) , Propellants , Thrust

Robotics Applications

Cable-Suspended Robotic Contour Crafting System
Paul Bosscher, Robert L. Williams, II, L. Sebastian Bryson, Daniel Castro-Lacouture
IDETC-CIE 2006; 777-785https://doi.org/10.1115/DETC2006-99016
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Topics: Cables , Concretes , Extruding , Robotics , Robots
Self-Adjustable Docking Mechanism With Passive Linkage for Mobile Robot
Hyun Do Choi, Kung Wun Lee, Chun-Kyu Woo, Ho Seon Rew, Soo Hyun Kim, Yoon Keun Kwak
IDETC-CIE 2006; 787-793https://doi.org/10.1115/DETC2006-99054
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Topics: Linkages , Mobile robots , Errors , Robots , Sensors , Actuators , Algorithms , Batteries , Inspection , Military systems
A Six Degree-of-Freedom Haptic Device Based on the Orthoglide and a Hybrid Agile Eye
Damien Chablat, Philippe Wenger
IDETC-CIE 2006; 795-802https://doi.org/10.1115/DETC2006-99065
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Topics: Degrees of freedom , Haptics , Kinematics , Motors , Rotation , Design , End effectors , Manufacturing , Parallel mechanisms , Real-time control
Synthesis of a Compensated Kick Pattern for Humanoid Robots Using Conservation Laws
Ali Meghdari, Seyed Hossein Tamaddoni, Farid Jafari
IDETC-CIE 2006; 803-810https://doi.org/10.1115/DETC2006-99121
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Topics: Humanoid robots , Angular momentum , Computer simulation , Conservation laws (Physics) , Trajectories (Physics)
Motion Characteristics of a Square Wheel Car
Stephen J. Derby, Kurt Anderson, Steven Winckler, Jason Winckler
IDETC-CIE 2006; 811-816https://doi.org/10.1115/DETC2006-99140
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Topics: Wheels , Engineering prototypes , Engines , Locomotives , Motors , Weight (Mass) , Dynamic modeling , Inventions , Microelectromechanical systems , Patents
Three-Cable Haptic Interface
Robert L. Williams, II, Venkat Chadaram, Federica Giacometti
IDETC-CIE 2006; 817-824https://doi.org/10.1115/DETC2006-99177
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Topics: Cables , Haptics
Design and Verification of an Adaptive Control Algorithm for a Redundantly Actuated Omnidirectional Mobile Platform
Young-Chul Lee, Danny V. Lee, Jae H. Chung, Steven A. Velinsky
IDETC-CIE 2006; 825-832https://doi.org/10.1115/DETC2006-99180
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Topics: Adaptive control , Algorithms , Design , Wheels , Construction , Control equipment , Dynamic models , Highways , Maintenance , Manipulators
A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion
Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Herna´ndez
IDETC-CIE 2006; 833-842https://doi.org/10.1115/DETC2006-99197
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Topics: Manipulators , Degrees of freedom , End effectors , Engineering prototypes , Kinematic analysis , Kinematic chains , Resolution (Optics) , Stiffness
Development of a Blanket Manipulation Tool for Satellite Servicing
Thierry Laliberte´, Cle´ment M. Gosselin
IDETC-CIE 2006; 843-850https://doi.org/10.1115/DETC2006-99204
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Topics: Satellites , Robotics , Design , Design engineering , Engineering prototypes , Grasping , Rapid prototyping
Kinematic Sensitivity of a Very Large Cable-Driven Parallel Mechanism
Samuel Bouchard, Cle´ment M. Gosselin
IDETC-CIE 2006; 851-858https://doi.org/10.1115/DETC2006-99222
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Topics: Cables , Kinematics , Parallel mechanisms , Radiotelescopes
A Screw-Theoretic Analysis Framework for Musculoskeletal Systems
Michael J. Del Signore, Rajankumar M. Bhatt, Venkat Krovi
IDETC-CIE 2006; 859-865https://doi.org/10.1115/DETC2006-99248
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Topics: Musculoskeletal system , Screws , Muscle , Redundancy (Engineering) , Simulation , Cables , Graphical user interfaces , Hardware , Matlab , Modeling
Haptic Cobot Exoskeleton: Concepts and Mechanism Design
Paul Bosscher, Eric LaFay
IDETC-CIE 2006; 867-876https://doi.org/10.1115/DETC2006-99420
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Topics: Design , Exoskeleton devices , Haptics , Parallel mechanisms
Motion Control and Design of an Aerial Robotic System
