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

Topics: Actuators , Design , Elastomers , Polymer films , Springs , Reliability , Carbon fibers , Equilibrium (Physics) , Mechatronic devices , Polymers

Design of a Binary Needle Manipulator Using Elastically Averaged Air Muscles for Prostate Cancer Treatments

Sylvain Proulx, Patrick Chouinard, Jean-Philippe Lucking Bigue´, Jean-Se´bastien Plante

IDETC-CIE 2009; 123-132doi:https://doi.org/10.1115/DETC2009-86480

Abstract

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Topics: Cancer , Design , Magnetic resonance imaging , Manipulators , Muscle , Needles

Closed-Form Equations of Mass Matrix of the Single-Axis Right Circular Flexure Hinge

Xianmin Zhang, Wenfeng Hou, Yisheng Guan

IDETC-CIE 2009; 133-139doi:https://doi.org/10.1115/DETC2009-86509

Abstract

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Topics: Bending (Stress) , Hinges , Dynamic analysis , Compliant mechanisms , Degrees of freedom , Equations of motion , Finite element analysis

Geometric Optimization of Spatial Multimaterial Compliant Mechanisms and Structures Using Three-Dimensional Multilayer Wide Curves

Hong Zhou, Kwun-Lon Ting

IDETC-CIE 2009; 141-149doi:https://doi.org/10.1115/DETC2009-86637

Abstract

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Topics: Compliant mechanisms , Optimization , Algorithms , Cross section (Physics) , Deformation , Finite element analysis , Matlab , Nonlinear programming

A Screw Theory Approach for the Type Synthesis of Compliant Mechanisms With Flexures

Hai-Jun Su, Denis V. Dorozhkin, Judy M. Vance

IDETC-CIE 2009; 151-161doi:https://doi.org/10.1115/DETC2009-86684

Abstract

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Topics: Compliant mechanisms , Screws , Design , Bending (Stress) , Machinery , Precision engineering , Wire

Concept and Modeling of a Statically Balanced Compliant Laparoscopic Grasper

Nima Tolou, Just L. Herder

IDETC-CIE 2009; 163-170doi:https://doi.org/10.1115/DETC2009-86694

Abstract

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Topics: Modeling , Stiffness , Finite element analysis , Compliant mechanisms , Conceptual design , Deflection , Design , Force feedback , Stress

On an Adaptive Multi-Mask Overlay Strategy for Topology Optimization of Structures and Compliant Mechanisms

Chandini Jain, Anupam Saxena

IDETC-CIE 2009; 171-181doi:https://doi.org/10.1115/DETC2009-86712

Abstract

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Topics: Compliant mechanisms , Optimization , Overlays (Materials engineering) , Topology , Bending (Stress) , Design , Honeycomb structures

Comparison of Methods for Large Deflection Analysis of a Cantilever Beam Under Free End Point Load Cases

Femke M. Morsch, Nima Tolou, Just L. Herder

IDETC-CIE 2009; 183-191doi:https://doi.org/10.1115/DETC2009-86754

Abstract

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Topics: Cantilever beams , Deflection , Stress , Computation , Finite element methods , Finite element model , Euler-Bernoulli beam theory , Finite element analysis , Modeling

Synthesis Methods in Compliant Mechanisms: An Overview

Juan A. Gallego, Just Herder

IDETC-CIE 2009; 193-214doi:https://doi.org/10.1115/DETC2009-86845

Abstract

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Topics: Compliant mechanisms , Design , Design methodology , Blocks (Building materials) , Optimization , Shape optimization , Topology

Design of a Tunable Stiffness Composite Leg for Dynamic Locomotion

Kevin C. Galloway, Jonathan E. Clark, Daniel E. Koditschek

IDETC-CIE 2009; 215-222doi:https://doi.org/10.1115/DETC2009-86847

Abstract

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Topics: Composite materials , Design , Stiffness , Robots , Energy storage , Modeling , Simulation , Springs , Stability , Testing

Unified Synthesis of Compact Planar Path-Generating Linkages With Rigid and Deformable Members

Ashok Kumar Rai, A. Saxena, Nilesh D. Mankame

IDETC-CIE 2009; 223-232doi:https://doi.org/10.1115/DETC2009-86850

Abstract

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Topics: Compliant mechanisms , Genetic algorithms , Linkages , Optimization , Topology , Dimensions , Shapes , Engineering prototypes , Rigid-body mechanisms

A Compliant Straight-Line Shock Absorption Mechanism Using a Viscoelastic Pseudo-Rigid Body Model

Carl A. Nelson

IDETC-CIE 2009; 233-240doi:https://doi.org/10.1115/DETC2009-86901

Abstract

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Topics: Absorption , Compliant mechanisms , Deflection , Energy dissipation , Kinematics , Linkages , Modeling , Shock (Mechanics) , Simulation , System dynamics

Bistable Compliant Extension Aid for a Polycentric Prosthetic Knee

Adam D. Roetter, Craig P. Lusk, Rajiv Dubey

IDETC-CIE 2009; 241-248doi:https://doi.org/10.1115/DETC2009-86990

Abstract

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Topics: Artificial limbs , Knee , Finite element analysis , Computer software , Design , Equilibrium (Physics) , Rotation

