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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

August 15–18, 2010

Montreal, Quebec, Canada

Conference Sponsors:

ISBN:

978-0-7918-4410-6

In This Volume

34th Annual Mechanisms and Robotics Conference (190)

Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B

34th Annual Mechanisms and Robotics Conference

Biologically-Motivated Mechanisms and Robotics (Medical, Healthcare, Biomimetic)

An Intelligent Exoskeleton for Lower Limb Rehabilitation

Hashem Ashrafiuon, Kent Grosh, Kevin J. Burke, Kathleen Bommer

IDETC-CIE 2010; 3-9doi:https://doi.org/10.1115/DETC2010-28022

Topics: Exoskeleton devices , Motors , Computers , Control equipment , Knee , Sliding mode control

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

Carl A. Nelson, Xiaoli Zhang

IDETC-CIE 2010; 11-17doi:https://doi.org/10.1115/DETC2010-28367

Topics: Manipulators , Surgical tools , Design , Actuators , Gears , Kinematics , Manipulator design , Surgery

On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

Xiaoli Zhang, Carl A. Nelson

IDETC-CIE 2010; 19-28doi:https://doi.org/10.1115/DETC2010-28371

Topics: Dynamic modeling , Robotics , Surgery , Design , Actuators , End effectors , Manipulators , Biological tissues , Control systems , Dynamic analysis

Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications

Anthony L. Crawford, Alba Perez-Gracia

IDETC-CIE 2010; 29-36doi:https://doi.org/10.1115/DETC2010-28418

Topics: Artificial limbs , Design , End effectors , Muscle , Signals , Electromyography , Actuators , Approximation , Kinematics , Skin

Force-Displacement Model of the FlexSuRe™ Spinal Implant

Eric Stratton, Larry Howell, Anton Bowden

IDETC-CIE 2010; 37-46doi:https://doi.org/10.1115/DETC2010-28476

Topics: Displacement , Spinal implants , Biological tissues , Design , Modeling , Deflection , Disks , Finite element analysis , Virtual work principle

A New 3D Kinematic Model for the Passive Motion of the Tibia-Fibula-Ankle Complex

Benedetta Baldisserri, Vincenzo Parenti Castelli

IDETC-CIE 2010; 47-55doi:https://doi.org/10.1115/DETC2010-28500

Topics: Kinematics , Bone , Geometry , Simulation , Degrees of freedom , Dynamic models , Fittings , Knee , Membranes , Simulation results

A Review of Bird-Inspired Flapping Wing Miniature Air Vehicle Designs

John W. Gerdes, Satyandra K. Gupta, Stephen A. Wilkerson

IDETC-CIE 2010; 57-67doi:https://doi.org/10.1115/DETC2010-28513

Topics: Automotive design , Wings , Vehicles , Flight , Design , Propellers , Rotors , Weight (Mass)

Design and Fabrication of a Multi-Material Compliant Flapping Wing Drive Mechanism for Miniature Air Vehicles

Wojciech Bejgerowski, John W. Gerdes, Satyandra K. Gupta, Hugh A. Bruck, Stephen Wilkerson

IDETC-CIE 2010; 69-80doi:https://doi.org/10.1115/DETC2010-28519

Topics: Design , Manufacturing , Vehicles , Wings , Weight (Mass) , Molding , Batteries , Deformation , Engines , Motors

An Upper Limb Exoskeleton for Pinpointed Muscular Exercises With Overextension Injury Prevention

Tzong-Ming Wu, Shu-Yi Wang, Dar-Zen Chen

IDETC-CIE 2010; 81-90doi:https://doi.org/10.1115/DETC2010-28631

Topics: Exoskeleton devices , Weight (Mass) , Wounds

The Design of an Intelligent Socially Assistive Robot for Person-Centered Cognitive Interventions

Jeanie Chan, Goldie Nejat

IDETC-CIE 2010; 91-99doi:https://doi.org/10.1115/DETC2010-28681

Topics: Design , Robots , Human-robot interaction , Health care , Brain , Robotics

Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion

Omer Orki, Offer Shai, Itay Tehori, Michael Slavutin, Uri Ben-Hanan

IDETC-CIE 2010; 101-106doi:https://doi.org/10.1115/DETC2010-28687

Topics: Tensegrity structures , Cables , Actuators , Fault tolerance , Robots , Algorithms , Control algorithms , Motion control , Surface roughness , Tensegrity

Wireless Bluetooth Remote Control of a Multi-Fingered Metamorphic Hand—Metahand

Hamzah N. Laimon, Jian S. Dai

IDETC-CIE 2010; 107-114doi:https://doi.org/10.1115/DETC2010-28688

Topics: Control equipment , End effectors , Feedback , Kinematics , Real-time systems , Sensors , Shapes

Kinematic Design of a Thumb Metacarpal for an Anthropomorphic Robotic Hand

Louis-Alexis Allen Demers, Cle´ment Gosselin

IDETC-CIE 2010; 115-123doi:https://doi.org/10.1115/DETC2010-28710

Topics: Design , End effectors , Kinematics , Pulleys , Cables , Engineering prototypes , Tendons , Trajectories (Physics)

Initial Design and Evaluation of an Intra-Cardiac Camera System for Ventricular Septal Defects

Keir D. Hart, Max B. Mitchell, Mark E. Rentschler

IDETC-CIE 2010; 125-134doi:https://doi.org/10.1115/DETC2010-28759

Topics: Design , Pediatrics , Surgery , Imaging , Maintenance , Visualization

Preliminary In Vivo Capsule Crawler Mobility

Levin J. Sliker, Jonathan A. Schoen, Mark E. Rentschler

IDETC-CIE 2010; 135-144doi:https://doi.org/10.1115/DETC2010-28769

Topics: Mechanical admittance , Robots , Surgery , Biomedicine , Imaging , Robotics

A Heart Stabilization Device Exploiting Gyroscopic Actuation: Design and Control

Julien Gagne, Olivier Piccin, E´douard Laroche, Jacques Gangloff

IDETC-CIE 2010; 145-154doi:https://doi.org/10.1115/DETC2010-28843

Topics: Design , Engineering prototypes , Feedforward control , Kalman filters , Signals , Simulation , Surgery , System architecture , Torque

Static Analysis of Single-Input/Multiple-Output Tendon-Driven Underactuated Mechanisms for Robotic Hands

Mathieu Baril, Thierry Laliberte´, Franc¸ois Guay, Cle´ment Gosselin

IDETC-CIE 2010; 155-164doi:https://doi.org/10.1115/DETC2010-28933

Topics: Robotics , Tendons , Integrated systems , Pulleys

On Designing Structured Soft Covers for Robotic Limbs With Predetermined Compliance

Giovanni Berselli, Marco Piccinini, Gabriele Vassura

IDETC-CIE 2010; 165-174doi:https://doi.org/10.1115/DETC2010-28965

Topics: Design , Robotics , Compression , Biological tissues , Finite element methods , Finite element model , Microbeams , Numerical analysis , Shapes , Skin

External Disturbances and Coupling Mechanisms in Underactuated Hands

Ravi Balasubramanian, Joseph T. Belter, Aaron M. Dollar

IDETC-CIE 2010; 175-184doi:https://doi.org/10.1115/DETC2010-29004

Topics: Actuators , Design , Grasping , Robotics , Robustness

Multi-Substrate Burrowing Performance and Constitutive Modeling of RoboClam: A Biomimetic Robot Based on Razor Clams

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

IDETC-CIE 2010; 185-191doi:https://doi.org/10.1115/DETC2010-29060

Topics: Biomimetics , Modeling , Robots , Soil , Fluidization , Atlantic Ocean , Constitutive equations , Drag (Fluid dynamics) , Energy efficiency , Engineering systems and industry applications

Cable Drive Systems and Tensegrity Systems

The Direct Kinematics of Objects Suspended From Cables

Qimi Jiang, Vijay Kumar

IDETC-CIE 2010; 193-202doi:https://doi.org/10.1115/DETC2010-28036

Topics: Cables , Kinematics , Linkages

On the Boundaries of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

K. Azizian, P. Cardou, B. Moore

IDETC-CIE 2010; 203-212doi:https://doi.org/10.1115/DETC2010-28135

Topics: Cables , Robots

Workspace Investigation of Wire-Actuated Parallel Manipulators With Uncertainties in Wire Connections

Leila Notash, Derek McColl

IDETC-CIE 2010; 213-222doi:https://doi.org/10.1115/DETC2010-28228

Topics: Manipulators , Uncertainty , Wire

Workspace Computation and Analysis of a Planar 2-DoF Translational Tensegrity Mechanism

