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Proceedings Papers

Proceedings Volume Cover
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
  • Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4904-0
Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B

33rd Mechanisms and Robotics Conference

Cable Driven Mechanisms and Robots, Tensegrity Systems

Optimization and Design of a Cable Driven Upper Arm Exoskeleton
Sunil K. Agrawal, Venketesh N. Dubey, John J. Gangloff, Jr., Elizabeth Brackbill, Vivek Sangwan
IDETC-CIE 2009; 3-10https://doi.org/10.1115/DETC2009-86516
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Topics: Cables , Design , Exoskeleton devices , Optimization
Modeling, Control and Simulation of a New Large Scale Cable-Driven Robot
Alireza Alikhani, Saeed Behzadipour, Farbod Ghahremani, Aria Alasty, S. Ali Sadough Vanini
IDETC-CIE 2009; 11-16https://doi.org/10.1115/DETC2009-86713
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Topics: Cables , Modeling , Robots , Simulation , Actuators , Control algorithms , Control modeling , Dynamics (Mechanics) , Feedback , Kinematics
A Novel Tensed Mechanism for Simulation of Maneuvers in Wind Tunnels
Tobias Bruckmann, Lars Mikelsons, Thorsten Brandt, Dieter Schramm, Andreas Pott, Moustafa Abdel-Maksoud
IDETC-CIE 2009; 17-24https://doi.org/10.1115/DETC2009-86718
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Topics: Simulation , Wind tunnels , Aircraft , Design , Air flow , Computational methods , Hull , Mechanical properties , Propulsion systems , Robots
Design Approaches for Wire Robots
Tobias Bruckmann, Lars Mikelsons, Thorsten Brandt, Manfred Hiller, Dieter Schramm
IDETC-CIE 2009; 25-34https://doi.org/10.1115/DETC2009-86720
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Topics: Design , Robots , Wire , Computation , End effectors , Engines , Machinery , Motors , Optimization , Reliability
A Variable Spring Using a Tensegrity Prism
Mojtaba Azadi, Saeed Behzadipour, Gary Faulkner
IDETC-CIE 2009; 35-43https://doi.org/10.1115/DETC2009-87407
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Topics: Springs , Tensegrity , Stiffness , Prisms (Optics) , Deflection , Displacement
Analysis of a Large-Workspace Cable-Actuated Manipulator for Warehousing Applications
Mahir Hassan, Amir Khajepour
IDETC-CIE 2009; 45-53https://doi.org/10.1115/DETC2009-87424
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Topics: Cables , Manipulators , Stiffness
Simultaneous Trajectory Tracking and Stiffness Control of Cable Actuated Parallel Manipulator
Kun Yu, Leng-Feng Lee, Venkat N. Krovi
IDETC-CIE 2009; 55-63https://doi.org/10.1115/DETC2009-87457
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Topics: Cables , Manipulators , Stiffness , Trajectories (Physics) , Redundancy (Engineering) , Robots , Tracking control
Static and Kinematic Analysis of a Planar Cable-Driven Flexible Endoscope
Jomkwun Munnae, Gary McMurray, Harvey Lipkin
IDETC-CIE 2009; 65-74https://doi.org/10.1115/DETC2009-87542
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Topics: Cables , Endoscopes , Kinematic analysis , Surgery , Cavities , Endoscopic devices , Instrumentation , Kinematics , Robots , Stiffness
Tensionability of an Arbitrary Two-Link Multibody
Siavash Rezazadeh, Saeed Behzadipour
IDETC-CIE 2009; 75-81https://doi.org/10.1115/DETC2009-87597
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Topics: Cables , Equilibrium (Physics) , Geometry , Multibody systems , Stress , Tension
Kinematics and Statics of Cooperative Multi-Robot Aerial Manipulation With Cables
Nathan Michael, Soonkyum Kim, Jonathan Fink, Vijay Kumar
IDETC-CIE 2009; 83-91https://doi.org/10.1115/DETC2009-87677
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Topics: Cables , Kinematics , Robots , Statics , Equilibrium (Physics) , Inverse problems , Numerical analysis , Stability , Tension
Analysis of Hybrid Cable-Actuated Parallel Manipulators With a Constraining Leg for Lower-Degree-of-Freedom Operation
Mahir Hassan, Amir Khajepour
IDETC-CIE 2009; 93-100https://doi.org/10.1115/DETC2009-87705
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Topics: Cables , Manipulators

