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

Topics: Coordinate measuring machines , Stiffness , Manufacturing , Buckling , Compliant mechanisms , Design , Dimensions , Engineering prototypes , Errors , Microelectromechanical systems

An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom

Shorya Awtar, John Ustick, Shiladitya Sen

IDETC-CIE 2011; 119-126https://doi.org/10.1115/DETC2011-47713

Abstract

View Articletitled, An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom

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Topics: Degrees of freedom , Flexure mechanisms , Kinematics , Stiffness , Actuators , Design , Errors , Finite element analysis , Bending (Stress) , Engineering prototypes

Nonlinear Strain Energy Formulation to Capture the Constraint Characteristics of a Spatial Symmetric Beam

Shiladitya Sen, Shorya Awtar

IDETC-CIE 2011; 127-135https://doi.org/10.1115/DETC2011-47716

Abstract

View Articletitled, Nonlinear Strain Energy Formulation to Capture the Constraint Characteristics of a Spatial Symmetric Beam

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Topics: Cross section (Physics) , Errors , Flexure mechanisms , Stiffness , Stress , Virtual work principle

An Energy Approach to the Design of Single Degree of Freedom Gravity Balancers With Compliant Joints

Boaz L. Rijff, Just L. Herder, Giuseppe Radaelli

IDETC-CIE 2011; 137-148https://doi.org/10.1115/DETC2011-47783

Abstract

View Articletitled, An Energy Approach to the Design of Single Degree of Freedom Gravity Balancers With Compliant Joints

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Topics: Degrees of freedom , Design , Gravity (Force) , Potential energy

Curve Decomposition Analysis for Fixed-Guided Beams With Application to Statically Balanced Compliant Mechanisms

Charles Kim

IDETC-CIE 2011; 149-158https://doi.org/10.1115/DETC2011-47829

Abstract

View Articletitled, Curve Decomposition Analysis for Fixed-Guided Beams With Application to Statically Balanced Compliant Mechanisms

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Topics: Compliant mechanisms , Deflection , Modeling , Stiffness , Engineering prototypes , Parametric design

Mobility Analysis of Flexure Mechanisms via Screw Algebra

Hai-Jun Su

IDETC-CIE 2011; 159-168https://doi.org/10.1115/DETC2011-48012

Abstract

View Articletitled, Mobility Analysis of Flexure Mechanisms via Screw Algebra

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Topics: Algebra , Flexure mechanisms , Mechanical admittance , Screws , Bending (Stress) , Chain , Blocks (Building materials) , Design , Space , Topology

Analytical Compliance Analysis and Synthesis of Flexure Mechanisms

Hai-Jun Su, Hongliang Shi, JingJun Yu

IDETC-CIE 2011; 169-180https://doi.org/10.1115/DETC2011-48013

Abstract

View Articletitled, Analytical Compliance Analysis and Synthesis of Flexure Mechanisms

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Topics: Flexure mechanisms , Bending (Stress) , Chain , Stiffness , Computer simulation , Deformation , Design , Design methodology , Geometry , Manufacturing

Synthesis of Actuation Spaces of Multi-Axis Parallel Flexure Mechanisms Based on Screw Theory

C. Qiu, J. J. Yu, S. Z. Li, Hai-jun Su, Y. Z. Zeng

IDETC-CIE 2011; 181-190https://doi.org/10.1115/DETC2011-48252

Abstract

View Articletitled, Synthesis of Actuation Spaces of Multi-Axis Parallel Flexure Mechanisms Based on Screw Theory

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Topics: Flexure mechanisms , Screws , Space , Actuators , Bending (Stress) , Design

A Preliminary Study of Actuation Approaches for Lamina Emergent Mechanisms

Paul S. Gollnick, Justin D. Black, Emily E. Savage, Landen A. Bowen, Lifang Qiu, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2011; 191-202https://doi.org/10.1115/DETC2011-48350

Abstract

View Articletitled, A Preliminary Study of Actuation Approaches for Lamina Emergent Mechanisms

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Topics: Actuators , Elastomers , Manufacturing , Shape memory alloys , Sheet materials

A Family of Butterfly Flexural Joints: Q-LITF Pivots

Xu Pei, Jingjun Yu, Shusheng Bi, Guanghua Zong

IDETC-CIE 2011; 203-210https://doi.org/10.1115/DETC2011-48394

Abstract

View Articletitled, A Family of Butterfly Flexural Joints: Q-LITF Pivots

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Topics: Bending (Stress) , Finite element analysis , Stiffness

A Systematic Approach to Designing Multi-Material Miniature Compliant Mechanisms

Dana E. Vogtmann, Satyandra K. Gupta, Sarah Bergbreiter

IDETC-CIE 2011; 211-221https://doi.org/10.1115/DETC2011-48410

Abstract

View Articletitled, A Systematic Approach to Designing Multi-Material Miniature Compliant Mechanisms

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Topics: Compliant mechanisms , Design , Manufacturing , Hinges , Optimization , Shapes , Three-dimensional computer-aided design , Wings

Using Lamina Emergent Mechanisms to Develop Credit-Card-Sized Products

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

IDETC-CIE 2011; 223-231https://doi.org/10.1115/DETC2011-48420

Abstract

View Articletitled, Using Lamina Emergent Mechanisms to Develop Credit-Card-Sized Products