Samuel Chen, Marc Arsenault

IDETC-CIE 2010; 223-232doi:https://doi.org/10.1115/DETC2010-28257

Topics: Computation , Tensegrity mechanisms , Cables , Geometry , Actuators , End effectors , Inertia (Mechanics) , Kinematics , Robotics , Shapes

Static Analysis of a Lumped Mass Cable System

Marco D. Masciola, Meyer Nahon, Frederick R. Driscoll

IDETC-CIE 2010; 233-241doi:https://doi.org/10.1115/DETC2010-28292

Topics: Cables , Elasticity , Statics , Buoyancy , Equilibrium (Physics) , Hydrodynamics , Weight (Mass)

Trajectory Planning and Impact Reduction in Wire-Actuated Parallel Manipulators With Elastic Wires

Maryam Agahi, Leila Notash

IDETC-CIE 2010; 243-252doi:https://doi.org/10.1115/DETC2010-28366

Topics: Manipulators , Trajectories (Physics) , Wire , Collisions (Physics) , Tension , Simulation , Damping , Dynamics (Mechanics) , Elasticity , Kinematics

Investigation of Wire Failure Effect on Stiffness Maps of Planar Wire-Actuated Parallel Manipulators

Amir Moradi, Leila Notash

IDETC-CIE 2010; 253-260doi:https://doi.org/10.1115/DETC2010-28374

Topics: Failure , Manipulators , Stiffness , Wire

On the Static Workspace of Large Dimension Cable-Suspended Robots With Non Negligible Cable Mass

Nicolas Riehl, Marc Gouttefarde, Franc¸ois Pierrot, Ce´dric Baradat

IDETC-CIE 2010; 261-270doi:https://doi.org/10.1115/DETC2010-28405

Topics: Cables , Dimensions , Robots , Elasticity , Tension , Equilibrium (Physics) , Kinematics , Modeling

A Planar Spring-Loaded Cable-Loop-Driven Parallel Mechanism

Hanwei Liu, Cle´ment Gosselin, Thierry Laliberte´

IDETC-CIE 2010; 271-280doi:https://doi.org/10.1115/DETC2010-28424

Topics: Cables , Parallel mechanisms , Springs , Actuators , Belts , Computer simulation , Degrees of freedom , Equilibrium (Physics) , Kinematics , Tension

Closed-Loop Transmission Routings for Cartesian SCARA-Type Manipulators

Thierry Laliberte´, Cle´ment Gosselin, Dalong Gao

IDETC-CIE 2010; 281-290doi:https://doi.org/10.1115/DETC2010-28718

Topics: Manipulators , Actuators , Belts , Cables , Gantry cranes , Inertia (Mechanics) , Kinematic analysis , Motors , Rails

Analysis of a Planar Tensegrity-Based Compliant Mechanism

Youngjin Moon, Carl D. Crane, III, Rodney G. Roberts

IDETC-CIE 2010; 291-299doi:https://doi.org/10.1115/DETC2010-28733

Topics: Elastic constants , Equilibrium (Physics) , Pistons , Potential energy , Springs , Stiffness , Tensegrity , Tensegrity-based compliant mechanisms

A New Variable Stiffness Spring Using a Prestressed Mechanism

Mojtaba Azadi, Saeed Behzadipour, Simon Guest

IDETC-CIE 2010; 301-307doi:https://doi.org/10.1115/DETC2010-28798

Topics: Springs , Stiffness , Cables , Geometry , Dampers , Design , Force control , Inertia (Mechanics) , Kinematics , Stability

A Cable-Actuated Robotic Lumbar Spine for Palpatory Training of Medical Students

Ernur Karadogan, Robert L. Williams, II

IDETC-CIE 2010; 309-318doi:https://doi.org/10.1115/DETC2010-28863

Topics: Biomedicine , Cables , Lumbar spine , Robotics , Robots , Students

Design and Application of Chattering-Free Sliding Mode Controller to Cable-Driven Parallel Robot Manipulator: Theory and Experiment

Meysar Zeinali, Amir Khajepour

IDETC-CIE 2010; 319-327doi:https://doi.org/10.1115/DETC2010-29153

Topics: Cables , Control equipment , Design , Manipulators

Compliant Mechanisms: Macro, Micro and Nano

Design and Modelling of Spatial Compliant Parallel Mechanisms for Large Range of Translation

Guangbo Hao, Xianwen Kong, Qiaoling Meng

IDETC-CIE 2010; 329-340doi:https://doi.org/10.1115/DETC2010-28046

Topics: Design , Modeling , Parallel mechanisms , Blocks (Building materials) , Actuators , Degrees of freedom , Displacement , Errors , Finite element analysis

An Energy Approach to Static Balancing of Systems With Torsion Stiffness

Giuseppe Radaelli, Juan A. Gallego, Just L. Herder

IDETC-CIE 2010; 341-353doi:https://doi.org/10.1115/DETC2010-28071

Topics: Stiffness , Torsion , Conceptual design , Engineering prototypes , Design , Design methodology , Energy efficiency , Errors , Potential energy

Design of an Underactuated Finger With a Monolithic Structure and Largely Distributed Compliance

Peter Steutel, Gert A. Kragten, Just L. Herder

IDETC-CIE 2010; 355-363doi:https://doi.org/10.1115/DETC2010-28127

Topics: Artificial limbs , Design , Conceptual design , Dimensional analysis , Engineering prototypes , Finite element methods , Grasping , Kinematics , Numerical analysis , Prostheses

Topology Optimization of Compliant Mechanisms Using Hybrid Discretization Model

Hong Zhou

IDETC-CIE 2010; 365-374doi:https://doi.org/10.1115/DETC2010-28150

Topics: Compliant mechanisms , Optimization , Topology , Design , Bending (Stress) , Chain , Genetic algorithms , Hinges , Sensitivity analysis , Stress

Beam Constraint Model: A Non-Linear Strain Energy Formulation for Generalized Two-Dimensional Beam Flexures

Shorya Awtar, Shiladitya Sen

IDETC-CIE 2010; 375-386doi:https://doi.org/10.1115/DETC2010-28184

Topics: Bending (Stress) , Boundary-value problems , Displacement , Energy consumption , Errors , Finite element analysis , Flexure mechanisms , Shapes , Stiffness , Stress

Design of a Large Range XY Nanopositioning System

Shorya Awtar, Gaurav Parmar

IDETC-CIE 2010; 387-399doi:https://doi.org/10.1115/DETC2010-28185

Topics: Design , Actuators , Flexure mechanisms , Sensors , Bearings , Bending (Stress) , Dynamic models , Kinematics

Design and Optimization of a Spatial Hybrid Motion System

P. R. Ouyang, Steven Cargnello

IDETC-CIE 2010; 401-408doi:https://doi.org/10.1115/DETC2010-28186

Topics: Design , Optimization , Actuators , Compliant mechanisms , Dynamic analysis , Finite element analysis , Kinematic analysis , Servomotors , Topology

Experimental Validation of an Elastically Averaged Binary Manipulator for MRI-Guided Prostate Cancer Interventions

Sylvain Proulx, Genevie`ve Miron, Alexandre Girard, Jean-Se´bastien Plante

IDETC-CIE 2010; 409-418doi:https://doi.org/10.1115/DETC2010-28235

Topics: Cancer , Magnetic resonance imaging , Manipulators , Muscle

Realization of a Planar Stiffness With a Simple Symmetric Parallel Mechanism

Shuguang Huang, Joseph M. Schimmels

IDETC-CIE 2010; 419-426doi:https://doi.org/10.1115/DETC2010-28329

Topics: Parallel mechanisms , Stiffness , Springs , Geometry

Design of a Generic Zero Stiffness Compliant Joint

Femke M. Morsch, Just L. Herder

IDETC-CIE 2010; 427-435doi:https://doi.org/10.1115/DETC2010-28351

Topics: Design , Stiffness , Springs , Compliant mechanisms , Finite element analysis , Construction , Engineering prototypes , Optimization , Potential energy

Achieving Multistability Through Use of a Single Bistable Compliant Mechanism

Guimin Chen, Yanjie Gou, Aimei Zhang

IDETC-CIE 2010; 437-446doi:https://doi.org/10.1115/DETC2010-28388

Topics: Compliant mechanisms , Design , Equilibrium (Physics) , Robots , Switches , Valves

Statically Balanced Compliant Micro Mechanisms (SB-MEMS): Concepts and Simulation

Nima Tolou, Vincent A. Henneken, Just L. Herder

IDETC-CIE 2010; 447-454doi:https://doi.org/10.1115/DETC2010-28406

Topics: Compliant mechanisms , Microelectromechanical systems , Simulation , Stiffness

An Energy Approach to a 2DOF Compliant Parallel Mechanism With Self-Guiding Statically-Balanced Straight-Line Behavior

