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

Topics: Algorithms , Compliant mechanisms , Design , Optimization , Topology , Finite element analysis , Rigid-body mechanisms , Risk-based maintenance

Designing Distributed Compliant Mechanisms With Characteristic Stiffness

Shikui Chen, Michael Yu Wang

IDETC-CIE 2007; 33-45https://doi.org/10.1115/DETC2007-34437

Abstract

View Articletitled, Designing Distributed Compliant Mechanisms With Characteristic Stiffness

PDF

Topics: Compliant mechanisms , Design , Stiffness , Optimization , Cutting , Hinges , Springs , Topology

A Large Deflection Analysis Method for Lateral Torsional Buckling

Robert P. Chase, Robert H. Todd, Larry L. Howell, Spencer P. Magleby

IDETC-CIE 2007; 47-53https://doi.org/10.1115/DETC2007-34531

Abstract

View Articletitled, A Large Deflection Analysis Method for Lateral Torsional Buckling

PDF

Topics: Buckling , Deflection

Preliminaries for a Spherical Compliant Mechanism: Pseudo-Rigid-Body Model Kinematics

Saurabh Jagirdar, Craig P. Lusk

IDETC-CIE 2007; 55-66https://doi.org/10.1115/DETC2007-34782

Abstract

View Articletitled, Preliminaries for a Spherical Compliant Mechanism: Pseudo-Rigid-Body Model Kinematics

PDF

Topics: Compliant mechanisms , Kinematics , Finite element analysis , Topology

Concepts for Achieving Multi-Stability in Compliant Rolling-Contact Elements

Peter A. Halverson, Larry L. Howell, Brian D. Jensen, Spencer P. Magleby

IDETC-CIE 2007; 67-73https://doi.org/10.1115/DETC2007-34836

Abstract

View Articletitled, Concepts for Achieving Multi-Stability in Compliant Rolling-Contact Elements

PDF

Topics: Rolling contact , Stability , Compliant mechanisms , Deflection , Design , Equilibrium (Physics) , Friction

Compliant Mechanisms Formed From Shaped Wire

Tyler M. Pendleton, Brian D. Jensen

IDETC-CIE 2007; 75-81https://doi.org/10.1115/DETC2007-34969

Abstract

View Articletitled, Compliant Mechanisms Formed From Shaped Wire

PDF

Topics: Compliant mechanisms , Wire , Springs , Torsion , Design , Finite element model , Manufacturing , Rigid-body mechanisms , Stiffness

Synthesis of Multi-Stable Equilibrium Compliant Mechanisms Using Combinations of Bi-Stable Mechanisms

Young Seok Oh, Sridhar Kota

IDETC-CIE 2007; 83-91https://doi.org/10.1115/DETC2007-34971

Abstract

View Articletitled, Synthesis of Multi-Stable Equilibrium Compliant Mechanisms Using Combinations of Bi-Stable Mechanisms

PDF

Topics: Compliant mechanisms , Equilibrium (Physics)

A New Family of Large-Displacement Flexural Pivots

Jingjun Yu, Guanghua Zong, Zhiwei Yu, Shusheng Bi

IDETC-CIE 2007; 93-100https://doi.org/10.1115/DETC2007-34977

Abstract

View Articletitled, A New Family of Large-Displacement Flexural Pivots

PDF

Topics: Displacement , Buckling , Deflection , Design , Finite element analysis

Synthesis of Planar Compliant Mechanisms

Tewodros E. Mengesha, Kerr-Jia Lu

IDETC-CIE 2007; 101-109https://doi.org/10.1115/DETC2007-35070

Abstract

View Articletitled, Synthesis of Planar Compliant Mechanisms

PDF

Topics: Compliant mechanisms , Design , Design methodology , Optimization , Topology , Biomimetics , Genetic algorithms , Maintenance , Shape optimization , Stress concentration

Analysis of the Hex Cell Discretization for Topology Synthesis of Compliant Mechanisms

Nilesh D. Mankame, Anupam Saxena

IDETC-CIE 2007; 111-126https://doi.org/10.1115/DETC2007-35244

Abstract

View Articletitled, Analysis of the Hex Cell Discretization for Topology Synthesis of Compliant Mechanisms

PDF

Topics: Compliant mechanisms , Topology , Design , Engineering simulation , Optimization , Simulation , Stress , Displacement , Filtration , Finite element analysis

MEMS Optical Force Sensor Enhancement Via Compliant Mechanism

Gustavo A. Roman, Gloria J. Wiens

IDETC-CIE 2007; 127-135https://doi.org/10.1115/DETC2007-35345

Abstract

View Articletitled, MEMS Optical Force Sensor Enhancement Via Compliant Mechanism

PDF

Topics: Compliant mechanisms , Force sensors , Microelectromechanical systems , Sensors , Design , Micromachining , Interferometry , Resolution (Optics) , Biomedicine , Finite element analysis

Decomposition Strategies for the Synthesis of Single Input-Single Output and Dual Input-Single Output Compliant Mechanisms

Charles Kim

IDETC-CIE 2007; 137-146https://doi.org/10.1115/DETC2007-35449

Abstract

View Articletitled, Decomposition Strategies for the Synthesis of Single Input-Single Output and Dual Input-Single Output Compliant Mechanisms

PDF

Topics: Compliant mechanisms , Blocks (Building materials) , Stiffness

Kinematic Representations of Pop-Up Paper Mechanisms

Brian G. Winder, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2007; 147-159https://doi.org/10.1115/DETC2007-35505

Abstract

View Articletitled, Kinematic Representations of Pop-Up Paper Mechanisms

PDF

Topics: Kinematics , Arches , Compliant mechanisms , Construction , Instrumentation , Kinematic chains , Packaging , Surgery

Design of Planar Nonlinear Springs for Prescribed Load-Displacement Functions

Christine V. Jutte, Sridhar Kota

IDETC-CIE 2007; 161-170https://doi.org/10.1115/DETC2007-35535

Abstract

View Articletitled, Design of Planar Nonlinear Springs for Prescribed Load-Displacement Functions

PDF

Topics: Design , Displacement , Springs , Stress

A Pseudo-Rigid-Body Model for Rolling-Contact Compliant Beams

Allen B. Mackay, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2007; 171-178https://doi.org/10.1115/DETC2007-35536

Abstract

View Articletitled, A Pseudo-Rigid-Body Model for Rolling-Contact Compliant Beams

PDF

Topics: Rolling contact , Cantilever beams , Clearances (Engineering) , Deflection , Boundary-value problems , Displacement , Shapes , Springs , Stiffness

Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories

Stephen L. Canfield, Daniel L. Chlarson, Alexander Shibakov, Joseph D. Richardson, Anupam Saxena

IDETC-CIE 2007; 179-190https://doi.org/10.1115/DETC2007-35618

Abstract

View Articletitled, Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories

PDF

Topics: Compliant mechanisms , Failure , Pareto optimization , Design , Engines

A Compliant Rotating Joint for Deployable Wings on Small UAVs

Steven D. Landon, Spencer P. Magleby, Brian D. Jensen

IDETC-CIE 2007; 191-197https://doi.org/10.1115/DETC2007-35821

Abstract

View Articletitled, A Compliant Rotating Joint for Deployable Wings on Small UAVs

PDF

Topics: Linkages , Unmanned aerial vehicles , Wings , Flight , Compliant mechanisms , Kinematics , Manufacturing , Storage

Interactive Sessions

Cable-Suspended Vehicle Simulation System Concept

Robert L. Williams, II

IDETC-CIE 2007; 199-207https://doi.org/10.1115/DETC2007-34595

Abstract

View Articletitled, Cable-Suspended Vehicle Simulation System Concept

PDF

Topics: Cables , Haptics , Simulation , Vehicles

Novel Double-Parallelogram Motion Constraining Mechanisms for Vibration Isolation Systems

Jahangir Rastegar, Farshad Khorrami

IDETC-CIE 2007; 209-215https://doi.org/10.1115/DETC2007-34880

Abstract

View Articletitled, Novel Double-Parallelogram Motion Constraining Mechanisms for Vibration Isolation Systems

PDF

Topics: Vibration isolation , Linkages , Vibration , Damping , Design , Dry friction , Engineering prototypes , Springs , Testing , Vehicles

The Modeling of Leaf-Type Isosceles-Trapezoidal Flexural Pivots

Xu Pei, Jingjun Yu, Guanghua Zong, Shusheng Bi

IDETC-CIE 2007; 217-223https://doi.org/10.1115/DETC2007-34981

Abstract

View Articletitled, The Modeling of Leaf-Type Isosceles-Trapezoidal Flexural Pivots

PDF

Topics: Compliant mechanisms , Deflection , Design , Finite element analysis , Hinges , Modeling , Stress

An Autonomous Surgical Robot Applied in Cochleostomy

P. N. Brett, R. P. Taylor, D. Proops, C. Coulson, A. Reid, M. V. Griffiths

IDETC-CIE 2007; 225-229https://doi.org/10.1115/DETC2007-35269

Abstract

View Articletitled, An Autonomous Surgical Robot Applied in Cochleostomy

PDF

Topics: Robots , Surgery , Biological tissues , Drills (Tools) , Drilling , Robotics , Bits (Tools) , Bone , Cutting , Deflection

Endoscope Geometrical Analysis and Kinematic Control

Harvey Lipkin, Jomkwun Munnae, Gary McMurray, Debao Zhou, Wayne Daley

IDETC-CIE 2007; 231-238https://doi.org/10.1115/DETC2007-35384

Abstract

View Articletitled, Endoscope Geometrical Analysis and Kinematic Control

PDF

Topics: Endoscopes , Kinematics , Biomedicine , Cables , Degrees of freedom , Robots , Surgery

A Comparison of Three Passive Capture Mechanisms for Tether Momentum Exchange

Stephen L. Canfield, Daniel L. Chlarson, Kirk Sorensen

IDETC-CIE 2007; 239-249https://doi.org/10.1115/DETC2007-35625

Abstract

View Articletitled, A Comparison of Three Passive Capture Mechanisms for Tether Momentum Exchange

PDF

Topics: Momentum , Design , Energy storage , Fuel efficiency , Kinematics , Propulsion , Rockets , Space vehicles , Thrust , Uncertainty

Novel Motion-Doubling Linkage Mechanisms for Vehicle Suspension: Performance Simulation Results

Jahangir Rastegar, Dake Feng

IDETC-CIE 2007; 251-256https://doi.org/10.1115/DETC2007-35783

Abstract

View Articletitled, Novel Motion-Doubling Linkage Mechanisms for Vehicle Suspension: Performance Simulation Results

PDF

Topics: Linkages , Simulation results , Suspension systems , Vehicles , Computer simulation , Dynamics (Mechanics) , Rotation , Tires

Machine Dynamics, Vibration and Control

Design of Wheeled Mobile Robots With Advanced Drives

Chao Chen, Jorge Angeles

IDETC-CIE 2007; 257-263https://doi.org/10.1115/DETC2007-34178

Abstract

View Articletitled, Design of Wheeled Mobile Robots With Advanced Drives

PDF

Topics: Design , Mobile robots , Engineering prototypes , Wheels , Rotation , Stress

Structural Vibration Control of a Moving 3-PRR Flexible Parallel Manipulator With Multiple PZT Actuators and Sensors

Xuping Zhang, James K. Mills, William L. Cleghorn

IDETC-CIE 2007; 265-271https://doi.org/10.1115/DETC2007-34248

Abstract

View Articletitled, Structural Vibration Control of a Moving 3-PRR Flexible Parallel Manipulator With Multiple PZT Actuators and Sensors

PDF

Topics: Actuators , Manipulators , Sensors , Vibration control

Landing Posture Control of a Generalized Twin-Body System Via Methods of Input-Output Linearization and Computed Torque

Yi-Ling Yang, Paul C.-P. Chao, Cheng-Kuo Sung

IDETC-CIE 2007; 273-280https://doi.org/10.1115/DETC2007-34362

Abstract

View Articletitled, Landing Posture Control of a Generalized Twin-Body System Via Methods of Input-Output Linearization and Computed Torque

PDF

Topics: Torque , Control equipment , Coriolis force , Damage , Design , Equations of motion , Nonlinear equations , Robots , Simulation results

Vibrations of a Flexible-Link Flexible-Base Robot Arm

Samir E. Emam

IDETC-CIE 2007; 281-290https://doi.org/10.1115/DETC2007-34605

Abstract

View Articletitled, Vibrations of a Flexible-Link Flexible-Base Robot Arm

PDF

Topics: Robots , Vibration , Dynamics (Mechanics) , Mode shapes , Boundary-value problems , Deformation , Differential equations , Elasticity , Equations of motion , Equilibrium (Physics)

A Single Piezoelectric Trimorph Driven Bi-Directional Linear Ultrasonic Motor

Tung-Li Wu, Chen-Hui Yang, Shuo-Hung Chang

IDETC-CIE 2007; 291-296https://doi.org/10.1115/DETC2007-34661

Abstract

View Articletitled, A Single Piezoelectric Trimorph Driven Bi-Directional Linear Ultrasonic Motor