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Topics: Compliant mechanisms , Rigid-body mechanisms

A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota

IDETC-CIE 2011; 233-244https://doi.org/10.1115/DETC2011-48603

Abstract

View Articletitled, A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms

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Topics: Compliant mechanisms , Stress , Bearings , Cross section (Physics) , Failure , Geometry , Hinges , Optimization , Topology

Compliant Mechanism Road Bicycle Brake: A Rigid-Body Replacement Case Study

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

IDETC-CIE 2011; 245-254https://doi.org/10.1115/DETC2011-48621

Abstract

View Articletitled, Compliant Mechanism Road Bicycle Brake: A Rigid-Body Replacement Case Study

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Topics: Bicycles , Brakes , Compliant mechanisms , Roads , Design , Weight (Mass) , Dimensions , Finite element analysis , Glass , Optimization algorithms

Design of a Multi-Contact-Aided Compliant Mechanism

Milton E. Aguirre, Mary Frecker

IDETC-CIE 2011; 255-259https://doi.org/10.1115/DETC2011-48637

Abstract

View Articletitled, Design of a Multi-Contact-Aided Compliant Mechanism

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Topics: Compliant mechanisms , Design , Deflection , Stress , Engineering prototypes , Manufacturing , Surgery , Computer software , Deformation , Feedback

On the Classification of Compliant Mechanisms and Synthesis of Compliant Single-Strip Mechanisms

Ashok Midha, Sharath K. Kolachalam, Yuvaraj Annamalai

IDETC-CIE 2011; 261-273https://doi.org/10.1115/DETC2011-48845

Abstract

View Articletitled, On the Classification of Compliant Mechanisms and Synthesis of Compliant Single-Strip Mechanisms

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Topics: Compliant mechanisms , Strips

Mechanism Analysis and Synthesis

Number Enumeration of Planar Pin-Joined Driving Mechanisms

Peter Mitrouchev, Fre´de´ric Maffray, Slim Amri, Abdelghafour Nafiss, Marc Dahan

IDETC-CIE 2011; 275-287https://doi.org/10.1115/DETC2011-47056

Abstract

View Articletitled, Number Enumeration of Planar Pin-Joined Driving Mechanisms

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Topics: Actuators , Design , End effectors , Kinematic chains , Linkages , Mechanical admittance , Motors , Robotics , Robots

Geometric Design of Spherical Serial Chains With Curvature Constraints in the Environment

Nina Robson, Anurag Tolety

IDETC-CIE 2011; 289-295https://doi.org/10.1115/DETC2011-47263

Abstract

View Articletitled, Geometric Design of Spherical Serial Chains With Curvature Constraints in the Environment

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Topics: Chain , Design , Kinematics , Algebra , Failure , Geometry , Interpolation , Manipulators , Trajectories (Physics)

Atlas Database of 2-DOF Kinematic Chains and Its Application to the Creative Design of Mechanisms

Huafeng Ding, Andre´s Kecskeme´thy, Zhen Huang

IDETC-CIE 2011; 297-308https://doi.org/10.1115/DETC2011-47264

Abstract

View Articletitled, Atlas Database of 2-DOF Kinematic Chains and Its Application to the Creative Design of Mechanisms

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Topics: Creativity , Databases , Kinematic chains

Synthesis of a Variable Displacement Linkage for a Hydraulic Transformer

Shawn R. Wilhelm, James D. Van de Ven

IDETC-CIE 2011; 309-316https://doi.org/10.1115/DETC2011-47339

Abstract

View Articletitled, Synthesis of a Variable Displacement Linkage for a Hydraulic Transformer

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Topics: Displacement , Linkages , Engines , Motors , Compressed air , Compression , Energy storage , Hydraulic pumps , Pistons , Pumps

Five Position Synthesis of a Slider-Crank Function Generator

Mark M. Plecnik, J. Michael McCarthy

IDETC-CIE 2011; 317-324https://doi.org/10.1115/DETC2011-47581

Abstract

View Articletitled, Five Position Synthesis of a Slider-Crank Function Generator

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Topics: Generators , Actuators , Design , Linkages , Rotation

Kinematic Synthesis of Planar, Shape-Changing Rigid Body Mechanisms for Design Profiles With Significant Differences in Arc Length

Shamsul A. Shamsudin, Andrew P. Murray, David H. Myszka, James P. Schmiedeler

IDETC-CIE 2011; 325-334https://doi.org/10.1115/DETC2011-47657

Abstract

View Articletitled, Kinematic Synthesis of Planar, Shape-Changing Rigid Body Mechanisms for Design Profiles With Significant Differences in Arc Length

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Topics: Design , Kinematics , Rigid-body mechanisms , Shapes , Chain , Displacement

Towards Whole-Arm Statics

Nicolas Lauzier, Cle´ment Gosselin

IDETC-CIE 2011; 335-344https://doi.org/10.1115/DETC2011-47666

Abstract

View Articletitled, Towards Whole-Arm Statics

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Topics: Approximation , Control equipment , Cylinders , Manipulators , Safety , Shapes , Statics

A Design Methodology Based Process for Robotic Gripper Design

David B. Streusand, Cameron J. Turner

IDETC-CIE 2011; 345-358https://doi.org/10.1115/DETC2011-47673

Abstract

View Articletitled, A Design Methodology Based Process for Robotic Gripper Design