Emile J. Rosenberg, Giuseppe Radaelli, Just L. Herder

IDETC-CIE 2010; 455-464doi:https://doi.org/10.1115/DETC2010-28447

Topics: Compliant mechanisms , Conceptual design , Engineering prototypes , Finite element model , Manufacturing , Parallel mechanisms , Structural design , Weight (Mass)

Criteria for the Static Balancing of Compliant Mechanisms

Juan A. Gallego, Just L. Herder

IDETC-CIE 2010; 465-473doi:https://doi.org/10.1115/DETC2010-28469

Topics: Compliant mechanisms , Design methodology , Deformation , Energy storage , Mechanical admittance , Rigid-body mechanisms , Springs , Torsion

Utilizing a Classification Scheme to Facilitate Rigid-Body Replacement for Compliant Mechanism Design

Brian M. Olsen, Yanal Issac, Larry L. Howell, Spencer P. Magleby

IDETC-CIE 2010; 475-489doi:https://doi.org/10.1115/DETC2010-28473

Topics: Compliant mechanisms , Design , Rigid-body mechanisms , Engineers

A Numerical Method for Position Analysis of Compliant Mechanisms With More Degrees of Freedom Than Inputs

Quentin T. Aten, Shannon A. Zirbel, Brian D. Jensen, Larry L. Howell

IDETC-CIE 2010; 491-502doi:https://doi.org/10.1115/DETC2010-28474

Topics: Compliant mechanisms , Degrees of freedom , Numerical analysis , Equilibrium (Physics) , Potential energy , Deflection , Displacement , Energy storage , Finite element analysis , Optimization

Realizing Orthogonal Motions With Wire Flexures Connected in Parallel

Hai-Jun Su, Hafez Tari

IDETC-CIE 2010; 503-512doi:https://doi.org/10.1115/DETC2010-28517

Topics: Wire , Screws , Space , Bending (Stress) , Mechanical admittance

Identifying Potential Applications for Lamina Emergent Mechanisms Using Technology Push Product Development

Nathan B. Albrechtsen, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2010; 513-521doi:https://doi.org/10.1115/DETC2010-28531

Topics: Product development , Design , Shock (Mechanics) , Workshops (Work spaces)

Direct Displacement Synthesis Method for Shape Morphing Skins Using Compliant Mechanisms

Luke A. Berglind, Joshua D. Summers

IDETC-CIE 2010; 523-531doi:https://doi.org/10.1115/DETC2010-28546

Topics: Compliant mechanisms , Displacement , Shapes , Skin , Design , Optimization , Stiffness , Stress , Geometry , Springs

Compliant Hexagonal Meso-Structures Having Both High Shear Strength and High Shear Strain

Jaehyung Ju, Joshua D. Summers, John Ziegert, George Fadel

IDETC-CIE 2010; 533-541doi:https://doi.org/10.1115/DETC2010-28672

Topics: Design , Honeycomb structures , Poisson ratio , Shear (Mechanics) , Shear strength , Geometry , Shear modulus , Aluminum alloys , Manufacturing , Solids

Type Synthesis Principle and Practice of Flexure Systems in the Framework of Screw Theory: Part I—General Methodology

J. J. Yu, S. Z. Li, X. Pei, Hai-jun Su, J. B. Hopkins, M. L. Culpepper

IDETC-CIE 2010; 543-552doi:https://doi.org/10.1115/DETC2010-28783

Topics: Bending (Stress) , Screws , Blocks (Building materials) , Conceptual design , Degrees of freedom , Machine design , Systems theory , Topology

Type Synthesis Principle and Practice of Flexure Systems in the Framework of Screw Theory: Part II—Numerations and Synthesis of Complex Flexible Joints

J. J. Yu, X. Pei, S. Z. Li, Hai-jun Su, J. B. Hopkins, M. L. Culpepper

IDETC-CIE 2010; 553-561doi:https://doi.org/10.1115/DETC2010-28794

Topics: Bending (Stress) , Screws , Design , Displacement , Modeling , Universal joints

Load-Transmitter Constraint Sets: Part I—An Effective Tool for Visualizing Load Flow in Compliant Mechanisms and Structures

Girish Krishnan, Charles Kim, Sridhar Kota

IDETC-CIE 2010; 563-575doi:https://doi.org/10.1115/DETC2010-28810

Topics: Compliant mechanisms , Flow (Dynamics) , Stress , Blocks (Building materials) , Deformation , Visualization , Conceptual design , Design methodology , Machine components

Load-Transmitter Constraint Sets: Part II—A Building Block Based Methodology for the Synthesis of Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota

IDETC-CIE 2010; 577-587doi:https://doi.org/10.1115/DETC2010-28819

Topics: Blocks (Building materials) , Compliant mechanisms , Stress , Flow (Dynamics) , Design , Computation , Design methodology , Engineering design processes , Shapes

Design and Analysis of a Variable Stiffness Mechanism

Olugbenga M. Anubi, Carl D. Crane, III, Shanon Ridgeway

IDETC-CIE 2010; 589-596doi:https://doi.org/10.1115/DETC2010-28834

Topics: Design , Stiffness , Levers , Springs , Stress

An Enhanced Stability Model for Electrostatic Comb-Drive Actuator Design

Tristan T. Trutna, Shorya Awtar

IDETC-CIE 2010; 597-605doi:https://doi.org/10.1115/DETC2010-28943

Topics: Actuators , Design , Stability , Bending (Stress) , Errors , Robustness , Bearings , Kinematics , Manufacturing , Stiffness

Nonlinear Constraint Model for Symmetric Three-Dimensional Beams

Shiladitya Sen, Shorya Awtar

IDETC-CIE 2010; 607-618doi:https://doi.org/10.1115/DETC2010-28953

Topics: Bending (Stress) , Design , Displacement , Errors , Finite element analysis , Flexure mechanisms , Kinematics , Stiffness , Stress , Tradeoffs

Type Synthesis Principle and Practice of Flexure Systems in the Framework of Screw Theory: Part III—Numerations and Synthesis of Flexure Mechanisms

S. Z. Li, J. J. Yu, X. Pei, Hai-jun Su, J. B. Hopkins, M. L. Culpepper

IDETC-CIE 2010; 619-628doi:https://doi.org/10.1115/DETC2010-28963

Topics: Bending (Stress) , Flexure mechanisms , Screws , Kinematics , Degrees of freedom , Design

Fast, Accurate Models for Predicting the Compliance of Elastic Flexure-Jointed Robots

Lael Odhner, Aaron Dollar

IDETC-CIE 2010; 629-635doi:https://doi.org/10.1115/DETC2010-29002

Topics: Bending (Stress) , Robots , Collisions (Physics) , Deflection , Deformation , Finite element methods , Hinges , Manipulators , Path planning , Polynomials

Constraint-Based Synthesis of Shape-Morphing Structures in Virtual Reality

Judy M. Vance, Denis Dorozhkin

IDETC-CIE 2010; 637-644doi:https://doi.org/10.1115/DETC2010-29017

Topics: Shapes , Virtual reality , Design , Design methodology , Compliant mechanisms , Finite element analysis , Kinematics , Optimization , Actuators , Aircraft

An Exploration of Buckling Modes and Deflection of a Fixed-Guided Beam

Gregory L. Holst, Gregory H. Teichert, Brian D. Jensen

IDETC-CIE 2010; 645-654doi:https://doi.org/10.1115/DETC2010-29076

Topics: Buckling , Deflection , Displacement , Finite element model , Microactuators , Shapes , Stress , Thermomechanics

Concept Study of a Passive Reduced-Gravity Simulator for Training Astronauts

Ou Ma, Qi Lu, Jesse McAvoy, Ken Ruble

IDETC-CIE 2010; 655-664doi:https://doi.org/10.1115/DETC2010-29079

Topics: Astronauts , Gravity (Force) , Simulation , Design , Human dynamics , Mechanical admittance , Multibody dynamics , Robots , Springs , Trains

On Evaluation of Adaptive Mask Overlay Topology Synthesis Method Using Different Mask Shapes

Pranay Sharma, Anupam Saxena

IDETC-CIE 2010; 665-674doi:https://doi.org/10.1115/DETC2010-29109

Topics: Overlays (Materials engineering) , Shapes , Topology , Design

On an Adaptive Mask Overlay Topology Synthesis Method

Anupam Saxena

IDETC-CIE 2010; 675-684doi:https://doi.org/10.1115/DETC2010-29113

Topics: Overlays (Materials engineering) , Topology , Design , Compliant mechanisms , Deformation , Honeycomb structures , Manufacturing , Optimization , Shapes

On the Criteria for Choice of the Best Solution From a Generated Set of Partially Compliant Linkages