Self-Adaptive Compliant Grippers Capable of Pinch Preshaping

Lionel Birglen, Francois Herbecq

IDETC-CIE 2009; 249-257doi:https://doi.org/10.1115/DETC2009-87067

Abstract

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Topics: Grippers , Pinch effect , Computer software , Design , Finite element analysis , Linkages , Stiffness

Design Space Analysis of Distributed Compliance in Segmented Beam Templates of Compliant Mechanisms

Stephen L. Canfield, Alexander Shibakov, Joseph D. Richardson

IDETC-CIE 2009; 259-268doi:https://doi.org/10.1115/DETC2009-87248

Abstract

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Topics: Compliant mechanisms , Design , Deformation , Optimization , Resolution (Optics) , Visualization

A Proposed Extendable Classification Scheme for Compliant Mechanisms

Brian M. Olsen, Jonathan B. Hopkins, Larry L. Howell, Spencer P. Magleby, Martin L. Culpepper

IDETC-CIE 2009; 269-276doi:https://doi.org/10.1115/DETC2009-87290

Abstract

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Topics: Compliant mechanisms , Engineers

Shape Memory Polymer Based Reconfigurable Compliant Mechanisms: An Exploration

Nilesh D. Mankame, Alan L. Browne, Anupam Saxena

IDETC-CIE 2009; 277-287doi:https://doi.org/10.1115/DETC2009-87331

Abstract

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Topics: Compliant mechanisms , Shape memory polymers , High temperature , Engineering simulation , Finite element analysis , Manufacturing , Materials properties , Polymers , Shapes , Simulation

Classification for Literature on Compliant Mechanisms: A Design Methodology Based Approach

Juan A. Gallego, Just Herder

IDETC-CIE 2009; 289-297doi:https://doi.org/10.1115/DETC2009-87334

Abstract

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Topics: Compliant mechanisms , Design methodology , Design , Optimization , Topology

Design Synthesis of 2-D Compliant Mechanisms Utilizing Serial Concatenation of Building Blocks

Girish Krishnan, Charles Kim, Sridhar Kota

IDETC-CIE 2009; 299-312doi:https://doi.org/10.1115/DETC2009-87445

Abstract

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Topics: Blocks (Building materials) , Compliant mechanisms , Design , Deformation , Elasticity , Gates (Closures)

A Building Block Approach for the Design of Statically Balanced Compliant Mechanisms

Karin Hoetmer, Just L. Herder, Charles J. Kim

IDETC-CIE 2009; 313-323doi:https://doi.org/10.1115/DETC2009-87451

Abstract

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Topics: Blocks (Building materials) , Compliant mechanisms , Design , Force feedback , Stiffness

Fabrication and Strength-Based Design of a Meso Forceps

M. E. Aguirre, G. Hayes, C. Yuangyai, M. Frecker, J. Adair, N. Antolino

IDETC-CIE 2009; 325-333doi:https://doi.org/10.1115/DETC2009-87557

Abstract

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Topics: Design , Manufacturing , Optimization , Ceramics , Slurries , Strength (Materials) , Tensile strength , Casting , Density , Ethanol

Shape Sensing for Soft Robotic Manipulators

Deepak Trivedi, Christopher D. Rahn

IDETC-CIE 2009; 335-343doi:https://doi.org/10.1115/DETC2009-87598

Abstract

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Topics: Manipulators , Shapes , Robots , Actuators , Cables , Deformation , Degrees of freedom , Errors , Sensors , Simulation results

A Generalized Constraint Model for Two-Dimensional Beam Flexures

Shorya Awtar, Shiladitya Sen

IDETC-CIE 2009; 345-358doi:https://doi.org/10.1115/DETC2009-87808

Abstract

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Topics: Boundary-value problems , Design , Displacement , Equilibrium (Physics) , Errors , Finite element analysis , Flexure mechanisms , Kinematics , Shapes , Stiffness

Machine Dynamics, Vibration and Control

ICAP: A Compliant Joint Planar Mechanism Dynamic Analysis Program

George H. Sutherland

IDETC-CIE 2009; 359-365doi:https://doi.org/10.1115/DETC2009-86097

Abstract

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Topics: Computer software , Damping , Dynamic analysis , Dynamics (Mechanics) , Engines , Kinematics , Linkages , Matlab , Physics , Robotics

On the Optimal Design of Parallel Robots Taking Into Account Their Deformations and Natural Frequencies

Se´bastien Briot, Anatol Pashkevich, Damien Chablat

IDETC-CIE 2009; 367-376doi:https://doi.org/10.1115/DETC2009-86230

Abstract

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Topics: Deformation , Design , Robots , Stiffness , Elasticity , Manipulators , Vibration , Actuators , Geometry , Jacobian matrices

Robust H-Infinity Control of an Over-Head Crane System With Parametric Uncertainties

Hamed Moradi, K. Haji Hajikolaei, Firooz Bakhtiari-Nejad

IDETC-CIE 2009; 377-383doi:https://doi.org/10.1115/DETC2009-86359

Abstract

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Topics: Cranes , Uncertainty

Partial Decoupling of the Matrix Method for Planar Mechanisms Inverse Dynamics

Robert L. Williams, II

IDETC-CIE 2009; 385-389doi:https://doi.org/10.1115/DETC2009-87054

Abstract

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Topics: Dynamics (Mechanics) , Kinematics , Scalars