Compliant Mechanisms

A 3-DOF Translational Compliant Parallel Manipulator Based on Flexure Motion
Guangbo Hao, Xianwen Kong
IDETC-CIE 2009; 101-110https://doi.org/10.1115/DETC2009-86075
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Topics: Bending (Stress) , Manipulators , Actuators , Displacement , Modeling , Yaw
Design of an Antagonistic Bistable Dielectric Elastomer Actuator Using the Bergstrom-Boyce Constitutive Viscoelastic Model
Patrick Chouinard, Sylvain Proulx, Jean-Philippe Lucking Bigue´, Jean-Se´bastien Plante
IDETC-CIE 2009; 111-121https://doi.org/10.1115/DETC2009-86476
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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; 123-132https://doi.org/10.1115/DETC2009-86480
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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; 133-139https://doi.org/10.1115/DETC2009-86509
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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; 141-149https://doi.org/10.1115/DETC2009-86637
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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; 151-161https://doi.org/10.1115/DETC2009-86684
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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; 163-170https://doi.org/10.1115/DETC2009-86694
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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; 171-181https://doi.org/10.1115/DETC2009-86712
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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; 183-191https://doi.org/10.1115/DETC2009-86754
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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; 193-214https://doi.org/10.1115/DETC2009-86845
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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; 215-222https://doi.org/10.1115/DETC2009-86847
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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; 223-232https://doi.org/10.1115/DETC2009-86850
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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; 233-240https://doi.org/10.1115/DETC2009-86901
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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; 241-248https://doi.org/10.1115/DETC2009-86990
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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; 249-257https://doi.org/10.1115/DETC2009-87067
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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; 259-268https://doi.org/10.1115/DETC2009-87248
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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; 269-276https://doi.org/10.1115/DETC2009-87290
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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; 277-287https://doi.org/10.1115/DETC2009-87331
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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; 289-297https://doi.org/10.1115/DETC2009-87334
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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; 299-312https://doi.org/10.1115/DETC2009-87445
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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; 313-323https://doi.org/10.1115/DETC2009-87451
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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; 325-333https://doi.org/10.1115/DETC2009-87557
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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; 335-343https://doi.org/10.1115/DETC2009-87598
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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; 345-358https://doi.org/10.1115/DETC2009-87808
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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; 359-365https://doi.org/10.1115/DETC2009-86097
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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; 367-376https://doi.org/10.1115/DETC2009-86230
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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; 377-383https://doi.org/10.1115/DETC2009-86359
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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; 385-389https://doi.org/10.1115/DETC2009-87054
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Topics: Dynamics (Mechanics) , Kinematics , Scalars
Electromagnetic Valve Actuation System With Two Configurations
Rudolf Seethaler, Konrad Duerr
IDETC-CIE 2009; 391-398https://doi.org/10.1115/DETC2009-87131
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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; 399-409https://doi.org/10.1115/DETC2009-87529
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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; 411-420https://doi.org/10.1115/DETC2009-87575
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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; 421-432https://doi.org/10.1115/DETC2009-86039
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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; 433-439https://doi.org/10.1115/DETC2009-86073
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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; 441-451https://doi.org/10.1115/DETC2009-86105
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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; 453-462https://doi.org/10.1115/DETC2009-86107
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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; 463-473https://doi.org/10.1115/DETC2009-86125
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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; 475-483https://doi.org/10.1115/DETC2009-86184
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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; 485-491https://doi.org/10.1115/DETC2009-86243
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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; 493-502https://doi.org/10.1115/DETC2009-86654
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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; 503-512https://doi.org/10.1115/DETC2009-86722
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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; 513-522https://doi.org/10.1115/DETC2009-86723
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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; 523-530https://doi.org/10.1115/DETC2009-86769
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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; 531-538https://doi.org/10.1115/DETC2009-87140
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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; 539-545https://doi.org/10.1115/DETC2009-87170
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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; 547-557https://doi.org/10.1115/DETC2009-87288
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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; 559-575https://doi.org/10.1115/DETC2009-87345
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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; 577-584https://doi.org/10.1115/DETC2009-87366
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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; 585-594https://doi.org/10.1115/DETC2009-87447
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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; 595-604https://doi.org/10.1115/DETC2009-87516
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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; 605-614https://doi.org/10.1115/DETC2009-87747
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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; 615-625https://doi.org/10.1115/DETC2009-87818
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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; 627-632https://doi.org/10.1115/DETC2009-86074
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Topics: Conceptual design , Kinematic chains
Self Motions of the Pantopteron
Se´bastien Briot, Ilian A. Bonev
IDETC-CIE 2009; 633-638https://doi.org/10.1115/DETC2009-86213
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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; 639-645https://doi.org/10.1115/DETC2009-86281
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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; 647-653https://doi.org/10.1115/DETC2009-86294
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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; 655-662https://doi.org/10.1115/DETC2009-86328