Sujitkumar V. Naik, Anupam Saxena, Ashok Kumar Rai

IDETC-CIE 2010; 685-694doi:https://doi.org/10.1115/DETC2010-29137

Topics: Linkages , Design , Displacement , Grippers , Kinematics

On a Solution Procedure to Synthesize Non-Smooth Path Generating Compliant Mechanisms With Self Contact

B. V. S. Nagendra Reddy, Anupam Saxena

IDETC-CIE 2010; 695-703doi:https://doi.org/10.1115/DETC2010-29172

Topics: Compliant mechanisms , Design , Hinges , Deformation , Computer software , Friction , Kinematics , Lubrication , Noise (Sound) , Vibration

Modeling the Compliance of a Variable Stiffness C-Shaped Leg Using Castigliano’s Theorem

Yasemin O¨. Aydın, Kevin C. Galloway, Yigit Yazicioglu, Daniel E. Koditschek

IDETC-CIE 2010; 705-713doi:https://doi.org/10.1115/DETC2010-29190

Topics: Modeling , Stiffness , Theorems (Mathematics) , Deflection , Robots , Stress , Approximation , Equations of motion

Moment-Dependent Pseudo-Rigid-Body Models for Straight Beams

Diego A. Espinosa, Craig P. Lusk

IDETC-CIE 2010; 715-722doi:https://doi.org/10.1115/DETC2010-29230

Topics: Buckling , Displacement , Elasticity , Kinematics , Stress

Mechanism Analysis and Synthesis

An Approach for Acceleration Analysis of Lower Mobility Parallel Manipulator

Haitao Liu, Tian Huang, Derek G. Chetwynd

IDETC-CIE 2010; 723-732doi:https://doi.org/10.1115/DETC2010-28020

Topics: Manipulators , Mechanical admittance , Engines , Kinematic chains , Motors

A Hoop Method for Orientation Order Analysis of Spherical Mechanisms

Hemanth Tipparthi, Pierre Larochelle

IDETC-CIE 2010; 733-741doi:https://doi.org/10.1115/DETC2010-28072

Topics: Propellers

Algebraic Algorithm for the Kinematic Analysis of Slider-Crank/Rocker Mechanisms

Giorgio Figliolini, Marco Conte, Pierluigi Rea

IDETC-CIE 2010; 743-752doi:https://doi.org/10.1115/DETC2010-28082

Topics: Algebra , Algorithms , Kinematic analysis , Matlab

Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

Se´bastien Briot, Anatol Pashkevich, Damien Chablat

IDETC-CIE 2010; 753-762doi:https://doi.org/10.1115/DETC2010-28107

Topics: Design , Machining , Optimization , Robots , Degrees of freedom , Kinematics , Machine tools , Shapes

Development of Planar Mechanism State Matrices for Reconfigurable Mechanisms

Brian J. Slaboch, Philip A. Voglewede

IDETC-CIE 2010; 763-769doi:https://doi.org/10.1115/DETC2010-28108

Topics: Degrees of freedom

Using a Singularity Locus to Exhibit the Number of Geometric Inversions, Transitions and Circuits of a Linkage

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

IDETC-CIE 2010; 771-781doi:https://doi.org/10.1115/DETC2010-28188

Topics: Circuits , Linkages , Manufacturing

A Robust Solution of the Spherical Burmester Problem

Jorge Angeles, Shaoping Bai

IDETC-CIE 2010; 783-790doi:https://doi.org/10.1115/DETC2010-28189

Topics: Linkages

Performance Mapping and Motion Simulation of a 4UPS+PU Redundantly Actuated Parallel Manipulator

Zhen Gao, Dan Zhang

IDETC-CIE 2010; 791-800doi:https://doi.org/10.1115/DETC2010-28263

Topics: Manipulators , Simulation , Degrees of freedom , Dynamics (Mechanics) , Kinematic analysis , Kinematics , Mechanical admittance , Position control , Stiffness

Kinematic Acquisition of Geometric Constraints for Task Centered Mechanism Design

Jun Wu, Q. J. Ge, Hai-Jun Su, Feng Gao

IDETC-CIE 2010; 801-810doi:https://doi.org/10.1115/DETC2010-28287

Topics: Design , Kinematics , Bridges (Structures) , Linkages

The Robust Linkage Synthesis for Planar Rigid-Body Guidance

Khalid Al-Widyan, Jorge Angeles

IDETC-CIE 2010; 811-817doi:https://doi.org/10.1115/DETC2010-28308

Topics: Linkages , Kinematics , Design , Generators , Robustness , Uncertainty

Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms

Xiaoli Zhang, Carl A. Nelson

IDETC-CIE 2010; 819-827doi:https://doi.org/10.1115/DETC2010-28368

Topics: Design , Genetic algorithms , Kinematics , Optimization , Design methodology , Linkages

The Dimensional Synthesis of the Linear Delta Robot for a Force-Feedback Device

Philippe Cardou, Denis Laurendeau, Luc Beaulieu, Luc Be´langer, Alexandre Carette

IDETC-CIE 2010; 829-838doi:https://doi.org/10.1115/DETC2010-28383

Topics: Force feedback , Robots , Kinematics , Optimization , Actuators , Dimensions , Manipulators , Virtual reality

Automated Type and Modular Dimensional Synthesis of Planar Linkages

Marti´n A. Pucheta, Alberto Cardona

IDETC-CIE 2010; 839-850doi:https://doi.org/10.1115/DETC2010-28540

Topics: Linkages , Chain , Computers , Design , Dimensions , Genetic algorithms , Kinematics , Topology

Kinematic Families of Non-Fractionated Geared Kinematic Chains With up to Three-DOF Eight-Link Based on Mobility Degeneration

Win-Bin Shieh, Dar-Zen Chen, Tzung-Shiun Liu

IDETC-CIE 2010; 851-860doi:https://doi.org/10.1115/DETC2010-28627

Topics: Kinematic chains , Kinematics , Mechanical admittance

Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

Damien Chablat, Ste´phane Caro, Raza Ur-Rehman, Philippe Wenger

IDETC-CIE 2010; 861-870doi:https://doi.org/10.1115/DETC2010-28650

Topics: Architecture , Design , Manipulators , Optimization , Genetic algorithms , Stiffness

Completely Eliminating the Singularities of a 3-DOF Planar Parallel Robot With Only One Degree of Actuation Redundancy

Novona Rakotomanga, Ilian A. Bonev

IDETC-CIE 2010; 871-875doi:https://doi.org/10.1115/DETC2010-28829

Topics: Redundancy (Engineering) , Robots , Dimensions , Manifolds , Actuators , Design

Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

Dongming Gan, Jian S. Dai, Darwin G. Caldwell

IDETC-CIE 2010; 877-887doi:https://doi.org/10.1115/DETC2010-28865

Topics: Construction , Mechanical admittance , Parallel mechanisms

A Visual, Interactive Approach to Synthesis of Spherical 6R Closed Chains for Rational Motions via Constraint Manifold Modification

Anurag Purwar, Jun Wu, Aditya Gupta, Q. Jeffrey Ge

IDETC-CIE 2010; 889-897doi:https://doi.org/10.1115/DETC2010-28874

Topics: Chain , Manifolds , Kinematics , Design , Algebra , Design methodology , Geometry , Underpinning

Singularity-Free RPR and SPS Chains for Actuating Single Degree of Freedom Planar and Spherical Mechanisms

David A. Perkins, Andrew P. Murray

IDETC-CIE 2010; 899-906doi:https://doi.org/10.1115/DETC2010-28896

Topics: Chain , Degrees of freedom , Circuits

Structural Synthesis of Serial Robotic Manipulators Subject to Specific Motion Constraints

Chin-Hsing Kuo, Jian S. Dai

IDETC-CIE 2010; 907-915doi:https://doi.org/10.1115/DETC2010-28947

Topics: Manipulators , Robots , End effectors , Screws

Development of a Five-Bar Parallel Robot With Large Workspace

Lucas Campos, Francis Bourbonnais, Ilian A. Bonev, Pascal Bigras

IDETC-CIE 2010; 917-922doi:https://doi.org/10.1115/DETC2010-28962

Topics: Robots , Design , Engineering prototypes

On the Extension of a Fourier Descriptor Based Method for Four-Bar Linkage Synthesis for Generation of Open and Closed Paths

Jun Wu, Q. J. Ge, Feng Gao, W. Z. Guo

IDETC-CIE 2010; 923-932doi:https://doi.org/10.1115/DETC2010-29028

Topics: Linkages , Approximation , Curve fitting , Fourier series , Fourier transforms

Synthesis and Analysis of Slider-Crank Mechanism Motions

Hsin-Pao Chen, Der-Min Tsay, Cecil O. Huey, Jr.