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Topics: Design , Design methodology , End effectors , Grippers , Robotics , Tool grinders , Tooling

On the Minimum Harmonic Trajectory Pattern for Point-to-Point Motion

Jahangir Rastegar, Dake Feng

IDETC-CIE 2011; 359-363https://doi.org/10.1115/DETC2011-47724

Abstract

View Articletitled, On the Minimum Harmonic Trajectory Pattern for Point-to-Point Motion

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Topics: Trajectories (Physics) , Computers , Machinery , Dynamic systems , Excitation , Manipulators , Nonlinear dynamics , Vibration

Reconstruction Synthesis of the Lost Subsystem for the Planetary Motions of Antikythera Mechanism

Hong-Sen Yan, Jian-Liang Lin

IDETC-CIE 2011; 365-375https://doi.org/10.1115/DETC2011-47773

Abstract

View Articletitled, Reconstruction Synthesis of the Lost Subsystem for the Planetary Motions of Antikythera Mechanism

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Topics: Design , Gears , Kinematic analysis , Machinery

Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks

Edgar Simo-Serra, Francesc Moreno-Noguer, Alba Perez-Gracia

IDETC-CIE 2011; 377-386https://doi.org/10.1115/DETC2011-47818

Abstract

View Articletitled, Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks

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Topics: Design , Robotics , Chain , Genetic algorithms , Kinematic chains , Kinematics , Trajectories (Physics) , Tree (Data structure)

Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Jon Olza

IDETC-CIE 2011; 387-394https://doi.org/10.1115/DETC2011-47892

Abstract

View Articletitled, Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

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Topics: Deformation , Manipulators , Clearances (Engineering) , Dimensions , End effectors , Errors , Screws , Stiffness , Trajectories (Physics)

Kinematic Modeling and Internal Motion Analysis of Proteins From a Robot Kinematics Viewpoint

Keisuke Arikawa

IDETC-CIE 2011; 395-404https://doi.org/10.1115/DETC2011-47970

Abstract

View Articletitled, Kinematic Modeling and Internal Motion Analysis of Proteins From a Robot Kinematics Viewpoint

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Topics: Kinematics , Modeling , Proteins , Robot kinematics , Jacobian matrices , Manipulators , Approximation , Compliance , Deformation

A Line Geometric Foundation for Finite Screw Systems Associated With Spatial Linkages

Chintien Huang, Tzu-Cheng Hsing

IDETC-CIE 2011; 405-411https://doi.org/10.1115/DETC2011-48115

Abstract

View Articletitled, A Line Geometric Foundation for Finite Screw Systems Associated With Spatial Linkages

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Topics: Linkages , Screws , Chain , Computer-aided design , Engineering drawings , Kinematics , Visualization

The Correction to Grubler Criterion for Calculating the Degrees of Freedoms of Mechanisms

Offer Shai

IDETC-CIE 2011; 413-416https://doi.org/10.1115/DETC2011-48146

Abstract

View Articletitled, The Correction to Grubler Criterion for Calculating the Degrees of Freedoms of Mechanisms

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Topics: Mechanical admittance , Stress

A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Jointed Linkages

Nicola´s Rojas, Federico Thomas

IDETC-CIE 2011; 417-426https://doi.org/10.1115/DETC2011-48147

Abstract

View Articletitled, A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Jointed Linkages

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Topics: Linkages , Algorithms

Synthesis of Coupler-Drivers for Four Position Planar Synthesis Tasks

David A. Perkins, Andrew P. Murray

IDETC-CIE 2011; 427-434https://doi.org/10.1115/DETC2011-48170

Abstract

View Articletitled, Synthesis of Coupler-Drivers for Four Position Planar Synthesis Tasks

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Topics: Actuators , Chain , Degrees of freedom , Kinematics , Torque

Kinematic Synthesis for Infinitesimally and Multiply Separated Positions Using Geometric Constraint Programming

James P. Schmiedeler, Barrett C. Clark, Edward C. Kinzel, Gordon R. Pennock

IDETC-CIE 2011; 435-443https://doi.org/10.1115/DETC2011-48201

Abstract

View Articletitled, Kinematic Synthesis for Infinitesimally and Multiply Separated Positions Using Geometric Constraint Programming

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Topics: Computer programming , Kinematics , Construction , Analytical methods , Computer software , Computer-aided design , Design , Dimensions , Graphical user interfaces , Linkages

Fine-Tuning Geometrically Constrained Planar Motions

Ping Zhao, Q. J. Ge, Feng Gao, Hai-Jun Su

IDETC-CIE 2011; 445-452https://doi.org/10.1115/DETC2011-48210

Abstract

View Articletitled, Fine-Tuning Geometrically Constrained Planar Motions

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Topics: Approximation , Errors , Kinetic energy , Probability , Rotation , Statistics

A Procedure to Analyse and Compare the Sensitivity to Geometrical Parameter Variations of One-DOF Mechanisms

Nicola Sancisi, Diego Zannoli, Vincenzo Parenti-Castelli

IDETC-CIE 2011; 453-460https://doi.org/10.1115/DETC2011-48244

Abstract

View Articletitled, A Procedure to Analyse and Compare the Sensitivity to Geometrical Parameter Variations of One-DOF Mechanisms

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Topics: Clearances (Engineering) , Design , Geometry , Knee , Prostheses , Sensitivity analysis

Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

Brian J. Slaboch, Philip Voglewede

IDETC-CIE 2011; 461-469https://doi.org/10.1115/DETC2011-48267

Abstract

View Articletitled, Underactuated Part Alignment System (UPAS) for Industrial Assembly Tasks

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Topics: Manufacturing , Robots , Degrees of freedom , Path planning , Robotic assembly , Rotation

Geometry and Kinematics of a Plane-Symmetric Spatial Eight-Bar Linkage With Exact Straight-Line Motion

Guowu Wei, Jian S. Dai

IDETC-CIE 2011; 471-480https://doi.org/10.1115/DETC2011-48281

Abstract

View Articletitled, Geometry and Kinematics of a Plane-Symmetric Spatial Eight-Bar Linkage With Exact Straight-Line Motion

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Topics: Geometry , Kinematics , Linkages , Dimensions , End effectors , Trajectories (Physics)

Free-Form Conjugation Theory

Bowen Yu, Kwun-lon Ting

IDETC-CIE 2011; 481-492https://doi.org/10.1115/DETC2011-48337

Abstract

View Articletitled, Free-Form Conjugation Theory

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Topics: Design , Gear teeth , Kinematics , Modeling , Splines

Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm

Adnan Sljoka, Offer Shai, Walter Whiteley

IDETC-CIE 2011; 493-502https://doi.org/10.1115/DETC2011-48340

Abstract

View Articletitled, Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm

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Topics: Algorithms , Linkages , Mechanical admittance

A Novel Numerical Method to Solve the Inverse Kinematics of 3R Manipulators

E. A. Gonza´lez-Barbosa, M. A. Gonza´lez-Palacios, L. A. Aguilera-Corte´s, C. A. Bernal-Marti´nez

IDETC-CIE 2011; 503-512https://doi.org/10.1115/DETC2011-48436

Abstract

View Articletitled, A Novel Numerical Method to Solve the Inverse Kinematics of 3R Manipulators

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Topics: Kinematics , Manipulators , Numerical analysis , Algorithms , Computer software , Geometry , Simulation , Simulation results

Kinematic Optimization of a Robotic Joint With Continuously Variable Transmission Ratio

Martin Grenier, Cle´ment Gosselin

IDETC-CIE 2011; 513-521https://doi.org/10.1115/DETC2011-48443

Abstract

View Articletitled, Kinematic Optimization of a Robotic Joint With Continuously Variable Transmission Ratio

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Topics: Kinematics , Optimization , Robotics , Actuators , Robots , Motors , Linkages , Parallel mechanisms , Simulation , Torque

Kinematic Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms With Prismatic Joints

Kai Zhao, James P. Schmiedeler, Andrew P. Murray

IDETC-CIE 2011; 523-533https://doi.org/10.1115/DETC2011-48503

Abstract

View Articletitled, Kinematic Synthesis of Planar, Shape-Changing Rigid-Body Mechanisms With Prismatic Joints

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Topics: Kinematics , Rigid-body mechanisms , Shapes , Blocks (Building materials) , Chain , Degrees of freedom , Design , Genetic algorithms , Manufacturing , Optimization

Kinematic Motion Constraints of the Protein Molecule Chains

Zahra Shahbazi, Horea T. Ilies¸, Kazem Kazerounian

IDETC-CIE 2011; 535-542https://doi.org/10.1115/DETC2011-48519

Abstract

View Articletitled, Kinematic Motion Constraints of the Protein Molecule Chains

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Topics: Chain , Kinematics , Proteins , Hydrogen bonds , Mechanical admittance , Degrees of freedom , Design , Drugs , Engineering simulation , Geometry

On the Impedance of Statically-Balanced Mechanisms

Qi Lu, Wenwu Xiu, Ou Ma

IDETC-CIE 2011; 543-550https://doi.org/10.1115/DETC2011-48546

Abstract

View Articletitled, On the Impedance of Statically-Balanced Mechanisms

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Topics: Design , Gravity (Force) , Inertia (Mechanics) , Optimization , Simulation , Springs

Characteristics of the Screw Transformation Matrix and Their Effect on Chasles’ Motion

Jian S. Dai

IDETC-CIE 2011; 551-559https://doi.org/10.1115/DETC2011-48613

Abstract

View Articletitled, Characteristics of the Screw Transformation Matrix and Their Effect on Chasles’ Motion

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Topics: Screws , Rotation , Algebra , Displacement

On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots

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

IDETC-CIE 2011; 561-568https://doi.org/10.1115/DETC2011-48799

Abstract

View Articletitled, On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots

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Topics: Brakes , Robots , Torque , Automotive brakes , Design , Disks , Energy consumption , Magnetic particles , Manufacturing , Piezoelectric actuators

Mechanisms and Robots in Medicine

Mechanical Design and Fabrication of a Low-Cost, Modular, Mobile Gantry for Non-Invasive Medical Applications

Joshua Gafford, Johannes Schneider

IDETC-CIE 2011; 569-577https://doi.org/10.1115/DETC2011-47027

Abstract

View Articletitled, Mechanical Design and Fabrication of a Low-Cost, Modular, Mobile Gantry for Non-Invasive Medical Applications

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Topics: Biomedicine , Design engineering , Manufacturing , Computerized tomography , Aluminum , Biomedical imaging , Design , Image registration , Lasers , Magnetic resonance imaging

