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

Skip to Main Content

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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

Abstract

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