IDETC-CIE 2010; 933-942doi:https://doi.org/10.1115/DETC2010-29151

Topics: Equations of motion , Kinematics , Shock (Mechanics)

Configuration Synthesis of Metamorphic Mechanisms Based on Characteristic Incidence Matrix

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

IDETC-CIE 2010; 943-952doi:https://doi.org/10.1115/DETC2010-29199

Topics: Computational geometry

Type Synthesis of Parallel Mechanisms Having Two Rotations

Feng Gao, Jialun Yang, Qiaode Jeffrey Ge

IDETC-CIE 2010; 953-959doi:https://doi.org/10.1115/DETC2010-29227

Topics: Parallel mechanisms , Kinematics , Mechanical admittance , Algorithms , End effectors , Manipulators

Mechanisms and Robotics Teaching and Education

Online Robot Simulation for Collaborative Engineering and Education

Chi Min Seow, Carl A. Nelson

IDETC-CIE 2010; 961-968doi:https://doi.org/10.1115/DETC2010-28372

Topics: Education , Robots , Simulation , Design , Computer software , Design engineering , Engines , Robotics , User interfaces

Challenge-Based Instruction and Its Application in a Course in Mechanisms and Related Courses

Robert A. Freeman

IDETC-CIE 2010; 969-977doi:https://doi.org/10.1115/DETC2010-28501

Topics: Bioengineering , Biomechanics , Cycles , Dynamics (Mechanics) , Education , Innovation , Mathematics , Students , Teaching

Tools to Assist Teaching and Learning of Mechanisms, Robotics, and Biomechanics

Robert L. Williams, II

IDETC-CIE 2010; 979-986doi:https://doi.org/10.1115/DETC2010-28537

Topics: Biomechanics , Robotics , Teaching , Dynamics (Mechanics) , Homework , Internet , Kinematics , Matlab , Musculoskeletal soft tissue mechanics , Robot kinematics

Some Experiences on the Teaching of Kinematics and Robotics in Mexican Universities

J. M. Rico, J. J. Cervantes-Sa´nchez, A. Tadeo-Cha´vez, G. I. Pe´rez-Soto

IDETC-CIE 2010; 987-994doi:https://doi.org/10.1115/DETC2010-28930

Topics: Kinematics , Robotics , Teaching , Design , Engineering students , Engineers , Machinery , Mechatronics

Role of Automated Symbolic Generation of Equations of Motion in Mechanism and Robotics Education

Hrishi Shah, Sumit Tripathi, Leng-Feng Lee, Venkat Krovi

IDETC-CIE 2010; 995-1002doi:https://doi.org/10.1115/DETC2010-28994

Topics: Education , Equations of motion , Robotics , Computation , Pendulums , Case studies , Control equipment , Design , Kinematics , Linkages

Providing Real-World Mechanism Design Experience Through the Early Intervention and Mechanical Engineering (EIME) Project

Stephen L. Canfield, Lindsay Smith, Andrew Bryant

IDETC-CIE 2010; 1003-1009doi:https://doi.org/10.1115/DETC2010-29019

Topics: Design , Mechanical engineering , Machinery , Students , Collaboration , Engineering design , Engineering students , Mechanical admittance , Motion control , Performance

The M1: A Custom Mechatronics Platform for Robotics Education

Jonathan P. Fiene

IDETC-CIE 2010; 1011-1018doi:https://doi.org/10.1115/DETC2010-29136

Topics: Education , Mechatronics , Robotics , Computer programming , Computers , Data storage systems , Design , Engineering teachers , Students

Sparking a Lifelong Interest in Engineering Through a Summer Academy in Robotics

Nora Ayanian, James F. Keller, Paul J. White, Vijay Kumar

IDETC-CIE 2010; 1019-1028doi:https://doi.org/10.1115/DETC2010-29154

Topics: Robotics , Students , Design , Computer programming , Computer-aided design , Electronics , Engineering teachers , Manufacturing , Robotic vehicles , Robots

Robotic Project-Based Pre-Training for In-Coming Undergraduate Mechanical Engineering Students

Chin Pei Tang, Matthew Goeckner, Mark W. Spong

IDETC-CIE 2010; 1029-1036doi:https://doi.org/10.1115/DETC2010-29211

Topics: Mechanical engineering , Robotics , Students , Undergraduate students , Brain , Construction , Engineering design , Mentoring , Trucks

Novel Mechanisms, Robots, and Applications

Novel XY Compliant Parallel Manipulators for Large Displacement Translation With Enhanced Stiffness

Guangbo Hao, Xianwen Kong

IDETC-CIE 2010; 1037-1047doi:https://doi.org/10.1115/DETC2010-28141

Topics: Displacement , Manipulators , Stiffness , Blocks (Building materials) , Errors , Friction

Locomotion Strategies and Mobility Characterization of a Spherical Multi-Legged Robot

Bryan Wagenknecht, Dimi Apostolopoulos

IDETC-CIE 2010; 1049-1058doi:https://doi.org/10.1115/DETC2010-28153

Topics: Mechanical admittance , Robots , Design , Robotics , Actuators , Engineering prototypes , Testing

A Three-DOF Rotational Parallel Manipulator Without Intersecting Axes

Ziming Chen, Jingfang Liu, Zhen Huang

IDETC-CIE 2010; 1059-1067doi:https://doi.org/10.1115/DETC2010-28422

Topics: Manipulators , Reactor protection systems , Mechanical admittance , Rotation

Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures

Gianluca Palli, Claudio Melchiorri, Giovanni Berselli, Gabriele Vassura

IDETC-CIE 2010; 1069-1078doi:https://doi.org/10.1115/DETC2010-28425

Topics: Design , Modeling , Stiffness , Robots , Collisions (Physics) , Deflection , Human-robot interaction , Motion control , Vacuum

Four Novel Pick-and-Place Isoconstrained Manipulators and Their Inverse Kinematics

Po-Chih Lee, Jyh-Jone Lee, Chung-Ching Lee

IDETC-CIE 2010; 1079-1088doi:https://doi.org/10.1115/DETC2010-28426

Topics: Kinematics , Manipulators , Architecture , Generators , Manufacturing , Matrix algebra , Mechanical admittance , Packaging , Parallel mechanisms , Rotation

Potential of the 3-UPU Translational Parallel Manipulator

Ahmed Hachem Chebbi, Vincenzo Parenti-Castelli

IDETC-CIE 2010; 1089-1099doi:https://doi.org/10.1115/DETC2010-28502

Topics: Manipulators , Degrees of freedom , Rotation , Architecture , Clearances (Engineering) , Topology

Investigation of Algorithms for Analyzing Protein Internal Motion From Viewpoint of Robot Kinematics

Keisuke Arikawa

IDETC-CIE 2010; 1101-1111doi:https://doi.org/10.1115/DETC2010-28551

Topics: Algorithms , Proteins , Robot kinematics , Chain , Deformation , Fluctuations (Physics) , Kinematics , Manipulators , Redundant manipulators , Robotics

The Kinematics of A-Pair Jointed Serial Linkages

James D. Robinson, M. John D. Hayes

IDETC-CIE 2010; 1113-1122doi:https://doi.org/10.1115/DETC2010-28673

Topics: Kinematics , Linkages , Chain , Algebra , Algorithms , Kinematic chains , Rotation , Screws

A Novel 5 DOF Fully Parallel Robot Combining 3T1R Motion and Grasping

Patrice Lambert, Hans Langen, Robert Munnig Schmidt

IDETC-CIE 2010; 1123-1130doi:https://doi.org/10.1115/DETC2010-28676

Topics: Grasping , Robots , End effectors , Actuators , Degrees of freedom , Kinematics , Optimization , Rotation

Design of Lambda-Quadriglide: A New 4-DOF Parallel Kinematics Mechanism for Scho¨nflies Motion

Andreea Ancuta, Olivier Company, Franc¸ois Pierrot

IDETC-CIE 2010; 1131-1140doi:https://doi.org/10.1115/DETC2010-28715

Topics: Design , Kinematics , Kinematic chains , Actuators , Collisions (Physics) , Degrees of freedom , Engineering prototypes , Optimization , Rotation

Controlled Maneuverability of an Articulated Tracked Mobile Robot

Patrick Labenda, Tim Sadek, Thomas Predki

IDETC-CIE 2010; 1141-1147doi:https://doi.org/10.1115/DETC2010-28716

Topics: Mobile robots , Degrees of freedom , Vehicles , Feedback , Mechanical admittance , Robots , Trucks , Wheels

Analysis of a New Form of Intrinsically Automatic Continuously Variable Transmission

Timothy Cyders, Robert L. Williams, II

IDETC-CIE 2010; 1149-1156doi:https://doi.org/10.1115/DETC2010-28729

Topics: Automobiles , Belts , Centrifugal pumps , Design , Design engineering , Displacement , Friction , Gears , Hydraulics , Pulleys