PDF

Topics: Ultrasonic motors , Vibration , Resonance , Design , Engines , Motors , Actuators , Copper , Engineering prototypes , Finite element analysis

Hybrid Approach to Modeling a Flexible Parallel Robot for Vibration Damping

Jens Kroneis, Steven Liu

IDETC-CIE 2007; 297-306https://doi.org/10.1115/DETC2007-34743

Abstract

View Articletitled, Hybrid Approach to Modeling a Flexible Parallel Robot for Vibration Damping

PDF

Topics: Damping , Modeling , Robots , Vibration

Vibration Analysis of Cable-Driven Parallel Manipulators for Hardware-in-the-Loop Contact-Dynamics Simulation

Xiumin Diao, Ou Ma

IDETC-CIE 2007; 307-313https://doi.org/10.1115/DETC2007-35093

Abstract

View Articletitled, Vibration Analysis of Cable-Driven Parallel Manipulators for Hardware-in-the-Loop Contact-Dynamics Simulation

PDF

Topics: Cables , Contact dynamics , Hardware , Manipulators , Simulation , Vibration analysis , Vibration , Robotics , Space vehicles , Excitation

Harmonic Balancing of Planar Machinery by Arbitrarily Placed Counterweighing Shafts

Carlo Innocenti

IDETC-CIE 2007; 315-324https://doi.org/10.1115/DETC2007-35252

Abstract

View Articletitled, Harmonic Balancing of Planar Machinery by Arbitrarily Placed Counterweighing Shafts

PDF

Topics: Machinery , Cylinders , Engines , Excitation

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

Ji-Chul Ryu, Sunil K. Agrawal, Jaume Franch

IDETC-CIE 2007; 325-332https://doi.org/10.1115/DETC2007-35288

Abstract

View Articletitled, Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

PDF

Topics: Path planning , Control equipment , Dynamic models , Feedback , Simulation results , Stability , Tracking control , Trajectories (Physics)

Mechanism Analysis and Synthesis

On the Generation of Analytical Noncircular Multi-Lobe Internal Pitch Pairs

Jia Yan, Daniel C. H. Yang, Shih-Hsi Tong

IDETC-CIE 2007; 333-339https://doi.org/10.1115/DETC2007-34017

Abstract

View Articletitled, On the Generation of Analytical Noncircular Multi-Lobe Internal Pitch Pairs

PDF

Topics: Algorithms , Design , Gears , Rotors

Loop-Structure Decomposition of Kinematic Chains, Application to Rigid Sub-Chain Detection

Huafeng Ding, Zhen Huang

IDETC-CIE 2007; 341-350https://doi.org/10.1115/DETC2007-34147

Abstract

View Articletitled, Loop-Structure Decomposition of Kinematic Chains, Application to Rigid Sub-Chain Detection

PDF

Topics: Chain , Kinematic chains

Isomorphism Identification of Graphs of Kinematic Chains

Huafeng Ding, Zhen Huang

IDETC-CIE 2007; 351-360https://doi.org/10.1115/DETC2007-34148

Abstract

View Articletitled, Isomorphism Identification of Graphs of Kinematic Chains

PDF

Topics: Kinematic chains

Kinematics Analysis and Solving Active Forces of a Plane Symmetry 3-SPR Parallel Manipulator

Yi Lu, Yan Shi

IDETC-CIE 2007; 361-367https://doi.org/10.1115/DETC2007-34173

Abstract

View Articletitled, Kinematics Analysis and Solving Active Forces of a Plane Symmetry 3-SPR Parallel Manipulator

PDF

Topics: Kinematics , Manipulators , China , Displacement , Simulation

Automatic Synthesis of a Planar Linkage With a Stiffness-Varying Spring Connected Rigid Block Model

Sang Jun Nam, Gang-Won Jang, Jung Hun Park, Jin Sub Hun, Yong Sub Yi, Yoon Yong Kim

IDETC-CIE 2007; 369-378https://doi.org/10.1115/DETC2007-34296

Abstract

View Articletitled, Automatic Synthesis of a Planar Linkage With a Stiffness-Varying Spring Connected Rigid Block Model

PDF

Topics: Linkages , Springs , Stiffness , Design , Design methodology , Dimensions , Errors , Kinematic analysis , Machinery , Robots

Kinematic Analysis of a Variable-Speed Transmission Mechanism

Gordon R. Pennock, Ali Israr

IDETC-CIE 2007; 379-388https://doi.org/10.1115/DETC2007-34346

Abstract

View Articletitled, Kinematic Analysis of a Variable-Speed Transmission Mechanism

PDF

Topics: Kinematic analysis , Kinematics , Geometry , Oscillations , Rotation , Design , Linkages

Approximate Motion Synthesis of Spherical Kinematic Chains

Venkatesh Venkataramanujam, Pierre Larochelle

IDETC-CIE 2007; 389-397https://doi.org/10.1115/DETC2007-34372

Abstract

View Articletitled, Approximate Motion Synthesis of Spherical Kinematic Chains

PDF

Topics: Kinematic chains , Chain , Closed kinematic chains , Optimization

Optimal Design of Steering Mechanisms in Road Vehicles

Ramon Sancibrian, Ana De-Juan, Pablo Garcia, Fernando Viadero, Alfonso Fernandez

IDETC-CIE 2007; 399-407https://doi.org/10.1115/DETC2007-34422

Abstract

View Articletitled, Optimal Design of Steering Mechanisms in Road Vehicles

PDF

Topics: Design , Kinematics , Linkages , Motor vehicles , Wheels , Dimensions , Generators , Geometry , Optimization

Optimum Synthesis of Rigid Mechanisms Using Real Coded Quantum-Inspired Evolution Algorithm (RQIEA) With Neighborhood Search

Ahmad Smaili, Mazen Hassanieh, Bachir Chaaya, Fawzan Al Fares

IDETC-CIE 2007; 409-416https://doi.org/10.1115/DETC2007-34427

Abstract

View Articletitled, Optimum Synthesis of Rigid Mechanisms Using Real Coded Quantum-Inspired Evolution Algorithm (RQIEA) With Neighborhood Search

PDF

Topics: Evolutionary algorithms , Rigid-body mechanisms , Algorithms , Optimization , Engines , Optimization algorithms

Synthesis of Planar, Shape-Changing Rigid Body Mechanisms Approximating Closed Curves