Optimal Synthesis of a New Spherical Parallel Mechanism for Application to Tele-Echography Chain

M. A. Laribi, T. Essomba, S. Zeghloul, G. Poisson

IDETC-CIE 2011; 579-587https://doi.org/10.1115/DETC2011-47184

Abstract

View Articletitled, Optimal Synthesis of a New Spherical Parallel Mechanism for Application to Tele-Echography Chain

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Topics: Chain , Parallel mechanisms , Manipulators , Robots , Biomedicine , Design , Genetic algorithms , Kinematics , Probes , Robotics

Spinal Implant With Adjustable and Nonlinear Stiffness

Eric R. Dodgen, Larry Howell, Anton Bowden

IDETC-CIE 2011; 589-595https://doi.org/10.1115/DETC2011-47913

Abstract

View Articletitled, Spinal Implant With Adjustable and Nonlinear Stiffness

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Topics: Spinal implants , Stiffness , Design , Deflection , Engineering prototypes , Finite element model , Human spine , Mechanical stability , Surgery , Wounds

Controller Implementation of a Powered Transtibial Prosthetic Device

Jinming Sun, Philip A. Voglewede

IDETC-CIE 2011; 597-603https://doi.org/10.1115/DETC2011-47957

Abstract

View Articletitled, Controller Implementation of a Powered Transtibial Prosthetic Device

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Topics: Control equipment , Prostheses , Control algorithms , Control systems , Engines , Feedback , Matlab , Motors , Resistors , Sensors

Robot Kinematic Design Studies for Natural Orifice Surgery

Chi Min Seow, Wei Jian Chin, Carl A. Nelson

IDETC-CIE 2011; 605-613https://doi.org/10.1115/DETC2011-47961

Abstract

View Articletitled, Robot Kinematic Design Studies for Natural Orifice Surgery

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Topics: Design , Kinematics , Robots , Surgery , Manipulators , Degrees of freedom

Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger

Pei-Hsin Kuo, Jerod Hayes, Ashish D. Deshpande

IDETC-CIE 2011; 615-622https://doi.org/10.1115/DETC2011-48009

Abstract

View Articletitled, Design of a Motor-Driven Mechanism to Conduct Experiments to Determine the Passive Joint Properties of the Human Index Finger

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Topics: Design , Engines , Motors , Artificial limbs , Damping , Dynamics (Mechanics) , Kinematics , Robotics

A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

Chin-Hsing Kuo, Jian S. Dai

IDETC-CIE 2011; 623-632https://doi.org/10.1115/DETC2011-48053

Abstract

View Articletitled, A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

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Topics: Manipulators , Robots , Surgery

Design and Optimization of a Novel MRI Compatible Wire-Driven Robot for Prostate Cryoablation

S. Abdelaziz, L. Esteveny, P. Renaud, B. Bayle, M. de Mathelin

IDETC-CIE 2011; 633-642https://doi.org/10.1115/DETC2011-48092

Abstract

View Articletitled, Design and Optimization of a Novel MRI Compatible Wire-Driven Robot for Prostate Cryoablation

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Topics: Design , Magnetic resonance imaging , Optimization , Robots , Wire , Design methodology , Algorithms , Cables , Engineering prototypes , Magnetic fields

Development of a Control Method of a Walking Assistance Apparatus for the Elderly or Rehabilitants

Eiichirou Tanaka, Tadaaki Ikehara, Hirokazu Yusa, Yusuke Sato, Tomohiro Sakurai, Shozo Saegusa, Kazuhisa Ito, Louis Yuge

IDETC-CIE 2011; 643-652https://doi.org/10.1115/DETC2011-48389

Abstract

View Articletitled, Development of a Control Method of a Walking Assistance Apparatus for the Elderly or Rehabilitants

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Topics: Bearings , Brain , Cycles , Dynamics (Mechanics) , Engineering prototypes , Engines , Knee , Motors , Muscle , Vehicles

Multi-Functional Surgical Robot for Laparo-Endoscopic Single-Site Colectomies

T. D. Wortman, R. L. McCormick, E. J. Markvicka, T. P. Frederick, S. M. Farritor, D. Oleynikov

IDETC-CIE 2011; 653-658https://doi.org/10.1115/DETC2011-48497

Abstract

View Articletitled, Multi-Functional Surgical Robot for Laparo-Endoscopic Single-Site Colectomies

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Topics: Endoscopic devices , Robots , Surgery , Robotics , Cavities , Engineering prototypes , User interfaces

Mechanisms and Robotics Education

Real-Time Validation and Control Environment for Parallel Robot Control Design

A. Zubizarreta, E. Portillo, I. Cabanes, M. Marcos, Ch. Pinto

IDETC-CIE 2011; 659-667https://doi.org/10.1115/DETC2011-47259

Abstract

View Articletitled, Real-Time Validation and Control Environment for Parallel Robot Control Design

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Topics: Design , Robots , Control equipment , Engineering prototypes , Rapid prototyping , Students , Testing

Improved Robotics Joint-Space Trajectory Generation With Via Point

Robert L. Williams, II

IDETC-CIE 2011; 669-676https://doi.org/10.1115/DETC2011-47592

Abstract

View Articletitled, Improved Robotics Joint-Space Trajectory Generation With Via Point

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Topics: Robotics , Trajectories (Physics) , Polynomials