Dynamic Modelling of a Cubic Flying Robot

David St-Onge, Cle´ment Gosselin, Nicolas Reeves

IDETC-CIE 2010; 1157-1165doi:https://doi.org/10.1115/DETC2010-28811

Topics: Dynamic modeling , Robots , Dynamic models , Aerodynamics , Buoyancy , Dynamics (Mechanics) , Gravity (Force) , Optimization

A Toolchain for the Design and Simulation of Foldable Programmable Matter

Steven R. Gray, Jungwon Seo, Paul J. White, Nathan J. Zeichner, Mark Yim, Vijay Kumar

IDETC-CIE 2010; 1167-1176doi:https://doi.org/10.1115/DETC2010-28838

Topics: Design , Simulation , Actuators , Advanced materials , Algorithms , Collisions (Physics) , Engineering drawing and drafting , Robots , Sensors , Shapes

On the Kinematics of Solar Mirrors Using Massively Parallel Binary Actuation

Seung J. Lee, Amy M. Bilton, Steven Dubowsky

IDETC-CIE 2010; 1177-1186doi:https://doi.org/10.1115/DETC2010-28875

Topics: Kinematics , Mirrors , Solar energy , Actuators , Shapes , Finite element analysis , Manufacturing , Solar energy concentrators , Temperature gradient

Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System

Aaron T. O’Toole, Stephen L. Canfield

IDETC-CIE 2010; 1187-1194doi:https://doi.org/10.1115/DETC2010-28878

Topics: Kinematics , Robotic welding , Robots , Center of mass , Density , Magnets , Mechanical admittance , Motion control , Traction

Synthesis of the Pitch Surfaces of Non-Circular Skew-Gears

Giorgio Figliolini, Pierluigi Rea, Jorge Angeles

IDETC-CIE 2010; 1195-1204doi:https://doi.org/10.1115/DETC2010-28902

Topics: Gears , Algorithms , Algebra , Indexing (Machining) , Matlab

Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole

Viktor Orekhov, Mark Yim, Dennis Hong

IDETC-CIE 2010; 1205-1212doi:https://doi.org/10.1115/DETC2010-29053

Topics: Fluids , Propulsion , Robots , Skin , Membranes , Actuators , Incompressible fluids , Locomotives , Mobile robots , Pressure

Review of Recent Mechanical System and Device Patents

A Review of Two Patents Relating to Novel Energy Harvesting Techniques to Provide Electrical Power On-Board Gun-Fired Projectiles

Jahangir Rastegar, Richard Murray

IDETC-CIE 2010; 1213-1215doi:https://doi.org/10.1115/DETC2010-28465

Topics: Electricity (Physics) , Energy harvesting , Patents , Projectiles , Electric power generation , Firing , Munitions , Weapons

A Review of Three Patents Relating to the Development of Novel Inertia-Driven Mechanisms for Igniters On-Board Gun-Fired Munitions

Richard Murray, Jahangir Rastegar

IDETC-CIE 2010; 1217-1218doi:https://doi.org/10.1115/DETC2010-28468

Topics: Inertia (Mechanics) , Munitions , Patents , Delays , Batteries , Design , Impulse (Physics) , Pyrotechnics , Electricity (Physics) , Firing

High-G Hardened Sensors

Carlos M. Pereira, Jahangir Rastegar

IDETC-CIE 2010; 1219-1220doi:https://doi.org/10.1115/DETC2010-28827

Topics: Sensors , Shock (Mechanics) , Accelerometers , Design , Displacement , Locks (Waterways) , Microelectromechanical systems , Patents , Rotation

Mechanism Designs for Natural Orifice Surgery: A Review

Wei Jian Chin, Carl A. Nelson

IDETC-CIE 2010; 1221-1229doi:https://doi.org/10.1115/DETC2010-28908

Topics: Surgery , Orifices , Blood , Design engineering , Patents , Skin

Robot Kinematics and Motion Planning

Geometric, Spatial Path Tracking Using Non-Redundant Manipulators via Speed-Ratio Control

Satyajit Ambike, James P. Schmiedeler, Michael M. Stanisˇic´

IDETC-CIE 2010; 1231-1240doi:https://doi.org/10.1115/DETC2010-28061

Topics: Manipulators , Robots , Degrees of freedom , End effectors , Geometry , Trajectories (Physics)

Forward Displacement Analysis of a Linearly Actuated Quadratic Spherical Parallel Manipulator

Xianwen Kong, Cle´ment Gosselin, James M. Ritchie

IDETC-CIE 2010; 1241-1247doi:https://doi.org/10.1115/DETC2010-28126

Topics: Displacement , Manipulators

Motion Plan of a Parallel Kinematic Machine Based on Stiffness Control

Zhongzhe Chi, Dan Zhang, Qiaokang Liang

IDETC-CIE 2010; 1249-1258doi:https://doi.org/10.1115/DETC2010-28149

Topics: Kinematics , Machinery , Stiffness , Displacement , Manipulators , Degrees of freedom , Design , Machine tools , Path planning , Rotation

On the Manipulability of the Center of Mass of Humanoid Robots: Application to Design

Sebastien Cotton, Philippe Fraisse, Andrew P. Murray

IDETC-CIE 2010; 1259-1267doi:https://doi.org/10.1115/DETC2010-28162

Topics: Center of mass , Design , Humanoid robots , Stability , Approximation , Computation , Design engineering , Dynamics (Mechanics) , Equations of motion , Kinematics

Performance Indices for Collaborative Serial Robots With Optimally Adjusted Series Clutch Actuators

Nicolas Lauzier, Cle´ment Gosselin

IDETC-CIE 2010; 1269-1278doi:https://doi.org/10.1115/DETC2010-28217

Topics: Actuators , Robots , Optimization , End effectors , Torque , Collaboration , Design , Jacobian matrices , Manipulators , Redundant manipulators

A General Methodology for the Forward Kinematic Problem of Symmetrical Parallel Mechanisms and Application to 5-PRUR Parallel Mechanisms (3T2R)

Mehdi Tale Masouleh, Manfred Husty, Cle´ment Gosselin

IDETC-CIE 2010; 1279-1288doi:https://doi.org/10.1115/DETC2010-28222

Topics: Kinematics , Parallel mechanisms , Symmetry (Physics) , Algebra , Displacement , Geometry

Trajectory Control for an Innovative Rapid Freeze Prototyping System

Eric Barnett, Jorge Angeles, Damiano Pasini, Pieter Sijpkes

IDETC-CIE 2010; 1289-1297doi:https://doi.org/10.1115/DETC2010-28227

Topics: Trajectories (Physics) , Robots , Algorithms , Computer programming , Computer programming languages , Construction , Control systems , Flow (Dynamics) , Hardware , Ice

An Analysis on Sliding of Biped Robots

C. H. Liu, Chi-Hwa Wu, Yin-Tien Wang

IDETC-CIE 2010; 1299-1308doi:https://doi.org/10.1115/DETC2010-28305

Topics: Robots , Shear stress , Kinematics , Stress , Stress concentration

Redundancy Parameterization for Flexible Motion Control

B. Moore, E. Oztop

IDETC-CIE 2010; 1309-1316doi:https://doi.org/10.1115/DETC2010-28387

Topics: Kinematics , Manipulators , Motion control , Redundancy (Engineering) , End effectors , Algorithms , Computation , Grasping , Humanoid robots , Manifolds

Constraint and Singularity Analysis of Lower-Mobility Parallel Manipulators With Parallelogram Joints

Semaan Amine, Daniel Kanaan, Ste´phane Caro, Philippe Wenger

IDETC-CIE 2010; 1317-1326doi:https://doi.org/10.1115/DETC2010-28483

Topics: Manipulators , Mechanical admittance , Robots , Algebra , Screws

Dexterous Workspace of N-PRRR Planar Parallel Manipulators

Andre´ Gallant, Roger Boudreau, Marise Gallant

IDETC-CIE 2010; 1327-1334doi:https://doi.org/10.1115/DETC2010-28491

Topics: Manipulators , Kinematic chains , Actuators , Theorems (Mathematics)

A Geometric Constructive Approach for the Workspace Analysis of Symmetrical 5-PRUR Parallel Mechanisms (3T2R)

Mehdi Tale Masouleh, Mohammad Hossein Saadatzi, Cle´ment Gosselin, Hamid D. Taghirad

IDETC-CIE 2010; 1335-1344doi:https://doi.org/10.1115/DETC2010-28509

Topics: Parallel mechanisms , Symmetry (Physics) , Computation , Computer-aided design , End effectors , Kinematics , Optimization