Justin A. Persinger, James P. Schmiedeler, Andrew P. Murray

IDETC-CIE 2007; 417-425https://doi.org/10.1115/DETC2007-34515

Abstract

View Articletitled, Synthesis of Planar, Shape-Changing Rigid Body Mechanisms Approximating Closed Curves

PDF

Topics: Rigid-body mechanisms , Shapes , Chain , Aerodynamic flow , Design , Errors , Geometry , Linkages , Optimization

Joint Rotation Space and Mobility of Linkages

Kwun-Lon Ting

IDETC-CIE 2007; 427-437https://doi.org/10.1115/DETC2007-34573

Abstract

View Articletitled, Joint Rotation Space and Mobility of Linkages

PDF

Topics: Linkages , Mechanical admittance , Rotation , Circuits , Uncertainty

General Mobility Identification and Rectification of Watt Six-Bar Linkages

Kwun-Lon Ting, Changyu Xue, Jun Wang, Kenneth R. Currie

IDETC-CIE 2007; 439-448https://doi.org/10.1115/DETC2007-34584

Abstract

View Articletitled, General Mobility Identification and Rectification of Watt Six-Bar Linkages

PDF

Topics: Linkages , Mechanical admittance , Computer-aided engineering , Rotation

Contact Stress Reduction Mechanisms for the CAM-Based Infinitely Variable Transmission

Derek F. Lahr, Dennis W. Hong

IDETC-CIE 2007; 449-456https://doi.org/10.1115/DETC2007-34601

Abstract

View Articletitled, Contact Stress Reduction Mechanisms for the CAM-Based Infinitely Variable Transmission

PDF

Topics: Stress , Design , Engineering prototypes , Gears , Kinematics , Pulleys , Torque

Generic Mobility of Rigid Body Mechanisms: On the Existence of Overconstrained Mechanisms

Andreas Mu¨ller

IDETC-CIE 2007; 457-465https://doi.org/10.1115/DETC2007-34621

Abstract

View Articletitled, Generic Mobility of Rigid Body Mechanisms: On the Existence of Overconstrained Mechanisms

PDF

Topics: Kinematics , Mechanical admittance , Rigid-body mechanisms , Dimensions , Geometry

The Multiobjective Optimization of a Prismatic Drive

E´milie Bouyer, Ste´phane Caro, Damien Chablat, Jorge Angeles

IDETC-CIE 2007; 467-476https://doi.org/10.1115/DETC2007-34795

Abstract

View Articletitled, The Multiobjective Optimization of a Prismatic Drive

PDF

Topics: Pareto optimization , Pressure , Rollers , Stress , Cams , Friction , Machinery , Optimization

Generation of Straight-Line Rigid-Body Displacement Using Coordinated Peaucellier Cells

Carl A. Nelson

IDETC-CIE 2007; 477-482https://doi.org/10.1115/DETC2007-34803

Abstract

View Articletitled, Generation of Straight-Line Rigid-Body Displacement Using Coordinated Peaucellier Cells

PDF

Topics: Displacement , Linkages

Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection

David H. Myszka, Andrew P. Murray, James P. Schmiedeler

IDETC-CIE 2007; 483-489https://doi.org/10.1115/DETC2007-34931

Abstract

View Articletitled, Assessing Position Order in Rigid Body Guidance: An Intuitive Approach to Fixed Pivot Selection

PDF

Topics: Blades , Collapse , Displacement , Poles (Building) , Propellers

Mobility and Overconstraint in Kinematic Chains and Assemblies

Jose´ M. Rico, J. Jesu´s Cervantes Sanchez, Juan Rocha, Gerardo I. Pe´rez, Alejandro Tadeo, Cesar Real Diez

IDETC-CIE 2007; 491-501https://doi.org/10.1115/DETC2007-34937

Abstract

View Articletitled, Mobility and Overconstraint in Kinematic Chains and Assemblies

PDF

Topics: Kinematic chains , Mechanical admittance , Topology

Synthesis of Adjustable Linkages for Precise Function Generation Using the Optimal Link Length Adjustment

Hong Zhou

IDETC-CIE 2007; 503-509https://doi.org/10.1115/DETC2007-34945

Abstract

View Articletitled, Synthesis of Adjustable Linkages for Precise Function Generation Using the Optimal Link Length Adjustment

PDF

Topics: Linkages , Errors

Design of a High-Speed Spherical Four-Bar Mechanism for Use in a Motion Common in Assembly Processes

Andrew P. Murray, Franc¸ois Pierrot

IDETC-CIE 2007; 511-518https://doi.org/10.1115/DETC2007-35354

Abstract

View Articletitled, Design of a High-Speed Spherical Four-Bar Mechanism for Use in a Motion Common in Assembly Processes

PDF

Topics: Design , Manufacturing , Design engineering , Rotation , Degrees of freedom , Gages , Kinematics , Sensitivity analysis

Static Analysis of Torque and Coupler Driven Spherical Four-Bar Mechanisms With an Applied Load

David A. Perkins, Michael L. Turner, Andrew P. Murray

IDETC-CIE 2007; 519-526https://doi.org/10.1115/DETC2007-35359

Abstract

View Articletitled, Static Analysis of Torque and Coupler Driven Spherical Four-Bar Mechanisms With an Applied Load

PDF

Topics: Stress , Torque , Chain , Linkages , Statics

Software for Investigating the Kinematics, Statics and Dynamics of Coupler-Driven Four-Bars for Two Position Synthesis

Michael L. Turner, Eric M. Grimm, Daniel Debrosse, Kevin Kosmac, Andrew P. Murray

IDETC-CIE 2007; 527-535https://doi.org/10.1115/DETC2007-35368

Abstract

View Articletitled, Software for Investigating the Kinematics, Statics and Dynamics of Coupler-Driven Four-Bars for Two Position Synthesis

PDF

Topics: Computer software , Dynamics (Mechanics) , Kinematics , Statics , Chain , Linkages , Torque

Synthesis of Adaptive Pliers Mechanism Using Genetic Algorithms

Wieslaw M. Szydlowski, Carl A. Nelson

IDETC-CIE 2007; 537-545https://doi.org/10.1115/DETC2007-35514

Abstract

View Articletitled, Synthesis of Adaptive Pliers Mechanism Using Genetic Algorithms