Mehdi Nikkhah, Hashem Ashrafiuon, Edmond J. Dougherty
IDETC-CIE 2006; 877-883https://doi.org/10.1115/DETC2006-99510
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Topics: Design , Motion control , Robotics , Cables , Algorithms , Dynamics (Mechanics) , Electric motors , Engineering prototypes , Rotation , Trajectories (Physics)
Near-Earth Unmanned Aerial Vehicles: Sensor Suite Testing and Evaluation
Vefa Narli, Paul Y. Oh
IDETC-CIE 2006; 885-891https://doi.org/10.1115/DETC2006-99614
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Topics: Sensors , Testing , Unmanned aerial vehicles , Caves , Cities , Degrees of freedom , Design , End effectors , Fans , Generators
Determination of the Interference Geometry Between Two Convex Objects
Lianzhen Luo, Meyer Nahon
IDETC-CIE 2006; 893-902https://doi.org/10.1115/DETC2006-99616
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Topics: Geometry , Algorithms , Simulation , Computer simulation , Contact dynamics , Fittings , Haptics , Materials properties
Joint Coupling Design of Underactuated Grippers
Aaron M. Dollar, Robert D. Howe
IDETC-CIE 2006; 903-911https://doi.org/10.1115/DETC2006-99645
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Topics: Design , Grippers , Gaussian distribution , Torque , Uncertainty , Weight (Mass)
Rotating Range Sensor System for Obstacle Detection and Map Building
Hyunwoong Park, Sooyong Lee
IDETC-CIE 2006; 913-918https://doi.org/10.1115/DETC2006-99658
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Topics: Sensors , Lasers , Mobile robots , Navigation
Use of IRID (InfraRed IDentification) for Mobile Robot Localization
Jungyun Bae, Sooyong Lee
IDETC-CIE 2006; 919-923https://doi.org/10.1115/DETC2006-99664
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Topics: Mobile robots , Algorithms , Light-emitting diodes , Uncertainty , Ceilings , Robots , Transistors
Mechanical Design and Modelling of a Robotic Planetary Drilling System
Yinghui Liu, Brian Weinberg, Constantinos Mavroidis
IDETC-CIE 2006; 925-932https://doi.org/10.1115/DETC2006-99699
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Topics: Design engineering , Drilling , Modeling , Robotics , Actuators , Propulsion , Bits (Tools) , Kinematics , Screws , Teams
Three-Dimensional Kinematic Analysis of the Actuated Spoke Wheel Robot
Doug Laney, Dennis Hong
IDETC-CIE 2006; 933-939https://doi.org/10.1115/DETC2006-99751
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Topics: Kinematic analysis , Robots , Wheels , Mechanical admittance , Locomotives , Mobile robots , Steady state

Robotics Theory

Solving Jacobian Matrix of Parallel Manipulators With Linear Driving Limbs by Using CAD Variation Geometric Approach
Yi Lu, Bo Hu
IDETC-CIE 2006; 941-947https://doi.org/10.1115/DETC2006-99019
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Topics: Computer-aided design , Jacobian matrices , Manipulators , Computers , Simulation , Geometry , Computer simulation , Design , Dynamics (Mechanics) , Kinematics
The Singularity Analysis of 3-RPS Parallel Manipulator
Yanwen Li, Zhen Huang, Lumin Wang
IDETC-CIE 2006; 949-955https://doi.org/10.1115/DETC2006-99028
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Topics: Manipulators , Reactor protection systems , Geometry , Kinematics , Screws
Mobility and Position Analysis of a Novel 3-DOF Translational Parallel Mechanism
Daxing Zeng, Zhen Huang, Linlin Zhang
IDETC-CIE 2006; 957-963https://doi.org/10.1115/DETC2006-99031
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Topics: Displacement , Mechanical admittance , Parallel mechanisms
Spherical Bistable Micromechanism
Craig P. Lusk, Larry L. Howell
IDETC-CIE 2006; 965-975https://doi.org/10.1115/DETC2006-99076
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Topics: Micromechanical devices , Optical mirrors , Robustness
The Mobility Analyses of Some Classical Mechanism and Recent Parallel Robots
Zhen Huang, Ping Xia
IDETC-CIE 2006; 977-983https://doi.org/10.1115/DETC2006-99109
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Topics: Mechanical admittance , Robots , Mechanical engineers , Parallel mechanisms , Screws
Assembly Configuration Synthesis Method for Discretely-Actuated Manipulators
Deanne C. Kemeny, Raymond J. Cipra