Electromagnetic Valve Actuation System With Two Configurations

Rudolf Seethaler, Konrad Duerr

IDETC-CIE 2009; 391-398doi:https://doi.org/10.1115/DETC2009-87131

Abstract

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Topics: Valves , Engines , Algorithms , Cams , Combustion , Computer simulation , Control algorithms , Design , Resonance , Servomechanisms

Determining the Static Joint Torques of a Digital Human Model Considering Balance

Jingzhou James Yang, Yujiang Xiang, Joo Kim

IDETC-CIE 2009; 399-409doi:https://doi.org/10.1115/DETC2009-87529

Abstract

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Topics: Dynamics (Mechanics) , Gravity (Force) , Physics , Simulation , Stability , Stress , Wounds

Comparison of Torque and Coupler-Driven Four-Bars as Solutions to Planar Four Position and Spherical Four Orientation Tasks

David A. Perkins, Andrew P. Murray

IDETC-CIE 2009; 411-420doi:https://doi.org/10.1115/DETC2009-87575

Abstract

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Topics: Torque , Actuators , Kinematics , Stress

Mechanism Analysis and Synthesis

Kinematics of the Roller Motion and CAM Size Optimization of Disc CAM-Follower Mechanisms With Translating Roller Followers

Paulo Flores, Gaspar J. B. Q. A. Machado, Rui M. S. Pereira, J. C. Pimenta Claro

IDETC-CIE 2009; 421-432doi:https://doi.org/10.1115/DETC2009-86039

Abstract

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Topics: Disks , Kinematics , Optimization , Rollers

Computer-Aided Edge Loop Theory of Kinematic Structure of Mechanisms and Its Applications

Huafeng Ding, Jing Zhao, Qinchuan Li, Zhen Huang

IDETC-CIE 2009; 433-439doi:https://doi.org/10.1115/DETC2009-86073

Abstract

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Topics: Algebra , Algorithms , Chain , Computation , Computer-aided engineering , Kinematic analysis , Kinematic chains , Kinematics

Structure Synthesis of Rank-Degenerated Serial Mechanisms and Over-Constrained Single-Loop Kinematic Chains

Ting-Li Yang, An-Xin Liu, Qiong Jin, Yu-Feng Luo, Hui-Ping Shen, Lu-Bing Hang

IDETC-CIE 2009; 441-451doi:https://doi.org/10.1115/DETC2009-86105

Abstract

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Topics: Kinematic chains

Comparison Study on Three Approaches for Type Synthesis of Robot Mechanisms

Ting-Li Yang, An-xin Liu, Yu-Feng Luo, Li-Ping Zhang, Hui-Ping Shen, Lu-Bin Hang

IDETC-CIE 2009; 453-462doi:https://doi.org/10.1115/DETC2009-86107

Abstract

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Topics: Displacement , Robots , Screws

Identifying Sets of Four and Five Positions That Generate Distinctive Center-Point Curves

David H. Myszka, Andrew P. Murray

IDETC-CIE 2009; 463-473doi:https://doi.org/10.1115/DETC2009-86125

Abstract

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Topics: Design , Linkages , Poles (Building) , Shapes

A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy

Genliang Chen, Hao Wang, Yong Zhao, Zhongqin Lin

IDETC-CIE 2009; 475-483doi:https://doi.org/10.1115/DETC2009-86184

Abstract

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Topics: Manipulators , Errors , End effectors , Dimensions , Kinematics , Redundancy (Engineering) , Redundant manipulators , Trajectories (Physics)

A New Approach for the Orders of the Bennett-Based Linkages in Mobility Analysis

Jingfang Liu, Zhen Huang, Yanwen Li

IDETC-CIE 2009; 485-491doi:https://doi.org/10.1115/DETC2009-86243

Abstract

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Topics: Linkages , Mechanical admittance , Screws

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

Oscar Altuzarra, Vi´ctor Petuya, Mo´nica Uri´zar, Alfonso Herna´ndez

IDETC-CIE 2009; 493-502doi:https://doi.org/10.1115/DETC2009-86654

Abstract

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Topics: Manufacturing , Manipulators , Design , Algebra , Dimensions , Path planning

Simultaneous Type and Dimensional Synthesis of Planar 1DOF Mechanisms Using Evolutionary Search and Convertible Agents

John C. Oliva, Erik D. Goodman

IDETC-CIE 2009; 503-512doi:https://doi.org/10.1115/DETC2009-86722

Abstract

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Topics: Design , Evolutionary computation

Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator

Oscar Altuzarra, Charles Pinto, Bogdan Sandru, Enrique Amezua

IDETC-CIE 2009; 513-522doi:https://doi.org/10.1115/DETC2009-86723

Abstract

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Topics: Kinematics , Manipulators , Design , Actuators , Mechanical admittance , Pareto optimization , Testing , Trajectories (Physics)

Efficient Simulation of Parallel Kinematic Machine Tools

Martin Kipfmu¨ller, Christian Munzinger

IDETC-CIE 2009; 523-530doi:https://doi.org/10.1115/DETC2009-86769

Abstract

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Topics: Kinematics , Machine tools , Simulation , Dimensions , Engineering prototypes , Machinery , Modeling , Simulation models

An Efficient Method for Synthesizing Crank-Rocker Mechanisms for Generating Low Harmonic Curves