PDF

Topics: Genetic algorithms

Evolution Based Synthesis of Metamorphic Mechanisms

Liping Zhang, Delun Wang, Jian S. Dai

IDETC-CIE 2007; 547-560https://doi.org/10.1115/DETC2007-35544

Abstract

View Articletitled, Evolution Based Synthesis of Metamorphic Mechanisms

PDF

Topics: Blocks (Building materials) , Design , Kinematics , Modeling , Topology

A New Mobility Formula for Spatial Mechanisms

Charles Wampler, Blake T. Larson, Arthur G. Erdman

IDETC-CIE 2007; 561-570https://doi.org/10.1115/DETC2007-35574

Abstract

View Articletitled, A New Mobility Formula for Spatial Mechanisms

PDF

Topics: Mechanical admittance , Linkages

Assessment Criteria for the Conceptual Design of Six-Bar Linkages

Gim Song Soh, J. Michael McCarthy

IDETC-CIE 2007; 571-579https://doi.org/10.1115/DETC2007-35588

Abstract

View Articletitled, Assessment Criteria for the Conceptual Design of Six-Bar Linkages

PDF

Topics: Conceptual design , Linkages , Design , Shapes

Kinematic Synthesis With Contact Direction and Curvature Constraints on the Workpiece

Nina Patarinsky Robson, J. Michael McCarthy

IDETC-CIE 2007; 581-588https://doi.org/10.1115/DETC2007-35595

Abstract

View Articletitled, Kinematic Synthesis With Contact Direction and Curvature Constraints on the Workpiece

PDF

Topics: Algebra , Chain , Design , Kinematics , Linkages

Software for the Kinematic Synthesis of Coupler-Driven Spherical Four-Bar Mechanisms

Eric M. Grimm, Andrew P. Murray, Michael L. Turner

IDETC-CIE 2007; 589-595https://doi.org/10.1115/DETC2007-35720

Abstract

View Articletitled, Software for the Kinematic Synthesis of Coupler-Driven Spherical Four-Bar Mechanisms

PDF

Topics: Computer software , Kinematics , Design , Linkages , Chain , Circuits , Torque

Medical Devices and Their Applications

Study on the Walking Support Machine Indoors by Assisting Whole Legs

Eiichirou Tanaka, Tadaaki Ikehara, Kazuteru Nagamura, Kiyotaka Ikejo, Takeshi Sakamoto, Yusuke Inoue, Shozo Saegusa

IDETC-CIE 2007; 597-605https://doi.org/10.1115/DETC2007-34081

Abstract

View Articletitled, Study on the Walking Support Machine Indoors by Assisting Whole Legs

PDF

Topics: Machinery , Stairs , Electromyography , Muscle , Pressure sensors , Sensors , Construction , Engineering prototypes , Pressure , Safety

Active Component Lower Limb Prosthetic Device Research: Concept and Design

Javier O. Mattos, Evan D. Kane, Philip A. Voglewede

IDETC-CIE 2007; 607-613https://doi.org/10.1115/DETC2007-34768

Abstract

View Articletitled, Active Component Lower Limb Prosthetic Device Research: Concept and Design

PDF

Topics: Artificial limbs , Design , Engineering prototypes , Engines , Knee , Motors , Optimization , Springs

Design and Development of a Novel Infant Surgical Table for 4-DOF Patient Manipulation

Kimberly Ryland, Carl A. Nelson, Thomas Hejkal

IDETC-CIE 2007; 615-624https://doi.org/10.1115/DETC2007-34830

Abstract

View Articletitled, Design and Development of a Novel Infant Surgical Table for 4-DOF Patient Manipulation

PDF

Topics: Design , Surgery

Design of a Compliant Endoscopic Suturing Instrument

James A. Cronin, IV, Mary Frecker, Abraham Mathew

IDETC-CIE 2007; 625-635https://doi.org/10.1115/DETC2007-34832

Abstract

View Articletitled, Design of a Compliant Endoscopic Suturing Instrument

PDF

Topics: Design , Endoscopic devices , Instrumentation , Optimization , Surgery , Compliant mechanisms , Deflection , Dimensions , Engineering prototypes , Geometry

A 5-5 One-Degree-of-Freedom Fully Parallel Mechanism for the Modeling of Passive Motion at the Human Ankle Joint

R. Franci, V. Parenti-Castelli

IDETC-CIE 2007; 637-644https://doi.org/10.1115/DETC2007-34841

Abstract

View Articletitled, A 5-5 One-Degree-of-Freedom Fully Parallel Mechanism for the Modeling of Passive Motion at the Human Ankle Joint

PDF

Topics: Bone , Degrees of freedom , Design , Fibers , Geometry , Modeling , Parallel mechanisms , Prostheses , Shapes , Simulation

Equilibrium, Stability, and Robustness in Underactuated Grasping

Gert A. Kragten, Just L. Herder

IDETC-CIE 2007; 645-652https://doi.org/10.1115/DETC2007-34963

Abstract

View Articletitled, Equilibrium, Stability, and Robustness in Underactuated Grasping

PDF

Topics: Equilibrium (Physics) , Grasping , Robustness , Stability , Degrees of freedom , Design , Shapes

Contribution to the Mechanical Behavior Improvement of the Robotic Navigation Device Surgiscope^®

Se´bastien Briot, Ce´dric Baradat, Sylvain Gue´gan, Vigen Arakelian

IDETC-CIE 2007; 653-661https://doi.org/10.1115/DETC2007-35067

Abstract

View Articletitled, Contribution to the Mechanical Behavior Improvement of the Robotic Navigation Device Surgiscope®

PDF

Topics: Collaboration , Computer simulation , Engineering prototypes , Errors , Mechanical behavior , Medical devices , Optimization , Robot navigation , Robots , Surgical tools

HLPR Chair: A Novel Indoor Mobility-Assist and Lift System

Roger Bostelman, James Albus, Tommy Chang, Tsai Hong, Sunil K. Agrawal, Ji-Chul Ryu

IDETC-CIE 2007; 663-670https://doi.org/10.1115/DETC2007-35295

Abstract

View Articletitled, HLPR Chair: A Novel Indoor Mobility-Assist and Lift System

PDF

Topics: Mechanical admittance , Design , National Institute of Standards and Technology , Algorithms , Kinematics , Toilets , Trajectories (Physics) , Wheelchairs , Wounds

Size and Shape Optimization of a 1.0mm Multifunctional Forceps-Scissors Instrument for Minimally Invasive Surgery

Milton E. Aguirre, Mary Frecker

IDETC-CIE 2007; 671-679https://doi.org/10.1115/DETC2007-35367

Abstract

View Articletitled, Size and Shape Optimization of a 1.0mm Multifunctional Forceps-Scissors Instrument for Minimally Invasive Surgery

PDF

Topics: Instrumentation , Shape optimization , Surgery , Optimization , Cutting , Deformation , Engineering prototypes , Grasping , Biological tissues , Cantilever beams