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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; 663-673https://doi.org/10.1115/DETC2009-86338
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Topics: Design , Linkages , Machinery
Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot
Pinhas Ben-Tzvi
IDETC-CIE 2009; 675-680https://doi.org/10.1115/DETC2009-86351
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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; 681-688https://doi.org/10.1115/DETC2009-86551
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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; 689-700https://doi.org/10.1115/DETC2009-86770
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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; 701-710https://doi.org/10.1115/DETC2009-86777
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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; 711-720https://doi.org/10.1115/DETC2009-86790
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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; 721-726https://doi.org/10.1115/DETC2009-86808
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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; 727-738https://doi.org/10.1115/DETC2009-87355
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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; 739-747https://doi.org/10.1115/DETC2009-87361
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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; 749-758https://doi.org/10.1115/DETC2009-87412
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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; 759-766https://doi.org/10.1115/DETC2009-87426
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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; 767-773https://doi.org/10.1115/DETC2009-87479
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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; 775-780https://doi.org/10.1115/DETC2009-87512
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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; 781-787https://doi.org/10.1115/DETC2009-87515
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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; 789-796https://doi.org/10.1115/DETC2009-87526
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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; 797-805https://doi.org/10.1115/DETC2009-87543
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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; 807-817https://doi.org/10.1115/DETC2009-87657
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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; 819-828https://doi.org/10.1115/DETC2009-87678
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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; 829-839https://doi.org/10.1115/DETC2009-87824
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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; 841-850https://doi.org/10.1115/DETC2009-86201
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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; 851-860https://doi.org/10.1115/DETC2009-86247
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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; 861-870https://doi.org/10.1115/DETC2009-86529
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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; 871-878https://doi.org/10.1115/DETC2009-86541
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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; 879-885https://doi.org/10.1115/DETC2009-86677
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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; 887-896https://doi.org/10.1115/DETC2009-86700
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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; 897-903https://doi.org/10.1115/DETC2009-86789
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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; 905-914https://doi.org/10.1115/DETC2009-87069
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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; 915-921https://doi.org/10.1115/DETC2009-87132
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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; 923-928https://doi.org/10.1115/DETC2009-87303
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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; 929-936https://doi.org/10.1115/DETC2009-87513
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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; 937-946https://doi.org/10.1115/DETC2009-87639
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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; 947-953https://doi.org/10.1115/DETC2009-86162
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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; 955-960https://doi.org/10.1115/DETC2009-86175
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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; 961-967https://doi.org/10.1115/DETC2009-86227
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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; 969-978https://doi.org/10.1115/DETC2009-86261
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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; 979-986https://doi.org/10.1115/DETC2009-86408
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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; 987-992https://doi.org/10.1115/DETC2009-86595
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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; 993-1002https://doi.org/10.1115/DETC2009-86714
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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; 1003-1015https://doi.org/10.1115/DETC2009-86912
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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; 1017-1025https://doi.org/10.1115/DETC2009-86923
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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; 1027-1036https://doi.org/10.1115/DETC2009-86925
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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; 1037-1045https://doi.org/10.1115/DETC2009-86934
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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; 1047-1057https://doi.org/10.1115/DETC2009-86946
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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; 1059-1067https://doi.org/10.1115/DETC2009-86987
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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; 1069-1077https://doi.org/10.1115/DETC2009-87046
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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; 1079-1087https://doi.org/10.1115/DETC2009-87050
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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; 1089-1094https://doi.org/10.1115/DETC2009-87056
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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; 1095-1103https://doi.org/10.1115/DETC2009-87076
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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; 1105-1114https://doi.org/10.1115/DETC2009-87415
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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; 1115-1121https://doi.org/10.1115/DETC2009-87467
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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; 1123-1137https://doi.org/10.1115/DETC2009-87470
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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; 1139-1146https://doi.org/10.1115/DETC2009-87480
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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; 1147-1155https://doi.org/10.1115/DETC2009-87505
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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; 1157-1165https://doi.org/10.1115/DETC2009-87577
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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; 1167-1174https://doi.org/10.1115/DETC2009-87759
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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; 1175-1182https://doi.org/10.1115/DETC2009-87806
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Topics: Linkages , Mechanical admittance , Design , Computer programming , Computer-aided engineering , Degrees of freedom , Manipulators , Robot navigation , Rotation