Jun Wu, Q. J. Ge, Feng Gao

IDETC-CIE 2009; 531-538doi:https://doi.org/10.1115/DETC2009-87140

Abstract

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Topics: Design , Dimensions , Fourier series

On the Perfect Gravity-Balance of a Spatial N-DOF Manipulator Based on the Localized Pseudo-Base

Po-Yang Lin, Win-Bin Shieh, Dar-Zen Chen

IDETC-CIE 2009; 539-545doi:https://doi.org/10.1115/DETC2009-87170

Abstract

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Topics: Gravity (Force) , Manipulators , Potential energy , Springs , Chain , Equilibrium (Physics) , Robots , Rotation

Mobility Analysis of Robotic Mechanisms Based on Computer Algebra

Keisuke Arikawa

IDETC-CIE 2009; 547-557doi:https://doi.org/10.1115/DETC2009-87288

Abstract

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Topics: Algebra , Computers , Mechanical admittance , Robotics , Errors , Polynomials

Reconfiguration Techniques and Geometric Constraints of Metamorphic Mechanisms

Liping Zhang, Jian S. Dai, Ting-Li Yang

IDETC-CIE 2009; 559-575doi:https://doi.org/10.1115/DETC2009-87345

Abstract

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Topics: Design , Displacement , Kinematics , Modeling

Seven-Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain

Gim Song Soh, J. Michael McCarthy

IDETC-CIE 2009; 577-584doi:https://doi.org/10.1115/DETC2009-87366

Abstract

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Topics: Chain , Linkages , Robots , Degrees of freedom , Design , End effectors , Manipulators

Analysis of Elliptical Rolling Contact Joints in Compression

Jacob R. Montierth, Robert H. Todd, Larry L. Howell

IDETC-CIE 2009; 585-594doi:https://doi.org/10.1115/DETC2009-87447

Abstract

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Topics: Compression , Rolling contact , Friction , Gear teeth , Geometry , Kinematic analysis , Stress

Unified Mobility Identification and Rectification of Six-Bar Linkages

Kwun-Lon Ting, Jun Wang, Changyu Xue

IDETC-CIE 2009; 595-604doi:https://doi.org/10.1115/DETC2009-87516

Abstract

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Topics: Circuits , Linkages , Mechanical admittance , Rotation

Configuration Based Improved Synthesis of Metamorphic Mechanisms

Duanling Li, Zhonghai Zhang, Jian S. Dai, J. Michael McCarthy

IDETC-CIE 2009; 605-614doi:https://doi.org/10.1115/DETC2009-87747

Abstract

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Topics: Algorithms , Mechanical admittance

Interactive Dimensional Synthesis and Motion Design of Planar 6R Closed Chains via Constraint Manifold Modification

Jun Wu, Anurag Purwar, Q. J. Ge

IDETC-CIE 2009; 615-625doi:https://doi.org/10.1115/DETC2009-87818

Abstract

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Topics: Chain , Design , Manifolds , Algebra , Kinematics , Optimization , Computer software , Students

Novel Mechanisms, Robots, and Their Applications

The Establishment of Novel Structure Representation Models for Several Kinds of Mechanisms

Huafeng Ding, Jing Zhao, Zhen Huang

IDETC-CIE 2009; 627-632doi:https://doi.org/10.1115/DETC2009-86074

Abstract

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Topics: Conceptual design , Kinematic chains

Self Motions of the Pantopteron

Se´bastien Briot, Ilian A. Bonev

IDETC-CIE 2009; 633-638doi:https://doi.org/10.1115/DETC2009-86213

Abstract

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Topics: Actuators , Design , Linkages , Magnification , Manipulators , Robots

Workspace Investigation of a Novel Parallel Manipulator

Yanwen Li, Fengfeng Xi, Lumin Wang, Yueyue Zhang, Zhen Huang

IDETC-CIE 2009; 639-645doi:https://doi.org/10.1115/DETC2009-86281

Abstract

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Topics: Manipulators , Design , Force sensors , Machine tools , Parallel mechanisms , Robots , Stiffness , Symmetry (Physics)

Biological Inspired Flying Robot

Micael S. Couceiro, Carlos M. Figueiredo, N. M. Fonseca Ferreira, J. A. Tenreiro Machado

IDETC-CIE 2009; 647-653doi:https://doi.org/10.1115/DETC2009-86294

Abstract

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Topics: Robots , Flight , Robotics , Wings , Actuators , Algorithms , Computers , Construction , Dynamics (Mechanics) , Simulation

The Eel-Like Robot

F. Boyer, D. Chablat, P. Lemoine, P. Wenger

IDETC-CIE 2009; 655-662doi:https://doi.org/10.1115/DETC2009-86328

Abstract

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Topics: Robots , Engineering prototypes , Design , Dimensions , Fins , Skin , Teams

On the Design of a Self-Balanced Quadruped Walking Machine With Ten-Bar Leg Mechanisms

Hong-Sen Yan, Chih-Yung Huang

IDETC-CIE 2009; 663-673doi:https://doi.org/10.1115/DETC2009-86338

Abstract

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Topics: Design , Linkages , Machinery

Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot

Pinhas Ben-Tzvi

IDETC-CIE 2009; 675-680doi:https://doi.org/10.1115/DETC2009-86351

Abstract

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Topics: Hardware , Mobile robots , Actuators , Sensors , Cables , Manipulators