Optimization-Based Digital Human Dynamics: Santos™ Walking Backwards

Hyun Jung Kwon, Yujiang Xiang, Salam Rahmatalla, R. Timothy Marler, Karim Abdel-Malek, Jasbir S. Arora

IDETC-CIE 2007; 681-687https://doi.org/10.1115/DETC2007-35616

Abstract

View Articletitled, Optimization-Based Digital Human Dynamics: Santos™ Walking Backwards

PDF

Topics: Human dynamics , Optimization , Degrees of freedom , B-splines , Kinematics , Torque , Algorithms , Design , Equations of motion , Interpolation

Novel Mechanisms, Robots and Applications

A Family of Novel Lower-Mobility Decoupled Parallel Mechanisms

Daxing Zeng, Sijun Zhu, Zhen Huang

IDETC-CIE 2007; 689-695https://doi.org/10.1115/DETC2007-34202

Abstract

View Articletitled, A Family of Novel Lower-Mobility Decoupled Parallel Mechanisms

PDF

Topics: Mechanical admittance , Parallel mechanisms , Screws

Auxiliary Axis for Rensselaer’s Geotechnical Centrifuge Center In-Flight Robot: Design Considerations

Glenn Saunders, Stephen J. Derby, Tarek H. Abdoun

IDETC-CIE 2007; 697-703https://doi.org/10.1115/DETC2007-34378

Abstract

View Articletitled, Auxiliary Axis for Rensselaer’s Geotechnical Centrifuge Center In-Flight Robot: Design Considerations

PDF

Topics: Design , Flight , Robots , Soil , Pilings (Building) , Belts , Earthquakes , Engineering simulation , Engines , Motors

Novel Autonomous Underwater Vehicle Based Upon Jellyfish Locomotion

Ian G. Blanch, Duane W. Storti, Rhonda L. Anderson, Mark A. Ganter, Per G. Reinhall

IDETC-CIE 2007; 705-714https://doi.org/10.1115/DETC2007-34440

Abstract

View Articletitled, Novel Autonomous Underwater Vehicle Based Upon Jellyfish Locomotion

PDF

Topics: Underwater vehicles , Actuators , Control systems , Design , Dynamics (Mechanics) , Pacemakers , Biomimetics , Engineering prototypes , Fault tolerance , Linkages

Design Optimization of a Novel Tripedal Locomotion Robot Through Simulation and Experiments for a Single Step Dynamic Gait

Jeremy R. Heaston, Dennis W. Hong

IDETC-CIE 2007; 715-724https://doi.org/10.1115/DETC2007-34472

Abstract

View Articletitled, Design Optimization of a Novel Tripedal Locomotion Robot Through Simulation and Experiments for a Single Step Dynamic Gait

PDF

Topics: Design , Optimization , Robots , Simulation , Center of mass , Control equipment , Dimensions , Dynamic models , Engineering prototypes , Pendulums

Kinematic Design of Mechanisms for the Control of an Oscillating Wing

Louis-Alexis Allen Demers, Cle´ment Gosselin

IDETC-CIE 2007; 725-732https://doi.org/10.1115/DETC2007-34580

Abstract

View Articletitled, Kinematic Design of Mechanisms for the Control of an Oscillating Wing

PDF

Topics: Design , Kinematics , Wings , Kinetic energy , Electricity (Physics) , Fluids , Blades , Cycles , Generators

Novel Design of a Robotic Gripper Allowing for In-Hand Manipulation

Philip A. Voglewede

IDETC-CIE 2007; 733-740https://doi.org/10.1115/DETC2007-34797

Abstract

View Articletitled, Novel Design of a Robotic Gripper Allowing for In-Hand Manipulation

PDF

Topics: Design , End effectors , Engineering prototypes , Grippers

Kinematics of a Pure Translational UPS/3RPaPaR Parallel Mechanism

Chung-Ching Lee, Po-Chih Lee

IDETC-CIE 2007; 741-750https://doi.org/10.1115/DETC2007-34930

Abstract

View Articletitled, Kinematics of a Pure Translational UPS/3RPaPaR Parallel Mechanism

PDF

Topics: Kinematics , Parallel mechanisms , Degrees of freedom , Design , Jacobian matrices , Kinematic analysis , Manufacturing , Mechanical admittance

Synthesis of Perfect Spring Balancers With Higher-Order Zero-Free-Length Springs

Bram Soethoudt, Just L. Herder

IDETC-CIE 2007; 751-762https://doi.org/10.1115/DETC2007-34954

Abstract

View Articletitled, Synthesis of Perfect Spring Balancers With Higher-Order Zero-Free-Length Springs

PDF

Topics: Springs , Design , Design methodology , Elongation , Equations of motion , Equilibrium (Physics) , Gravity (Force) , Torque

On the Design of PAMINSA: A New Class of Parallel Manipulators With High-Load Carrying Capacity

Se´bastien Briot, Sylvain Gue´gan, Eric Courteille, Vigen Arakelian

IDETC-CIE 2007; 763-772https://doi.org/10.1115/DETC2007-35068

Abstract

View Articletitled, On the Design of PAMINSA: A New Class of Parallel Manipulators With High-Load Carrying Capacity

PDF

Topics: Design , Manipulators , Stress , Actuators , Computer simulation , Conceptual design , Degrees of freedom , Linkages

A Kinematic Study of Human Torso Motion

Christian Simonidis, Gu¨nther Stelzner, Wolfgang Seemann

IDETC-CIE 2007; 773-780https://doi.org/10.1115/DETC2007-35257

Abstract

View Articletitled, A Kinematic Study of Human Torso Motion

PDF

Topics: Kinematics , Design , Humanoid robots , Biomedicine , Modeling , Optimization , Robots

Stiffness Modeling and Force Distribution for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

Curtis L. Collins

IDETC-CIE 2007; 781-789https://doi.org/10.1115/DETC2007-35404

Abstract

View Articletitled, Stiffness Modeling and Force Distribution for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

PDF

Topics: Actuators , Degrees of freedom , Manipulators , Mechanical admittance , Modeling , Stiffness , Vehicles , Wheels

Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface

Simon Perreault, Cle´ment M. Gosselin

IDETC-CIE 2007; 791-799https://doi.org/10.1115/DETC2007-35582

Abstract

View Articletitled, Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface

PDF

Topics: Cables , Parallel mechanisms , Design , Geometry , Trajectories (Physics)