Teaching Manipulator Kinematics by Painting With Light

Michael Shomin, Jonathan Fiene

IDETC-CIE 2011; 677-683https://doi.org/10.1115/DETC2011-47670

Abstract

View Articletitled, Teaching Manipulator Kinematics by Painting With Light

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Topics: Manipulator kinematics , Painting , Teaching , Manipulators , Robots , Students , American Petroleum Institute , End effectors , Robotics , Control equipment

FreeLoader: An Open Source Universal Testing Machine for High-Throughput Experimentation

John R. Amend, Jr., Hod Lipson

IDETC-CIE 2011; 685-693https://doi.org/10.1115/DETC2011-48296

Abstract

View Articletitled, FreeLoader: An Open Source Universal Testing Machine for High-Throughput Experimentation

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Topics: Machinery , Testing , Design , Computer software , Construction , Force measurement , Knudsen number , Licensing , Materials testing , Stress

Software for Programming an Industrial Serial Manipulator

Julio Correa

IDETC-CIE 2011; 695-700https://doi.org/10.1115/DETC2011-48312

Abstract

View Articletitled, Software for Programming an Industrial Serial Manipulator

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Topics: Computer programming , Computer software , Manipulators , Teaching

Mobile Robots

Quadrotor UAV Control: Online Learning Approach

Pong-in Pipatpaibul, P. R. Ouyang

IDETC-CIE 2011; 701-710https://doi.org/10.1115/DETC2011-47095

Abstract

View Articletitled, Quadrotor UAV Control: Online Learning Approach

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Topics: Unmanned aerial vehicles , Control equipment , Iterative learning control , Trajectories (Physics) , Simulation results , Surveillance

Analysis and Synthesis of Multi-Rotor Aerial Vehicles

Qimi Jiang, Daniel Mellinger, Christine Kappeyne, Vijay Kumar

IDETC-CIE 2011; 711-720https://doi.org/10.1115/DETC2011-47114

Abstract

View Articletitled, Analysis and Synthesis of Multi-Rotor Aerial Vehicles

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Topics: Aircraft , Rotors

Locomotion of One Degree of Freedom Worm Robots

David Zarrouk, Moshe Shoham

IDETC-CIE 2011; 721-727https://doi.org/10.1115/DETC2011-47239

Abstract

View Articletitled, Locomotion of One Degree of Freedom Worm Robots

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Topics: Degrees of freedom , Robots , Actuators , Design , Biomedicine , Biosensors , Blood vessels , Displacement , Drugs , Energy consumption

Dynamic Modeling, Stability and Energy Consumption Analysis of Turning Motion of Realistic Hexapod Walking Robots

Shibendu Shekhar Roy, Dilip Kumar Pratihar

IDETC-CIE 2011; 729-738https://doi.org/10.1115/DETC2011-47253

Abstract

View Articletitled, Dynamic Modeling, Stability and Energy Consumption Analysis of Turning Motion of Realistic Hexapod Walking Robots

PDF

Topics: Dynamic modeling , Energy consumption , Robots , Stability , Turning , Waves

A Model of Caterpillar Locomotion Based on Assur Tensegrity Structures

Omer Orki, Offer Shai, Amir Ayali, Uri Ben-Hanan

IDETC-CIE 2011; 739-745https://doi.org/10.1115/DETC2011-47708

Abstract

View Articletitled, A Model of Caterpillar Locomotion Based on Assur Tensegrity Structures

PDF

Topics: Tensegrity structures , Cables , Simulation , Struts (Engineering) , Control algorithms , Control equipment , Fault tolerance , Hydrostatic pressure , Muscle , Robotics

Design of a Four-DOF Modular Self-Reconfigurable Robot With Novel Gaits

Khoa D. Chu, S. G. M. Hossain, Carl A. Nelson

IDETC-CIE 2011; 747-754https://doi.org/10.1115/DETC2011-47746

Abstract

View Articletitled, Design of a Four-DOF Modular Self-Reconfigurable Robot With Novel Gaits

PDF

Topics: Design , Robots

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

Brian Trease, Raymond Arvidson, Randel Lindemann, Keith Bennett, Feng Zhou, Karl Iagnemma, Carmine Senatore, Lauren Van Dyke

IDETC-CIE 2011; 755-765https://doi.org/10.1115/DETC2011-47896

Abstract

View Articletitled, Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

PDF

Topics: Dynamic modeling , Path planning , Soil mechanics , Soil , Compacting , Computer software , Computers , Dynamic models , Mechanical admittance , Navigation

On the Design of Mobile Parallel Robots for Large Workspace Applications

Hai Yang, Se´bastien Krut, Franc¸ois Pierrot, Ce´dric Baradat

IDETC-CIE 2011; 767-776https://doi.org/10.1115/DETC2011-48101

Abstract

View Articletitled, On the Design of Mobile Parallel Robots for Large Workspace Applications

PDF

Topics: Design , Robots , Mechanical admittance , Actuators , Engineering simulation , Kinematics , Machining , Manipulators , Parallel mechanisms , Simulation

Experimental Validation of a Walking Model for Planar Bipeds With Curved Feet

Anne E. Martin, James P. Schmiedeler

IDETC-CIE 2011; 777-785https://doi.org/10.1115/DETC2011-48243

Abstract

View Articletitled, Experimental Validation of a Walking Model for Planar Bipeds With Curved Feet