Testbed of a Novel Robotic Pitch-Roll Wrist for Parameter Identification: Modeling and Analysis

Xiao Qing Ma, Vikram Chopra, Jorge Angeles, Martin Asger Haugaard

IDETC-CIE 2009; 681-688doi:https://doi.org/10.1115/DETC2009-86551

Abstract

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Topics: Modeling , Robotics , Stiffness , Damping , Bevel gears , Inertia (Mechanics) , Cams , Computer-aided design , Coulombs , Frequency response

Spring-to-Spring Balancing as Energy-Free Adjustment Method in Gravity Equilibrators

Rogier Barents, Mark Schenk, Wouter D. van Dorsser, Boudewijn M. Wisse, Just L. Herder

IDETC-CIE 2009; 689-700doi:https://doi.org/10.1115/DETC2009-86770

Abstract

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Topics: Gravity (Force) , Springs , Storage

Robotics in Nuclear Materials Processing at LANL: Capabilities and Needs

Cameron J. Turner, Troy A. Harden, Jane A. Lloyd

IDETC-CIE 2009; 701-710doi:https://doi.org/10.1115/DETC2009-86777

Abstract

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Topics: Materials processing , Robotics , Hazardous substances , Materials handling , Contamination , Hazards , Nuclear industry , Particulate matter , Radiation sources , Safety

Design and Development of a Free-Standing 4-DOF Infant Surgical Table

Scott R. Siebler, Carl A. Nelson, Thomas Hejkal

IDETC-CIE 2009; 711-720doi:https://doi.org/10.1115/DETC2009-86790

Abstract

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Topics: Design , Surgery

The Design and Testing of RoboClam: A Machine Used to Investigate and Optimize Razor Clam-Inspired Burrowing Mechanisms for Engineering Applications

Amos G. Winter, V, A. E. Hosoi, Alexander H. Slocum, Robin L. H. Deits

IDETC-CIE 2009; 721-726doi:https://doi.org/10.1115/DETC2009-86808

Abstract

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Topics: Design , Engineering systems and industry applications , Machinery , Testing , Shells , Drag (Fluid dynamics) , Soil , Energy consumption , Energy efficiency , Kinematics

An Elastic Exoskeleton for Assisting Human Running

Michael S. Cherry, Sridhar Kota, Daniel P. Ferris

IDETC-CIE 2009; 727-738doi:https://doi.org/10.1115/DETC2009-87355

Abstract

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Topics: Exoskeleton devices , Stiffness , Design , Knudsen number , Springs , Cables , Deflection , Engineering prototypes , Composite materials , Elasticity

Design and Testing of a Variable Effective Compliance Transmission With an MR Damper

Tiffany L. Parker, James P. Schmiedeler, Eric R. Westervelt

IDETC-CIE 2009; 739-747doi:https://doi.org/10.1115/DETC2009-87361

Abstract

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Topics: Dampers , Design , Testing , Damping , Springs , Stiffness , Currents , End effectors , Errors , Fluids

Developments Toward a Micro Bistable Aerial Platform: Analysis of the Quadrantal Bistable Mechanism

Aaron A. Mun˜oz, Craig P. Lusk

IDETC-CIE 2009; 749-758doi:https://doi.org/10.1115/DETC2009-87412

Abstract

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Topics: Aerial lift platforms , Kinematics , Locks (Waterways) , Switches

Design Considerations for a Discrete Angular Joint for Use in Digital Robot Systems

Michael Kean, Raymond J. Cipra

IDETC-CIE 2009; 759-766doi:https://doi.org/10.1115/DETC2009-87426

Abstract

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Topics: Design , Robots , Gears , Kinematics , Robotics

An Under-Actuated 5-DOF Robotic Manipulator for Ultrasound Transducer Guidance Using a Passive Four-Bar Linkage

Allan R. Provorse, Carl A. Nelson, Gregory R. Bashford, Judith M. Burnfield, Kornelia Kulig

IDETC-CIE 2009; 767-773doi:https://doi.org/10.1115/DETC2009-87479

Abstract

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Topics: Linkages , Manipulators , Ultrasonic transducers , Ultrasound

Design, Analysis, and Testing of a Metamorphic Gripper

Jacob A. Ziesmer, Philip A. Voglewede

IDETC-CIE 2009; 775-780doi:https://doi.org/10.1115/DETC2009-87512

Abstract

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Topics: Design , Grippers , Testing , Degrees of freedom

Novel Multi-Stage Inertia-Driven Delay and Switching Mechanisms

R. Murray, J. Rastegar

IDETC-CIE 2009; 781-787doi:https://doi.org/10.1115/DETC2009-87515

Abstract

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Topics: Delays , Inertia (Mechanics) , Design , Chain , Springs , Switches

Novel Two-Stage Electrical Energy Generators for Highly-Variable and Low-Speed Linear or Rotary Input Motions

R. Murray, J. Rastegar

IDETC-CIE 2009; 789-796doi:https://doi.org/10.1115/DETC2009-87526

Abstract

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Topics: Energy / power systems , Generators , Oscillations , Design , Energy conversion , Wave energy , Buoys , Computers , Cycles , Flow (Dynamics)