Optimal, Model-Based Design of Soft Robotic Manipulators

Deepak Trivedi, Dustin Dienno, Christopher D. Rahn

IDETC-CIE 2007; 801-809https://doi.org/10.1115/DETC2007-35612

Abstract

View Articletitled, Optimal, Model-Based Design of Soft Robotic Manipulators

PDF

Topics: Design , Manipulators , Actuators , Pressure , Stress , Algorithms , Dimensions , Manipulator design , Muscle , Optimization

The Development of a Continuum Hydraulic/Pneumatic Actuator for Enhancing Gripping Function

Frank Fronczak, Alwyn Johnson, Scott Randall, Nicola Ferrier

IDETC-CIE 2007; 811-819https://doi.org/10.1115/DETC2007-35728

Abstract

View Articletitled, The Development of a Continuum Hydraulic/Pneumatic Actuator for Enhancing Gripping Function

PDF

Topics: Pneumatic actuators , Actuators , Orthotics , End effectors , Engineering prototypes , Fluids , Manufacturing , Motor controls , Pressure , Robotics

Robot Dynamics and Control

Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

Ke Zhang

IDETC-CIE 2007; 821-827https://doi.org/10.1115/DETC2007-34168

Abstract

View Articletitled, Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm

PDF

Topics: Design , Dynamics (Mechanics) , Genetic algorithms , Optimization , Algorithms , Dimensions , Kinematics , Motors , Robots , Simulation results

Hybrid Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking: Tuning and Model Validation

Mohammed Abu-Mallouh, Brian Surgenor

IDETC-CIE 2007; 829-837https://doi.org/10.1115/DETC2007-34291

Abstract

View Articletitled, Hybrid Force/Velocity Control of a Pneumatic Gantry Robot for Contour Tracking: Tuning and Model Validation

PDF

Topics: Model validation , Robots , Control equipment , Friction , Control systems , Coulombs , Engineering simulation , Simulation , Simulation results

A CAD Variation Geometric Approach of Solving Active/Constrained Forces of Some Parallel Manipulators With SPR-Type Active Legs

Yi Lu, Yan Shi, Bo Hu

IDETC-CIE 2007; 839-845https://doi.org/10.1115/DETC2007-34308

Abstract

View Articletitled, A CAD Variation Geometric Approach of Solving Active/Constrained Forces of Some Parallel Manipulators With SPR-Type Active Legs

PDF

Topics: Computer-aided design , Manipulators

From a 3-DOF Parallel Redundant ARCHI Robot to an Auto-Calibrated ARCHI Robot

David Corbel, Olivier Company, Franc¸ois Pierrot

IDETC-CIE 2007; 847-854https://doi.org/10.1115/DETC2007-34786

Abstract

View Articletitled, From a 3-DOF Parallel Redundant ARCHI Robot to an Auto-Calibrated ARCHI Robot

PDF

Topics: Displacement , Kinematics , Parallel mechanisms , Redundancy (Engineering) , Robots , Simulation results

Kinematics, Dynamics and Control of a Planar 3-DOF Tensegrity Robot Manipulator

Rafael E. Vasquez, Julio C. Correa

IDETC-CIE 2007; 855-866https://doi.org/10.1115/DETC2007-34975

Abstract

View Articletitled, Kinematics, Dynamics and Control of a Planar 3-DOF Tensegrity Robot Manipulator

PDF

Topics: Dynamics (Mechanics) , Kinematics , Manipulators , Tensegrity

Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization

Saman Mohammadi, Zoya Heidari, Hojjat Pendar, Aria Alasty, Gholamreza Vossoughi

IDETC-CIE 2007; 867-876https://doi.org/10.1115/DETC2007-34988

Abstract

View Articletitled, Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization

PDF

Topics: Feedback , Optimal control , Robots

A New Approach on Object Slippage Control in a Cooperating Manipulators System

Shahram Hadian Jazi, Mehdi Keshmiri, Farid Sheikholeslam

IDETC-CIE 2007; 877-885https://doi.org/10.1115/DETC2007-35048

Abstract

View Articletitled, A New Approach on Object Slippage Control in a Cooperating Manipulators System

PDF

Topics: Grasping , Manipulators , Control equipment , Dynamic modeling , End effectors , Friction , Stability , Coulombs , Differential equations , Equations of motion

Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials

Joe Chalfoun, Catherine Bidard, Delphine Keller, Yann Perrot

IDETC-CIE 2007; 887-896https://doi.org/10.1115/DETC2007-35221

Abstract

View Articletitled, Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials

PDF

Topics: Calibration , Errors , Polynomials , Manipulators , Robots , Deformation , Robotics , Actuators , Degrees of freedom , End effectors

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

Alessio Salerno, Jorge Angeles

IDETC-CIE 2007; 897-903https://doi.org/10.1115/DETC2007-35415

Abstract

View Articletitled, Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

PDF

Topics: Mobile robots , Navigation , Robustness , Robots , Dynamics (Mechanics) , Uncertainty , Equilibrium (Physics) , Kinematics , Lie algebras

Predicting the Traction Force Requirements of Wheeled Mobile Robots Traversing Obstacles

S. Olutunde Oyadiji, Eugene Lai

IDETC-CIE 2007; 905-914https://doi.org/10.1115/DETC2007-35664

Abstract

View Articletitled, Predicting the Traction Force Requirements of Wheeled Mobile Robots Traversing Obstacles

PDF

Topics: Mobile robots , Traction , Wheels , Braking , Dynamics (Mechanics) , Switches , Actuators , Stability , Trajectories (Physics)

A Mobile Agent-Based Framework for Flexible Control of Multi-Robotic Systems

Stephen S. Nestinger, Bo Chen, Harry H. Cheng

IDETC-CIE 2007; 915-925https://doi.org/10.1115/DETC2007-35750

Abstract

View Articletitled, A Mobile Agent-Based Framework for Flexible Control of Multi-Robotic Systems

PDF

Topics: Robotics , Robots , Control algorithms , Manufacturing systems , Computer programming , Computers , Conveyor systems , Governments , Mechatronic devices , Regulations

Dynamic Analysis of an Amphibious Single Wheel Robot, Part 1: Moving in Straight Path

Mostapha Marzban, Aria Alasty

IDETC-CIE 2007; 927-932https://doi.org/10.1115/DETC2007-35876

Abstract

View Articletitled, Dynamic Analysis of an Amphibious Single Wheel Robot, Part 1: Moving in Straight Path

PDF

Topics: Dynamic analysis , Robots , Wheels

Kinematics and Dynamics of a 3-CRU Spherical Parallel Robot

Massimo Callegari, Alessandro Cammarata, Andrea Gabrielli, Rosario Sinatra

IDETC-CIE 2007; 933-941https://doi.org/10.1115/DETC2007-35894

Abstract

View Articletitled, Kinematics and Dynamics of a 3-CRU Spherical Parallel Robot

PDF

Topics: Dynamics (Mechanics) , Kinematics , Robots , Computer simulation , Design , Mechanical admittance , Microscale devices , Rotation , Topology