PDF

Topics: Dynamics (Mechanics) , Equations of motion , Humanoid robots , Robots , Simulation , Simulation results

Determination of Minimum Time Rendezvous Points for Multiple Mobile Robots via Level Set Methods

Travis L. Brown, Tariq D. Aslam, James P. Schmiedeler

IDETC-CIE 2011; 787-797https://doi.org/10.1115/DETC2011-48282

Abstract

View Articletitled, Determination of Minimum Time Rendezvous Points for Multiple Mobile Robots via Level Set Methods

PDF

Topics: Mobile robots , Robots , Computation , Seas , Trajectories (Physics)

Development of a Full-Sized Bipedal Humanoid Robot Utilizing Spring Assisted Parallel Four-Bar Linkages With Synchronized Actuation

Jeakweon Han, Dennis Hong

IDETC-CIE 2011; 799-806https://doi.org/10.1115/DETC2011-48412

Abstract

View Articletitled, Development of a Full-Sized Bipedal Humanoid Robot Utilizing Spring Assisted Parallel Four-Bar Linkages With Synchronized Actuation

PDF

Topics: Humanoid robots , Linkages , Springs , Robots , Torque , Weight (Mass) , Actuators , Design , Education , Feedback

A Hybrid Grasp Matrix for Cooperative Robotic Object Manipulation

Tyson L. Ringold, Raymond J. Cipra

IDETC-CIE 2011; 807-816https://doi.org/10.1115/DETC2011-48534

Abstract

View Articletitled, A Hybrid Grasp Matrix for Cooperative Robotic Object Manipulation

PDF

Topics: End effectors , Kinematics , Mobile robots , Robotics , Robots , Stiffness

Design of a Drive Mechanism for a Rectilinear-Gait Based Snake-Inspired Robot

James K. Hopkins, Satyandra K. Gupta

IDETC-CIE 2011; 817-825https://doi.org/10.1115/DETC2011-48547

Abstract

View Articletitled, Design of a Drive Mechanism for a Rectilinear-Gait Based Snake-Inspired Robot

PDF

Topics: Design , Robots , Engineering prototypes , Surface roughness , Wheels

Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems

Padmanabhan Kumar, Tristan W. Hill, D. Andrew Bryant, Stephen L. Canfield

IDETC-CIE 2011; 827-834https://doi.org/10.1115/DETC2011-48555

Abstract

View Articletitled, Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems

PDF

Topics: Design , Linkages , Modeling , Robotics , Robots , Center of mass , Density , Engineering prototypes , Equilibrium (Physics) , Magnets

Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning

Atul Thakur, Petr Svec, Satyandra K. Gupta

IDETC-CIE 2011; 835-845https://doi.org/10.1115/DETC2011-48624

Abstract

View Articletitled, Generation of State Transition Models Using Simulations for Unmanned Sea Surface Vehicle Trajectory Planning

PDF

Topics: Seas , Simulation , Trajectories (Physics) , Vehicles , Algorithms , Collisions (Physics) , Control equipment , Dynamic programming , Dynamics (Mechanics) , Flow (Dynamics)

Development of an Omnidirectional Walking Engine for Full-Sized Lightweight Humanoid Robots

Seungmoon Song, Young-Jae Ryoo, Dennis W. Hong

IDETC-CIE 2011; 847-854https://doi.org/10.1115/DETC2011-48786

Abstract

View Articletitled, Development of an Omnidirectional Walking Engine for Full-Sized Lightweight Humanoid Robots

PDF

Topics: Engines , Humanoid robots , Control equipment , Feedback , Stability , Design , Generators , Robots , Computation , Differential equations

Analytic-Holistic Two-Segment Model of Quadruped Back-Bending in the Sagittal Plane

Justin E. Seipel

IDETC-CIE 2011; 855-861https://doi.org/10.1115/DETC2011-48853

Abstract

View Articletitled, Analytic-Holistic Two-Segment Model of Quadruped Back-Bending in the Sagittal Plane

PDF

Topics: Biomechanics , Design , Equations of motion , Legged locomotion , Robots , Springs , System dynamics

A Low Cost Attitude and Heading Reference System Based on a MEMS IMU for a T-Quadrotor

Yangbo Long, Shi Bai, Paras Patel, David J. Cappelleri

IDETC-CIE 2011; 863-870https://doi.org/10.1115/DETC2011-48960

Abstract

View Articletitled, A Low Cost Attitude and Heading Reference System Based on a MEMS IMU for a T-Quadrotor

PDF

Topics: Kalman filters , Microelectromechanical systems , Algorithms , Accelerometers , Signals , Errors , Filtration , Magnetic sensors , Navigation , Robots

Parallel Manipulators

Machining With Redundant Kinematics

Reimund Neugebauer, Welf-Guntram Drossel, Steffen Ihlenfeldt, Hendrik Rentzsch

IDETC-CIE 2011; 871-882https://doi.org/10.1115/DETC2011-47440

Abstract

View Articletitled, Machining With Redundant Kinematics

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Topics: Kinematics , Machining , Design , Machine tools , Chain , Energy consumption , Machinery , Simulation , Stability