Incorporation of Passive Wing Folding in Flapping Wing Miniature Air Vehicles

Dominik Mueller, John W. Gerdes, Satyandra K. Gupta

IDETC-CIE 2009; 797-805doi:https://doi.org/10.1115/DETC2009-87543

Abstract

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Topics: Vehicles , Wings , Flight , Actuators , Weight (Mass) , Control systems , Drag (Fluid dynamics) , Lift (Fluid dynamics) , Turning angles

Right Angle Tetrahedron Chain Externally-Actuated Testbed (RATChET): A Shape-Changing System

Paul J. White, Chris E. Thorne, Mark Yim

IDETC-CIE 2009; 807-817doi:https://doi.org/10.1115/DETC2009-87657

Abstract

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Topics: Chain , Shapes , Actuators , Microscale devices , Compliant mechanisms , Design , Engineering prototypes , Resolution (Optics) , Robotics

Design of Autonomous Foldable Docking Mechanism for Small Space Vehicles

Gloria J. Wiens, Anake Umsrithong, Shawn Miller, Aneesh Koka, Travis Vitello

IDETC-CIE 2009; 819-828doi:https://doi.org/10.1115/DETC2009-87678

Abstract

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Topics: Design , Space vehicles , Satellites , Computer software , Dynamic analysis , Engineering simulation , Manufacturing , Simulation

FlexDex™: A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Actuation

Shorya Awtar, Tristan T. Trutna, Rosa Abani, Jens M. Nielsen, Andrew B. Mansfield

IDETC-CIE 2009; 829-839doi:https://doi.org/10.1115/DETC2009-87824

Abstract

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Topics: Construction , Design , Design engineering , End effectors , Force feedback , Kinematics , Manufacturing , Surgery , Surgical tools

Robot Dynamics and Control

Trajectory Planning and Coordinated Control of Robotic Systems

Reza A. Soltan, Hashem Ashrafiuon, Kenneth R. Muske

IDETC-CIE 2009; 841-850doi:https://doi.org/10.1115/DETC2009-86201

Abstract

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Topics: Robotics , Trajectories (Physics) , Limit cycles , Tracking control , Feedback , Manipulators , Modeling , Sliding mode control , Uncertainty , Vehicles

An Inertially-Actuated Passive Dynamic Step Climbing Wheeled Robot

John Humphreys, Dennis Hong

IDETC-CIE 2009; 851-860doi:https://doi.org/10.1115/DETC2009-86247

Abstract

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Topics: Robots , Wheels , Actuators , Computer simulation , Design , Dynamic models , Dynamic systems , Robotics , Springs , Stability

Impedance Control of Manipulators With Heavy Payload for Spacecraft Rendezvous and Docking Simulators

Farhad Aghili

IDETC-CIE 2009; 861-870doi:https://doi.org/10.1115/DETC2009-86529

Abstract

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Topics: Manipulators , Space vehicles , Feedback , Calibration , Control equipment , Engineering prototypes , Flight , Grasping , Inertia (Mechanics) , Noise (Sound)

On the Effect of Contact Friction and Contact Compliance on the Grasp Performance of Underactuated Hands

Gert A. Kragten, H. Allert Bosch, Teunis van Dam, Johan A. Slobbe, Just L. Herder

IDETC-CIE 2009; 871-878doi:https://doi.org/10.1115/DETC2009-86541

Abstract

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Topics: Friction , Engineering simulation , Friction materials , Robotics , Simulation

Observer Design to Estimate Shank Angle for Motion Control of an Underactuation Biped Robot

Reza Dehghani, Abbas Fattah

IDETC-CIE 2009; 879-885doi:https://doi.org/10.1115/DETC2009-86677

Abstract

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Topics: Design , Motion control , Robots , Actuators , Nonlinear systems , Simulation results

Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload

Alexandre Lecours, Cle´ment Gosselin

IDETC-CIE 2009; 887-896doi:https://doi.org/10.1115/DETC2009-86700

Abstract

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Topics: Computer software , Design , End effectors , Linkages , Parallel mechanisms , Simulation , Trajectories (Physics)

Dynamic Analysis of a Specific 2PRR Robotic Manipulator

Philip A. Voglewede, Robert Copsey

IDETC-CIE 2009; 897-903doi:https://doi.org/10.1115/DETC2009-86789

Abstract

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Topics: Dynamic analysis , Manipulators , Dynamics (Mechanics) , Parallel mechanisms , Robotics , Closed kinematic chains , Degrees of freedom , Linkages , Stability

Bipedal Robot Walking Cycle Forces and Torques Prediction and an Inverse System and Gain Scheduling Based Control

Elvedin Kljuno, Robert L. Williams, II

IDETC-CIE 2009; 905-914doi:https://doi.org/10.1115/DETC2009-87069

Abstract

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Topics: Cycles , Gain scheduling , Robots , Control equipment , Kinematics , Design , Dynamic analysis , Dynamics (Mechanics) , Engineering simulation , Errors

Maximum Virtual Stiffness Distribution Analysis and Measurement for Haptic Device

Xiaowei Dai, Yuru Zhang, Dangxiao Wang

IDETC-CIE 2009; 915-921doi:https://doi.org/10.1115/DETC2009-87132

Abstract

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Topics: Haptics , Stability , Stiffness

Robust Variable Structure Control for Free-Floating Space Robot System With Dual-Arms in Joints Space

Xiaoteng Tang, Li Chen

IDETC-CIE 2009; 923-928doi:https://doi.org/10.1115/DETC2009-87303

Abstract

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Topics: Robots , Equations of motion , Control equipment , Dynamics (Mechanics) , Kinematics