Robot Kinematics and Motion Planning

Fully-Isotropic Redundantly-Actuated Parallel Wrists With Three Degrees of Freedom

Grigore Gogu

IDETC-CIE 2007; 943-950https://doi.org/10.1115/DETC2007-34237

Abstract

View Articletitled, Fully-Isotropic Redundantly-Actuated Parallel Wrists With Three Degrees of Freedom

PDF

Topics: Degrees of freedom , Jacobian matrices , Design , Manipulators , Redundancy (Engineering) , Space

Singularity Analysis of Multi-DOF Planar Mechanisms

Raffaele Di Gregorio

IDETC-CIE 2007; 951-961https://doi.org/10.1115/DETC2007-34250

Abstract

View Articletitled, Singularity Analysis of Multi-DOF Planar Mechanisms

PDF

Topics: Degrees of freedom , Design , Kinematics , Motion control

Workspace Optimization of a Very Large Cable-Driven Parallel Mechanism for a Radiotelescope Application

Samuel Bouchard, Cle´ment M. Gosselin

IDETC-CIE 2007; 963-970https://doi.org/10.1115/DETC2007-34286

Abstract

View Articletitled, Workspace Optimization of a Very Large Cable-Driven Parallel Mechanism for a Radiotelescope Application

PDF

Topics: Cables , Optimization , Parallel mechanisms , Radiotelescopes , Architecture , Design , Equilibrium (Physics) , Geometry , Tension

A New Singularity-Free Path-Planning Method for a Class of Fully-Parallel Planar Manipulators

Davide Paganelli

IDETC-CIE 2007; 971-978https://doi.org/10.1115/DETC2007-34345

Abstract

View Articletitled, A New Singularity-Free Path-Planning Method for a Class of Fully-Parallel Planar Manipulators

PDF

Topics: Manipulators , Path planning

Reverse Kinematic Analysis of the Spatial Six Axis Robotic Manipulator With Consecutive Joint Axes Parallel

Javier Rolda´n Mckinley, Carl Crane, III, David B. Dooner

IDETC-CIE 2007; 979-989https://doi.org/10.1115/DETC2007-34433

Abstract

View Articletitled, Reverse Kinematic Analysis of the Spatial Six Axis Robotic Manipulator With Consecutive Joint Axes Parallel

PDF

Topics: Gears , Kinematic analysis , Manipulators

Minimization of Bounded Cable Tensions in Cable-Based Parallel Manipulators

Mahir Hassan, Amir Khajepour

IDETC-CIE 2007; 991-999https://doi.org/10.1115/DETC2007-34459

Abstract

View Articletitled, Minimization of Bounded Cable Tensions in Cable-Based Parallel Manipulators

PDF

Topics: Cables , Manipulators

Synthesis of the Body Swing Rotator Joint Aligning Mechanism for the Abductor Joint of a Novel Tripedal Locomotion Robot

Dennis W. Hong, Derek F. Lahr

IDETC-CIE 2007; 1001-1011https://doi.org/10.1115/DETC2007-34471

Abstract

View Articletitled, Synthesis of the Body Swing Rotator Joint Aligning Mechanism for the Abductor Joint of a Novel Tripedal Locomotion Robot

PDF

Topics: Robots , Design engineering , Actuators , Design , Engineering prototypes , Gears , Kinematic analysis , Motors

An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators

Scott B. Nokleby, Flavio Firmani, Alp Zibil, Ron P. Podhorodeski

IDETC-CIE 2007; 1013-1020https://doi.org/10.1115/DETC2007-34496

Abstract

View Articletitled, An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators

PDF

Topics: Manipulators , Architecture , Design

First-Order Coordination of the Articulated Arm Subassembly Using Curvature Theory

Satyajit Ambike, James P. Schmiedeler

IDETC-CIE 2007; 1021-1030https://doi.org/10.1115/DETC2007-34513

Abstract

View Articletitled, First-Order Coordination of the Articulated Arm Subassembly Using Curvature Theory

PDF

Direct Pose Measurement: A Suitable Way to Increase the Accuracy of Parallel Robots?

Christian Munzinger, Martin Kipfmu¨ller

IDETC-CIE 2007; 1031-1039https://doi.org/10.1115/DETC2007-34540

Abstract

View Articletitled, Direct Pose Measurement: A Suitable Way to Increase the Accuracy of Parallel Robots?

PDF

Topics: Machine tools , Robots

Forward and Inverse Displacement Analysis of a Novel Three-Legged Mobile Robot Based on the Kinematics of In-Parallel Manipulators

Ping Ren, Ivette Morazzani, Dennis Hong

IDETC-CIE 2007; 1041-1052https://doi.org/10.1115/DETC2007-34606

Abstract

View Articletitled, Forward and Inverse Displacement Analysis of a Novel Three-Legged Mobile Robot Based on the Kinematics of In-Parallel Manipulators

PDF

Topics: Displacement , Kinematics , Manipulators , Mobile robots , Robots , Sensors , Engineering simulation , Kinematic analysis , Polynomials , Simulation

Kinematics and Pose Estimation for Cable Actuated Parallel Manipulators

Dimitris Theodorakatos, Ethan Stump, Vijay Kumar

IDETC-CIE 2007; 1053-1062https://doi.org/10.1115/DETC2007-34692

Abstract

View Articletitled, Kinematics and Pose Estimation for Cable Actuated Parallel Manipulators

PDF

Topics: Cables , Kinematics , Manipulators , Robots , Algorithms , Construction industry , Engineering prototypes , Errors , Manufacturing , Weight (Mass)

Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators

Venus Garg, Scott B. Nokleby, Juan A. Carretero

IDETC-CIE 2007; 1063-1070https://doi.org/10.1115/DETC2007-34770

Abstract

View Articletitled, Determining the Force and Moment Workspaces of Redundantly-Actuated Spatial Parallel Manipulators

PDF

Topics: Manipulators

Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints

N. J. M. van Dijk, N. van de Wouw, H. Nijmeijer, W. C. M. Pancras

IDETC-CIE 2007; 1071-1080https://doi.org/10.1115/DETC2007-34780

Abstract

View Articletitled, Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints

PDF

Topics: Kinematics , Path planning , Robotics , Actuators , Manipulators , Torque , Accounting , Cascades (Fluid dynamics) , Design , Engineering simulation