IDETC-CIE 2006; 985-995https://doi.org/10.1115/DETC2006-99239
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Topics: End effectors , Manipulators , Manufacturing
Robustness Analysis of Kinematic Covariance Propagation in Serial Manipulators
Yunfeng Wang, Gregory S. Chirikjian
IDETC-CIE 2006; 997-1004https://doi.org/10.1115/DETC2006-99283
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Topics: Kinematics , Manipulators , Robustness , Errors , End effectors , Probability
Differential Geometry Based Analysis and Synthesis of a Multifingered Robotic Hand With a Metamorphic Palm
Jian S. Dai, Delun Wang
IDETC-CIE 2006; 1005-1016https://doi.org/10.1115/DETC2006-99532
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Topics: End effectors , Geometry
Inverse Kinematics of Discretely-Actuated Manipulators Within a Bounded Grid Element
Deanne C. Kemeny, Raymond J. Cipra
IDETC-CIE 2006; 1017-1027https://doi.org/10.1115/DETC2006-99559
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Topics: Kinematics , Manipulators
Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator
Pierre-Luc Richard, Cle´ment M. Gosselin, Xianwen Kong
IDETC-CIE 2006; 1029-1036https://doi.org/10.1115/DETC2006-99570
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Topics: Kinematic analysis , Manipulators , Engineering prototypes , Kinematics , Design , Displacement , Rotation
Type Synthesis of Parallel Mechanisms With Multiple Operation Modes
Xianwen Kong, Cle´ment M. Gosselin, Pierre-Luc Richard
IDETC-CIE 2006; 1037-1046https://doi.org/10.1115/DETC2006-99628
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Topics: Parallel mechanisms , Degrees of freedom
Modeling Uncertainty for Planar Meso-Scale Manipulation and Assembly
David J. Cappelleri, Jonathan Fink, Vijay Kumar
IDETC-CIE 2006; 1047-1056https://doi.org/10.1115/DETC2006-99687
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Topics: Manufacturing , Modeling , Uncertainty , Friction , Algorithms , Design , Feedback , Grasping , Manipulators , Manufacturing industry
Design of Under-Actuated Open-Chain Planar Robots for Repetitive Cyclic Motions
Sunil K. Agrawal, Vivek Sangwan
IDETC-CIE 2006; 1057-1066https://doi.org/10.1115/DETC2006-99736
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Topics: Chain , Design , Robots , Inertia (Mechanics) , Trajectories (Physics) , Actuators , Degrees of freedom , Dynamics (Mechanics) , Feedback , Numerical analysis

Theoretical and Computational Kinematics

A Comprehensive Theory of Type Synthesis of Fully Parallel Platforms
Jose´ M. Rico, J. Jesu´s Cervantes-Sa´nchez, Alejandro Tadeo-Chavez, Gerardo Israel Pe´rez-Soto, Juan Rocha-Chavarria
IDETC-CIE 2006; 1067-1078https://doi.org/10.1115/DETC2006-99070
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Topics: Lie algebras , Mechanical admittance
On Global Aspects of Real Newton’s Method in Synthesis of Linkages
Jin Xie, Kaiyin Yan, Yong Chen
IDETC-CIE 2006; 1079-1086https://doi.org/10.1115/DETC2006-99087
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Topics: Linkages , Newton's method , Algorithms , Dynamic systems , Nonlinear equations , Polynomials
A Simple Method for Inverse Kinematic Analysis of the General 6R Serial Robot
Zhi Xin Shi, Yu Feng Luo, Lu Bing Hang, Ting Li Yang
IDETC-CIE 2006; 1087-1094https://doi.org/10.1115/DETC2006-99088
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Topics: Kinematic analysis , Robots , Kinematics , Algorithms , Dimensions , Algebra , Manufacturing , Parallel mechanisms
Modular Method for Kinematic Analysis of Parallel Manipulators Based on Ordered SOCs
Zhi Xin Shi, Yu Feng Luo, Ting Li Yang
IDETC-CIE 2006; 1095-1105https://doi.org/10.1115/DETC2006-99089
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Topics: Kinematic analysis , Manipulators , Dimensions , Algebra , Algorithms , Chain , Kinematics , Parallel mechanisms
A General Geometric Method for Identifying Singular Configurations of One-DOF Planar Mechanisms
Raffaele Di Gregorio
IDETC-CIE 2006; 1107-1115https://doi.org/10.1115/DETC2006-99094
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Topics: Architecture , Degrees of freedom
On the Line Geometry of Finite Screw Systems and Point Displacements
Chintien Huang, Bahram Ravani
IDETC-CIE 2006; 1117-1122https://doi.org/10.1115/DETC2006-99124