Minimum Reconfiguration for Fault Tolerant Manipulators

Hamid Abdi, Saeid Nahavandi

IDETC-CIE 2010; 1345-1350doi:https://doi.org/10.1115/DETC2010-28536

Topics: Manipulators , Jacobian matrices , Failure , Fault tolerance , Robotics

Cooperative Quasi-Static Planar Manipulation With Multiple Robots

Quentin J. Lindsey, Michael Shomin, Vijay Kumar

IDETC-CIE 2010; 1351-1360doi:https://doi.org/10.1115/DETC2010-28585

Topics: Robots , End effectors , Algorithms , Path planning , Modeling , Robot motion

Trajectory Planning of Walking With Different Step Lengths of a Seven-Link Biped Robot

A. Fattah, A. Fakhari

IDETC-CIE 2010; 1361-1369doi:https://doi.org/10.1115/DETC2010-28626

Topics: Robots , Trajectories (Physics) , Ditches , Dynamic stability , Dynamics (Mechanics) , Interpolation , Modeling , Polynomials , Simulation , Stairs

The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Nicolas Binaud, Philippe Cardou, Ste´phane Caro, Philippe Wenger

IDETC-CIE 2010; 1371-1380doi:https://doi.org/10.1115/DETC2010-28635

Topics: Kinematics , Manipulators , Errors , Clearances (Engineering)

Kinematics Analysis of the Exechon Tripod

Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino

IDETC-CIE 2010; 1381-1388doi:https://doi.org/10.1115/DETC2010-28668

Topics: Kinematics , Design , Equations of motion , Kinematic analysis , Machine tools , Machinery , Manipulators , Parallel mechanisms

Dexterity and Workspace Analysis of Two Soft Robotic Manipulators

Deepak Trivedi, Daniel Lesutis, Christopher D. Rahn

IDETC-CIE 2010; 1389-1398doi:https://doi.org/10.1115/DETC2010-28719

Topics: Manipulators , Design , Actuators , Deformation , Muscle , Robots

The Tactile Exploration of a Harsh Environment by a Manipulator With Joint Backlash

Francesco Mazzini, Steven Dubowsky

IDETC-CIE 2010; 1399-1407doi:https://doi.org/10.1115/DETC2010-28897

Topics: Junctions , Kinematics , Manipulators , Oil wells , Probes , Robots , Simulation , Tactile sensors

Computing Constrained Laplacian Navigation Function Paths in Configuration Space

David E. Johnson, Tobias Martin, Elaine Cohen

IDETC-CIE 2010; 1409-1416doi:https://doi.org/10.1115/DETC2010-28905

Topics: Finite element analysis , Laplace equations , Navigation , Path planning , Robots , Vacuum

Finding the Shortest Path for a Mobile Robot With Two Actuated Spoke Wheels Based on Variable Kinematic Configurations

Ya Wang, Dennis Hong

IDETC-CIE 2010; 1417-1426doi:https://doi.org/10.1115/DETC2010-28987

Topics: Kinematics , Mobile robots , Wheels , Mechanical admittance , Path planning , Computer simulation , Geometry , Space

Kinematic Analysis of a Five-Legged Mobile Robot

Muhammed R. Pac, Dan O. Popa

IDETC-CIE 2010; 1427-1435doi:https://doi.org/10.1115/DETC2010-28993

Topics: Kinematic analysis , Mobile robots , Robots , Mechanical admittance , Design , Actuators , Chain , Degrees of freedom , Dynamic analysis , Jacobian matrices

Forward and Inverse Displacement Analysis of an Actuated Spoke Wheel Robot With Two Spokes and a Tail Contact With the Ground

Ping Ren, Dennis Hong

IDETC-CIE 2010; 1437-1445doi:https://doi.org/10.1115/DETC2010-28998

Topics: Displacement , Robots , Wheels , Design , Engineering prototypes , Geometry , Kinematics , Mechanical admittance , Optimization , Polynomials

Application of Particle Swarm Optimization to Robot Path Planning Problem

Masakazu Kobayashi, Higashi Masatake

IDETC-CIE 2010; 1447-1456doi:https://doi.org/10.1115/DETC2010-29119

Topics: Particle swarm optimization , Path planning , Robots , Collisions (Physics) , Degrees of freedom , Particulate matter , Algorithms , Optimization

Kinematic-, Static- and Workspace Analysis of a 6-P-U-S Parallel Manipulator

Madusudanan Sathia Narayanan, Sourish Chakravarty, Hrishi Shah, Venkat N. Krovi

IDETC-CIE 2010; 1456-1456.8doi:https://doi.org/10.1115/DETC2010-28978

Topics: Kinematics , Manipulators , Absorption , Actuators , Engines , Modeling , Motors , Structural design , Weight (Mass)

Robot/Machine Dynamics and Control

A Unified Approach for Multi-Point Cartesian Compliance Control of Serial Manipulators

Phongsaen Pitakwatchara

IDETC-CIE 2010; 1457-1464doi:https://doi.org/10.1115/DETC2010-28094

Topics: Manipulators , Algorithms , Chain , Control equipment , Control systems , Linkages , Sensors

Design Optimization for Minimizing Actuation Energy of a Dynamic Tripedal Walking Robot: Revisiting the Double Pendulum

Joe Hays, Dennis Hong, Corina Sandu, Adrian Sandu

IDETC-CIE 2010; 1465-1473doi:https://doi.org/10.1115/DETC2010-28134

Topics: Design , Optimization , Pendulums , Robots

On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Payload and Type 2 Singularities

Sebastien Briot, Vigen Arakelian

IDETC-CIE 2010; 1475-1481doi:https://doi.org/10.1115/DETC2010-28207

Topics: Manipulators , Computer simulation , Computer software , Degrees of freedom , Dynamics (Mechanics) , End effectors , Engineering prototypes , Robots , Trajectories (Physics)

Tweezers for Micromanipulation With Grasp Detection of Small Object

Katsushi Furutani, Taizo Makino

IDETC-CIE 2010; 1483-1489doi:https://doi.org/10.1115/DETC2010-28229

Topics: Micromanipulation , Piezoelectric actuators , Resonance , Actuators , Cables , Finite element methods , Glass beads , Locks (Waterways) , Noise (Sound) , Signals

Multivariable Control of an Over-Head Crane System Based on Entire Eigen-Structure Assignment

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

IDETC-CIE 2010; 1491-1498doi:https://doi.org/10.1115/DETC2010-28246

Topics: Cables , Cranes

Model Parameter Identification of Nonlinear Dynamics Systems by Trajectory Pattern Method

Jahangir Rastegar, Dake Feng, Kavous Jorabchi

IDETC-CIE 2010; 1499-1507doi:https://doi.org/10.1115/DETC2010-28254

Topics: Nonlinear dynamics , Trajectories (Physics) , System dynamics , Stability , Algebra , Algorithms , Dynamics (Mechanics) , Feedforward control , Manipulators

Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator

Zhaobin Hong, Chen Li

IDETC-CIE 2010; 1509-1514doi:https://doi.org/10.1115/DETC2010-28378

Topics: Adaptive control , Composite materials , Flexible manipulators , Vibration suppression , Computer simulation , Control equipment , Dynamics (Mechanics) , Equations of motion , System dynamics , Trajectories (Physics)

Active Dynamic Balancing Unit for Controlled Shaking Force and Shaking Moment Balancing

Volkert van der Wijk, Just L. Herder

IDETC-CIE 2010; 1515-1522doi:https://doi.org/10.1115/DETC2010-28423

Topics: Computers , Conceptual design , Inertia (Mechanics) , Simulation

Stability Analysis for Haptic Rendering of Virtual Kelvin Viscoelastic Objects

Tama´s Kerekes, Ali Bonakdar, Jo´zsef Ko¨vecses

IDETC-CIE 2010; 1523-1529doi:https://doi.org/10.1115/DETC2010-28479

Topics: Haptics , Rendering , Stability , Degrees of freedom , Dynamic analysis , Engineering simulation , Simulation , Solid models , Virtual reality

Improving Mobile Robot Step-Climbing Capabilities With Center-of-Gravity Control

Krzysztof Skonieczny, Gabriele M. T. D’Eleuterio

IDETC-CIE 2010; 1531-1538doi:https://doi.org/10.1115/DETC2010-28482

Topics: Center of mass , Mobile robots , Wheels , Mechanical admittance , Control algorithms , Control equipment , Robots , Degrees of freedom , Design , Engineering prototypes

Dynamic Motion Generation for Redundant Systems Under External Constraints

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

IDETC-CIE 2010; 1539-1546doi:https://doi.org/10.1115/DETC2010-28518

Topics: Actuators , Chemical kinetics , Dynamics (Mechanics) , Equilibrium (Physics) , Gravity (Force) , Inertia (Mechanics) , Manipulators , Optimization , Optimization algorithms , Path planning

Modelling and Simulation of a Flapping Wing Mechanism Driven by a Brushless Servo Motor