Theoretical and Computational Kinematics

A Systematical Approach for Structure Synthesis of Parallel Mechanisms Based on Single-Open-Chain Modules and Its Application
Ting-Li Yang, An-Xin Liu, Qiong Jin, Yu-Feng Luo, Lu-Bin Hang, Hui-Ping Shen
IDETC-CIE 2009; 1183-1194https://doi.org/10.1115/DETC2009-86106
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Topics: Chain , Parallel mechanisms
Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains
J. M. Rico, J. J. Cervantes, A. Tadeo, J. Gallardo, L. D. Aguilera, C. R. Diez
IDETC-CIE 2009; 1195-1204https://doi.org/10.1115/DETC2009-86489
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Topics: Kinematic chains , Kinematics , Mechanical admittance , Lie algebras
Slider Cranks as Compatibility Linkages for Parameterizing Center Point Curves
David H. Myszka, Andrew P. Murray
IDETC-CIE 2009; 1205-1213https://doi.org/10.1115/DETC2009-86698
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Topics: Linkages
Improving the Efficiency of Protein Conformation Prediction With Energy Landscape Modification
Temsiri Sapsaman, Harvey Lipkin
IDETC-CIE 2009; 1215-1222https://doi.org/10.1115/DETC2009-86863
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Topics: Proteins , Simulation , Algorithms , Drugs , Optimization , Resolution (Optics) , Shapes
On the Topological Representation and Compatibility of Variable Topology Mechanisms
Win-Bin Shieh, Frederick Sun, Dar-Zen Chen
IDETC-CIE 2009; 1223-1230https://doi.org/10.1115/DETC2009-87205
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Topics: Topology
Position Analysis of a Bennett-Based Multiple-Mode 7R Linkage
Chintien Huang, Xianwen Kong, Tzuhsiu Ou
IDETC-CIE 2009; 1231-1236https://doi.org/10.1115/DETC2009-87241
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Topics: Linkages , Kinematics , Rotation , Algorithms , Manipulators , Switches
Singularity-Free Taskspace Optimization of 6-RSS Mechanisms
Hao Li, Yuru Zhang, Yi Yang
IDETC-CIE 2009; 1237-1244https://doi.org/10.1115/DETC2009-87260
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Topics: Manipulators , Optimization
Geometric and Kinematic Analysis of the Hoberman Switch-Pitch Ball and Its Variant
Guowu Wei, Xilun Ding, Jian S. Dai
IDETC-CIE 2009; 1245-1254https://doi.org/10.1115/DETC2009-87329
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Topics: Kinematic analysis , Switches , Geometry , Kinematics , Linkages , Bevel gears
On the Mobility of Spatial Group 2 Mechanisms
Kwun-Lon Ting, Changyu Xue, Jun Wang, Kenneth R. Currie
IDETC-CIE 2009; 1255-1263https://doi.org/10.1115/DETC2009-87372
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Topics: Mechanical admittance , Linkages , Displacement
On the Branch Formation of Linkages
Kwun-Lon Ting, Changyu Xue, Jun Wang, Kenneth R. Currie
IDETC-CIE 2009; 1265-1273https://doi.org/10.1115/DETC2009-87384
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Topics: Linkages , Mechanical admittance , Displacement , Topology
On the Concept of Mobility Used in Robotics
Andreas Mu¨ller
IDETC-CIE 2009; 1275-1284https://doi.org/10.1115/DETC2009-87524
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Topics: Mechanical admittance , Robotics
The Canonical Form of All Planar Linkage Topologies
Offer Shai
IDETC-CIE 2009; 1285-1294https://doi.org/10.1115/DETC2009-87653
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Topics: Linkages , Theorems (Mathematics) , Atoms , Kinematics , Stiffness
Reconciling Distance Metric Methods for Rigid Body Displacements
Anurag Purwar, Qiaode Jeffrey Ge
IDETC-CIE 2009; 1295-1304https://doi.org/10.1115/DETC2009-87718
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Topics: Approximation , Calibration , Collisions (Physics) , Computational methods , Displacement , Interpolation , Robots , Rotation , Shapes
Kinematic Convexity of Planar Displacements Based on an Approximately Bi-Invariant Metric
Q. J. Ge, Jun Wu, Anurag Purwar, Feng Gao
IDETC-CIE 2009; 1305-1313https://doi.org/10.1115/DETC2009-87812
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Topics: Kinematics , Computational geometry
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