Optimal Throwing Motion Planning for a Biped Human Mechanism

Joo H. Kim, Yujiang Xiang, Jingzhou James Yang, Karim Abdel-Malek, Jasbir S. Arora

IDETC-CIE 2009; 929-936doi:https://doi.org/10.1115/DETC2009-87513

Abstract

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Topics: Optimization , Path planning

An Human-Robot Interaction Control Architecture for an Intelligent Assistive Robot

Maurizio Ficocelli, Goldie Nejat, Greg Minseok Jhin

IDETC-CIE 2009; 937-946doi:https://doi.org/10.1115/DETC2009-87639

Abstract

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Topics: Human-robot interaction , Robots , Design , Decision making , Health care , Control equipment , Robotics , Safety

Robot Kinematics and Motion Planning

Solving the Kinematics of a Parallel Robot Based on CAD Variation Geometry

Jiayin Xu, Yi Lu, Jingjing Yu

IDETC-CIE 2009; 947-953doi:https://doi.org/10.1115/DETC2009-86162

Abstract

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Topics: Computer-aided design , Geometry , Kinematics , Robots

Solving Inverse Kinematics and Driving Forces of a Novel 3RPS-3SPR Serial-Parallel Manipulator

Bo Hu, Yi Lu, Jia Yin Xu, Jing Jing Yu

IDETC-CIE 2009; 955-960doi:https://doi.org/10.1115/DETC2009-86175

Abstract

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Topics: Kinematics , Manipulators , Dimensions , Displacement , Jacobian matrices , Reactor protection systems , Virtual work principle

Estimation of the Center of Mass Using Statically Equivalent Serial Chain Modeling

Sebastien Cotton, Andrew Murray, Philippe Fraisse

IDETC-CIE 2009; 961-967doi:https://doi.org/10.1115/DETC2009-86227

Abstract

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Topics: Center of mass , Chain , Modeling , Humanoid robots

Singularity Analysis of 5-RPRRR Parallel Mechanisms via Grassmann Line Geometry

Mehdi Tale Masouleh, Cle´ment Gosselin

IDETC-CIE 2009; 969-978doi:https://doi.org/10.1115/DETC2009-86261

Abstract

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Topics: Geometry , Parallel mechanisms , Design , Jacobian matrices , Screws , Symmetry (Physics)

Generation of Under-Actuated Parallel Robots With Non-Holonomic Joints and Kinetostatic Analysis of a Case Study

Patrick Grosch, Raffaele Di Gregorio, Federico Thomas

IDETC-CIE 2009; 979-986doi:https://doi.org/10.1115/DETC2009-86408

Abstract

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Topics: Design , Manipulators , Robots

Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

Santosh Pratap Singh, Ashish Dutta, Anupam Saxena

IDETC-CIE 2009; 987-992doi:https://doi.org/10.1115/DETC2009-86595

Abstract

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Topics: Design , Energy conservation , Robots , Springs , Torsion , Algorithms , Degrees of freedom , Dynamic models , Elastic constants , Energy consumption

Kinematics of a Prism-Type Translational Robot

Chung-Ching Lee, Po-Chih Lee

IDETC-CIE 2009; 993-1002doi:https://doi.org/10.1115/DETC2009-86714

Abstract

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Topics: Kinematics , Robots , Jacobian matrices , Displacement , Manufacturing , Matrix algebra , Mechanical admittance , Mechanical properties

Analysis, Synthesis, and Experiments of Standing Up Methods for a Tripedal Robot

Ivette M. Morazzani, Dennis W. Hong

IDETC-CIE 2009; 1003-1015doi:https://doi.org/10.1115/DETC2009-86912

Abstract

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Topics: Robots , Torque , Engines , Motors , Design , Actuators , Friction , Kinematics , Mobile robots , Stability

Gait and Gait Transition for a Robot With Two Actuated Spoke Wheels

Ya Wang, Ping Ren, Dennis Hong

IDETC-CIE 2009; 1017-1025doi:https://doi.org/10.1115/DETC2009-86923

Abstract

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Topics: Robots , Wheels , Mechanical admittance , Mobile robots , Feedforward control , Path planning , Simulation , Switches , Topology , Trajectories (Physics)

Considerations for Motion Planning of a Robot With Two Actuated Spoke Wheels in the Two-Dimensional Sagittal Plane: Gaits and Transitions

Shawn C. Kimmel, Dennis W. Hong

IDETC-CIE 2009; 1027-1036doi:https://doi.org/10.1115/DETC2009-86925

Abstract

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Topics: Path planning , Robots , Wheels , Mobile robots , Engineering prototypes , Mechanical admittance , Motion control , Simulation

Redundancy Resolution Using Tractrix: Simulations and Experiments

V. C. Ravi, Subrata Rakshit, Ashitava Ghosal

IDETC-CIE 2009; 1037-1045doi:https://doi.org/10.1115/DETC2009-86934

Abstract

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Topics: Redundancy (Engineering) , Resolution (Optics) , Simulation , Robots , Actuators , End effectors , Algorithms , Degrees of freedom , Engineering prototypes , Inertia (Mechanics)

Evaluation and Optimization of Industrial Robot Families Using Different Kinematic Measures