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Topics: Geometry , Screws , Displacement , Kinematics
A Three-Dimensional Generalization of Reuleaux’s Method Based on Line Geometry
Jasem Baroon, Bahram Ravani
IDETC-CIE 2006; 1123-1130https://doi.org/10.1115/DETC2006-99153
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Topics: Geometry , Kinematics , Displacement , Screws
The Duality Relation Between Mechanisms and Structures: A Different View
Ismael Ruiz-Lo´pez, Jose´ M. Rico, J. Jesu´s Cervantes-Sa´nchez, Jaime Gallardo, Horacio Orozco
IDETC-CIE 2006; 1131-1145https://doi.org/10.1115/DETC2006-99275
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Representation of the Variable Chain Mechanisms With Sequential Movement
Hsing-Hui Huang
IDETC-CIE 2006; 1147-1153https://doi.org/10.1115/DETC2006-99300
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Topics: Chain
Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Atlas of DOF Characteristic Matrix
Jingjun Yu, Jian S. Dai, Xin-Jun Liu, Shusheng Bi, Guanghua Zong
IDETC-CIE 2006; 1155-1168https://doi.org/10.1115/DETC2006-99321
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Topics: Displacement , Manipulators , Degrees of freedom , Parallel mechanisms , Screws , Systems theory
SMARP: A Tool for Parallel Manipulators Design and Simulation
Samir Lahouar, Said Zeghloul, Lotfi Romdhane
IDETC-CIE 2006; 1169-1175https://doi.org/10.1115/DETC2006-99338
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Topics: Design , Manipulators , Simulation , End effectors , Equations of motion , Robots
Mobility and Workspace of a 3-5R Translational Parallel Mechanism
Syamsul Huda, Yukio Takeda
IDETC-CIE 2006; 1177-1184https://doi.org/10.1115/DETC2006-99340
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Topics: Mechanical admittance , Parallel mechanisms , Screws , Shapes
Three Novel Discontinuously Movable Spatial 7-Link Mechanisms
Chung-Ching Lee, Jacques M. Herve´
IDETC-CIE 2006; 1185-1192https://doi.org/10.1115/DETC2006-99386
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Topics: Algebra , Bifurcation , Chain , Degrees of freedom , Displacement , Manifolds , Mechanical admittance
Inverse Kinematics Analysis of General 6R Manipulator Based on Groebner Basis-Sylvester Hybrid Method
Lubing Hang, Tingli Yang
IDETC-CIE 2006; 1193-1198https://doi.org/10.1115/DETC2006-99613
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Topics: Kinematics , Manipulators
Computer Aided Synthesis of Piecewise Rational Motions for Planar 2R and 3R Robot Arms
Zhe Jin, Q. J. Ge
IDETC-CIE 2006; 1199-1208https://doi.org/10.1115/DETC2006-99649
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Topics: Computer-aided engineering , Robots , Interpolation , Kinematics , Path planning , Splines
Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot Arms
Anurag Purwar, Zhe Jin, Q. J. Ge
IDETC-CIE 2006; 1209-1221https://doi.org/10.1115/DETC2006-99650
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Topics: Computer-aided engineering , Robots , Interpolation , Kinematics , End effectors , Path planning , Splines
Kinematic Method for Roll Center Analysis of a Half-Car Model With Variable Wheel Tread Width
Jae-Kil Lee, Jae-Kyung Shim
IDETC-CIE 2006; 1223-1228https://doi.org/10.1115/DETC2006-99673
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Topics: Kinematics , Wheels , Displacement , Vehicles , Kinematic analysis , Poles (Building) , Theorems (Mathematics)
A Simple Method for Mobility Analysis Using Reciprocal Screws
Z. Huang, Q. J. Ge
IDETC-CIE 2006; 1229-1237https://doi.org/10.1115/DETC2006-99677
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Topics: Mechanical admittance , Screws , Manipulators , Parallel mechanisms , Scalars
On Trigonometric Formulations of Polynomial Equations
Harvey Lipkin
IDETC-CIE 2006; 1239-1248https://doi.org/10.1115/DETC2006-99695
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Topics: Polynomials , Displacement , Algebra , Closed kinematic chains , Kinematics
The Analysis of Planetary Gear Trains
Madhusudan Raghavan
IDETC-CIE 2006; 1249-1255https://doi.org/10.1115/DETC2006-99754
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Topics: Planetary gears , Trains , Levers , Gear trains
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