Jin Xie, Yong Chen

IDETC-CIE 2010; 1547-1554doi:https://doi.org/10.1115/DETC2010-28555

Topics: Modeling , Servomotors , Simulation , Wings , Design , Equations of motion , Kirchhoff's circuit laws , Motion control , Nonlinear dynamical systems , Numerical analysis

Social Intelligence for a Task-Driven Assistive Robot

Goldie Nejat, Maurizio Ficocelli

IDETC-CIE 2010; 1555-1563doi:https://doi.org/10.1115/DETC2010-28674

Topics: Robots , Human-robot interaction , Design , Robotics

Evaluation of Contact Force and Elastic Foundation Models for Wear Analysis of Multibody Systems

Saad M. Mukras, Nam Ho Kim, Tony L. Schmitz, W. Gregory Sawyer

IDETC-CIE 2010; 1565-1577doi:https://doi.org/10.1115/DETC2010-28750

Topics: Multibody systems , Wear , Finite element methods , Clearances (Engineering) , Damping , Dynamic analysis , Pressure , Dynamics (Mechanics) , Shapes , Waste-to-energy

Singularity Tolerant Robotic Manipulation for Autonomous Field Tracking in an Unknown Environment

Soo Jeon

IDETC-CIE 2010; 1579-1588doi:https://doi.org/10.1115/DETC2010-28793

Topics: Control equipment , Jacobian matrices , Manipulator kinematics , Manipulators , Motion control , Natural phenomena , Robotics , Robots , Sensors , Simulation results

Fuzzy Control of Vertical Jumping With a Planar Biped

Matthew Hester, Patrick M. Wensing, James P. Schmiedeler, David E. Orin

IDETC-CIE 2010; 1589-1597doi:https://doi.org/10.1115/DETC2010-28857

Topics: Actuators , Control equipment , Fuzzy control , Machinery , Nonlinear dynamics , Robots , Simulation , Testing

Optimal Synthesis of a Planar Reactionless Three-Degree-of-Freedom Parallel Mechanism

Jean-Francois Collard, Cle´ment Gosselin

IDETC-CIE 2010; 1599-1608doi:https://doi.org/10.1115/DETC2010-28861

Topics: Actuators , Design , Energy consumption , Inertia (Mechanics) , Kinematics , Optimization , Parallel mechanisms , Rotation , Rotational inertia

Control of an Underwater Biomimetic Vehicle Using Floquet Theory

Nicolas Plamondon, Meyer Nahon

IDETC-CIE 2010; 1609-1617doi:https://doi.org/10.1115/DETC2010-28867

Topics: Biomimetics , Vehicles , Control equipment , Errors , Propulsion , Seas , Thrust

Expanded Workspaces of Manipulation Devices Using Friction and Dynamics

Tyson L. Ringold, Raymond J. Cipra

IDETC-CIE 2010; 1619-1626doi:https://doi.org/10.1115/DETC2010-28996

Topics: Design , Dimensions , Dynamics (Mechanics) , Equations of motion , Fixturing , Friction , Hardware , Kinematics , Manipulators , Robotics

A Free Form Robotic Grinding System: A Mathematical Model and an Actual System

Shuihua Wu, Kazem Kazerounian, Zhongxue Gan, Yunquan Sun

IDETC-CIE 2010; 1627-1633doi:https://doi.org/10.1115/DETC2010-29038

Topics: Grinding , Robotics , Dynamics (Mechanics) , Kinematics , Calibration , Computer programming , Control equipment , Error compensation , Robots , Simulation results

Parameter Identification of a Friction Model for Robotic Joints

Mohammad Vakil, Reza Fotouhi, Peter N. Nikiforuk

IDETC-CIE 2010; 1635-1642doi:https://doi.org/10.1115/DETC2010-29141

Topics: Friction , Robotics

Control of a Pneumatic Gantry Robot With Adaptive Neural Network Compensation

Sasan Taghizadeh, Brian Surgenor, Mohammed Abu-Mallouh

IDETC-CIE 2010; 1642-1642.8doi:https://doi.org/10.1115/DETC2010-28239

Topics: Artificial neural networks , Robots , Control equipment , Coulombs , Friction , Simulation results

Theoretical and Computational Kinematics

How Likely is the Variety of Singularities of a Serial Manipulator a Smooth Manifold?

Andreas Mu¨ller

IDETC-CIE 2010; 1643-1651doi:https://doi.org/10.1115/DETC2010-28084

Topics: Kinematics , Manifolds , Manipulators

Curvature Theory of the Envelop Curve / Surface for a Line in Planar Motion and a Plane in Spatial Motion

Wei Wang, Delun Wang

IDETC-CIE 2010; 1653-1662doi:https://doi.org/10.1115/DETC2010-28125

Topics: Generators , Geometry , Machining

Singularities of Single-DOF Spherical Mechanisms Identified by Means of Pole Axes’ Properties

Raffaele Di Gregorio

IDETC-CIE 2010; 1663-1670doi:https://doi.org/10.1115/DETC2010-28175

Topics: Poles (Building) , Algorithms , Kinematics

A Velocity Metric for Rigid-Body Planar Motion

Joseph M. Schimmels, Luis E. Criales

IDETC-CIE 2010; 1671-1678doi:https://doi.org/10.1115/DETC2010-28331

Topics: Geometry , Manufacturing , Particulate matter

On Line Screw Systems and Their Application to Flexure Synthesis

Hai-Jun Su, Hafez Tari

IDETC-CIE 2010; 1679-1688doi:https://doi.org/10.1115/DETC2010-28361

Topics: Bending (Stress) , Screws , Algorithms , Wire

Topology and Constraint Analysis of Reconfiguration in Metamorphic Mechanisms

Ketao Zhang, Jian S. Dai, Yuefa Fang, Zi-Qiang Zhu

IDETC-CIE 2010; 1689-1698doi:https://doi.org/10.1115/DETC2010-28434

Topics: Topology

Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand

Lei Cui, Jian S. Dai

IDETC-CIE 2010; 1699-1707doi:https://doi.org/10.1115/DETC2010-28653

Topics: Degrees of freedom , Displacement , End effectors , Jacobian matrices , Kinematic analysis , Kinematics , Screws , Systems analysis

Linkages That Transfer Rotations to Radially Reciprocating Motion

Guowu Wei, Jian S. Dai

IDETC-CIE 2010; 1709-1718doi:https://doi.org/10.1115/DETC2010-28678

Topics: Linkages , Reciprocating motion , Kinematics , Chain , Geometry , Mechanical admittance , Screws , Symmetry (Physics)

Motion and Constraint Ruled Surfaces of the Schatz Linkage

Lei Cui, Jian S. Dai, Chung-Ching Lee

IDETC-CIE 2010; 1719-1725doi:https://doi.org/10.1115/DETC2010-28883

Topics: Linkages , Screws , Cycles , Geometry , Manufacturing , Systems analysis

Topological Synthesis of All 2D Mechanisms Through Assur Graphs

Offer Shai

IDETC-CIE 2010; 1727-1738doi:https://doi.org/10.1115/DETC2010-28926

Topics: Algorithms , Construction , Linkages , Stiffness , Theorems (Mathematics)

Mobility Identification of a Group of Single Degree-of-Freedom Eight-Bar Linkages

Jun Wang, Kwun-Lon Ting

IDETC-CIE 2010; 1739-1749doi:https://doi.org/10.1115/DETC2010-28961

Topics: Degrees of freedom , Linkages , Mechanical admittance , Computer-aided engineering , Rotation

A Unified Conjugation Theory for Planar Transmission

Huimin Dong, Kwun-Lon Ting, Jian Liu, Delun Wang

IDETC-CIE 2010; 1751-1759doi:https://doi.org/10.1115/DETC2010-29000

Topics: Design , Kinematics

Kinematic Convexity of Rigid Body Displacements

Anurag Purwar, Jeff Ge

IDETC-CIE 2010; 1761-1772doi:https://doi.org/10.1115/DETC2010-29064

Topics: Kinematics , Geometry , Algorithms , Collisions (Physics) , Separation (Technology)

Spatial Generalizations of Planar Point-Angle and Path Generation Problems

Chintien Huang, Ching-Lung Lai

IDETC-CIE 2010; 1773-1779doi:https://doi.org/10.1115/DETC2010-29099

Topics: Design , Laser beams , Linkages , Screws

Screw Systems Generated From Subalgebras: Properties and Applications

J. M. Rico, J. J. Cervantes-Sa´nchez, A. Tadeo-Cha´vez, G. I. Pe´rez-Soto

IDETC-CIE 2010; 1781-1790doi:https://doi.org/10.1115/DETC2010-29148

Topics: Screws , Kinematic chains , Lie algebras , Mechanical admittance