Xiaolong Feng, Bo Holmgren, Johan O¨lvander

IDETC-CIE 2009; 1047-1057doi:https://doi.org/10.1115/DETC2009-86946

Abstract

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Topics: Kinematics , Optimization , Robots , Design , Degrees of freedom , Manipulators , Tradeoffs

Trajectory Real-Time Obstacle Avoidance for Underactuated Unmanned Surface Vessels

Reza A. Soltan, Hashem Ashrafiuon, Kenneth R. Muske

IDETC-CIE 2009; 1059-1067doi:https://doi.org/10.1115/DETC2009-86987

Abstract

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Topics: Trajectories (Physics) , Vessels , Limit cycles , Differential equations , Feedback , Modeling , Shapes , Sliding mode control , Tracking control , Uncertainty

Kineto-Static Stiffness Mapping Based on Finite Element Analysis for Robot Manipulators

Kai Zhao, Genliang Chen, Hao Wang, Yong Zhao

IDETC-CIE 2009; 1069-1077doi:https://doi.org/10.1115/DETC2009-87046

Abstract

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Topics: Finite element analysis , Manipulators , Stiffness , Stress , Deformation , Kinematics , Actuators , Damping , Dynamics (Mechanics) , End effectors

The Virtual Haptic Human Upper Body

Meng-Yun Chen, Robert L. Williams, II

IDETC-CIE 2009; 1079-1087doi:https://doi.org/10.1115/DETC2009-87050

Abstract

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Topics: Haptics , Biomedicine , Biological tissues , Chain , Degrees of freedom , Skin , Students

Design of One Degree of Freedom Closed Loop Spatial Chains Using Non-Circular Gears

Mandar Harshe, Carl Crane, III, David B. Dooner

IDETC-CIE 2009; 1089-1094doi:https://doi.org/10.1115/DETC2009-87056

Abstract

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Topics: Chain , Degrees of freedom , Design , Gears

Kinematic Analysis and Experimental Verification on the Steering Characteristics of a Two Actuated Spoke Wheel Robot With a Tail

Ping Ren, J. Blake Jeans, Dennis Hong

IDETC-CIE 2009; 1095-1103doi:https://doi.org/10.1115/DETC2009-87076

Abstract

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Topics: Kinematic analysis , Robots , Wheels , Engineering prototypes , Kinematics , Mechanical admittance , Algorithms , Design , Hardware , Path planning

Applications of the Geometric Design of Mechanical Linkages With Task Acceleration Specifications

Nina Patarinsky Robson, J. Michael McCarthy

IDETC-CIE 2009; 1105-1114doi:https://doi.org/10.1115/DETC2009-87415

Abstract

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Topics: Design , Linkages , Failure , Chain , Degrees of freedom , End effectors , Kinematics , Robots

Forward Displacement Analysis of a Quadratic Spherical Parallel Manipulator: The Agile Eye

Xianwen Kong, Cle´ment Gosselin

IDETC-CIE 2009; 1115-1121doi:https://doi.org/10.1115/DETC2009-87467

Abstract

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Topics: Displacement , Manipulators

On Hydrogen Bonds and Mobility of Protein Molecules

Zahra Shahbazi, Horea T. Ilies¸, Kazem Kazerounian

IDETC-CIE 2009; 1123-1137doi:https://doi.org/10.1115/DETC2009-87470

Abstract

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Topics: Hydrogen bonds , Mechanical admittance , Proteins , Kinematics , Degrees of freedom , Design , Engineering simulation , Kinematic chains , Manufacturing , Modeling

Singularity and Sub-Branch Identification of Two-DOF Seven-Bar Parallel Manipulators

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

IDETC-CIE 2009; 1139-1146doi:https://doi.org/10.1115/DETC2009-87480

Abstract

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

An Effective Trilateration Algorithm for Mobile Robot Positioning Based on Multiple Reference Points

Yu Zhou

IDETC-CIE 2009; 1147-1155doi:https://doi.org/10.1115/DETC2009-87505

Abstract

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Topics: Algorithms , Mobile robots , Distance measurement , Engineering simulation , Errors , Linear algebra , Robustness , Simulation , Uncertainty

A Study of the Mobility of a Family of 3-DOF Parallel Manipulators via Screw Theory

Ernesto Rodriguez-Leal, Jian S. Dai, Gordon R. Pennock

IDETC-CIE 2009; 1157-1165doi:https://doi.org/10.1115/DETC2009-87577

Abstract

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Topics: Manipulators , Mechanical admittance , Screws

Optimal Motion Planning of Manipulators With Elastic Links and Joints in Generalized Point-to-Point Task

H. N. Rahimi, M. H. Korayem, A. Nikoobin

IDETC-CIE 2009; 1167-1174doi:https://doi.org/10.1115/DETC2009-87759

Abstract

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Topics: Manipulators , Path planning , Optimal control , Boundary-value problems , Computer simulation , Dynamic modeling , Modeling , Robotics , Robots , Trajectories (Physics)

Branch Identification of Planar Two-DOF Seven-Bar Linkages

Jun Wang, Kwun-Lon Ting, Changyu Xue

IDETC-CIE 2009; 1175-1182doi:https://doi.org/10.1115/DETC2009-87806

Abstract

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Topics: Linkages , Mechanical admittance , Design , Computer programming , Computer-aided engineering , Degrees of freedom , Manipulators , Robot navigation , Rotation