Static Balancing of Translational Parallel Mechanisms

Teunis van Dam, Patrice Lambert, Just L. Herder

IDETC-CIE 2011; 883-889https://doi.org/10.1115/DETC2011-47525

Abstract

View Articletitled, Static Balancing of Translational Parallel Mechanisms

PDF

Topics: Engineering prototypes , Equilibrium (Physics) , Kinematics , Manipulators , Parallel mechanisms , Robots , Springs

On the S-(nS)PU-SPU and S-(nS)PU-2SPU Under-Actuated Wrists

Raffaele Di Gregorio

IDETC-CIE 2011; 891-897https://doi.org/10.1115/DETC2011-47541

Abstract

View Articletitled, On the S-(nS)PU-SPU and S-(nS)PU-2SPU Under-Actuated Wrists

PDF

Topics: Algorithms , Path planning , Rollers , Topology

IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

Coralie Germain, Se´bastien Briot, Victor Glazunov, Ste´phane Caro, Philippe Wenger

IDETC-CIE 2011; 899-909https://doi.org/10.1115/DETC2011-47564

Abstract

View Articletitled, IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

PDF

Topics: Robots , Kinematic chains , Stiffness

Identifiable Parameter Analysis for the Kinematic Calibration of a Hybrid Robot

Yongbo Wang, Huapeng Wu, Heikki Handroos

IDETC-CIE 2011; 911-919https://doi.org/10.1115/DETC2011-47573

Abstract

View Articletitled, Identifiable Parameter Analysis for the Kinematic Calibration of a Hybrid Robot

PDF

Topics: Calibration , Kinematics , Robots , Errors , Manufacturing , Welding , Algorithms , Chain , Computer simulation , Degrees of freedom

Prototype Design of a 6-DOF Compliant Parallel Micro-Manipulator

Yi Yue, Feng Gao, Hao Ge

IDETC-CIE 2011; 921-930https://doi.org/10.1115/DETC2011-47695

Abstract

View Articletitled, Prototype Design of a 6-DOF Compliant Parallel Micro-Manipulator

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Topics: Design , Engineering prototypes , Manipulators , Piezoelectric actuators , Bending (Stress) , Design methodology , Displacement , End effectors , Hinges , Screws

Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms

Ketao Zhang, Jian S. Dai, Yuefa Fang

IDETC-CIE 2011; 931-940https://doi.org/10.1115/DETC2011-47703

Abstract

View Articletitled, Geometry and Constraint Based Design of Metamorphic Parallel Mechanisms

PDF

Topics: Design , Geometry , Parallel mechanisms , Kinematics , Screws , Mechanical admittance

Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

Leng-Feng Lee, Xiaobo Zhou, Venkat N. Krovi

IDETC-CIE 2011; 941-948https://doi.org/10.1115/DETC2011-47725

Abstract

View Articletitled, Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

PDF

Topics: Haptics , Design , Chain , Manipulators , Phantoms , Stiffness , Architecture , Engines , Kinematics , Motors

Optimal Trajectory Tracking Control With a 5R Parallel Robot

Gianmarc Coppola, Dan Zhang

IDETC-CIE 2011; 949-958https://doi.org/10.1115/DETC2011-47752

Abstract

View Articletitled, Optimal Trajectory Tracking Control With a 5R Parallel Robot

PDF

Topics: Robots , Tracking control , Trajectories (Physics) , Particle swarm optimization , Artificial neural networks , Control equipment , Dynamics (Mechanics) , Feedforward control , Manipulators , Optimization

A Unified Method for Computing Position and Orientation Workspaces of General Stewart Platforms

Oriol Bohigas, Llui´s Ros, Montserrat Manubens

IDETC-CIE 2011; 959-968https://doi.org/10.1115/DETC2011-47836

Abstract

View Articletitled, A Unified Method for Computing Position and Orientation Workspaces of General Stewart Platforms

PDF

Topics: Computation , Dimensions , Shapes , Visualization

Solving the Forward Kinematic Problem of 4-DOF Parallel Mechanisms (3T1R) With Identical Limb Structures and Revolute Actuators Using the Linear Implicitization Algorithm

Mehdi Tale Masouleh, Dominic R. Walter, Manfred Husty, Cle´ment Gosselin

IDETC-CIE 2011; 969-978https://doi.org/10.1115/DETC2011-47884

Abstract

View Articletitled, Solving the Forward Kinematic Problem of 4-DOF Parallel Mechanisms (3T1R) With Identical Limb Structures and Revolute Actuators Using the Linear Implicitization Algorithm

PDF

Topics: Actuators , Algorithms , Kinematics , Parallel mechanisms , Algebra , Geometry , Rotation

More Flexibility and Versatility in Automated Handling Processes With an Alterable Parallel Manipulator

Martin Riedel, Tom Mannheim, Burkhard Corves

IDETC-CIE 2011; 979-988https://doi.org/10.1115/DETC2011-47929

Abstract

View Articletitled, More Flexibility and Versatility in Automated Handling Processes With an Alterable Parallel Manipulator

PDF

Topics: Manipulators , Kinematics , Manufacturing , Preferences , Robotics , Robots

Adaptive and Singularity-Free Inverse Dynamics Models for Control of Parallel Manipulators With Actuation Redundancy

Andreas Mu¨ller, Timo Hufnagel

IDETC-CIE 2011; 989-997https://doi.org/10.1115/DETC2011-47943

Abstract

View Articletitled, Adaptive and Singularity-Free Inverse Dynamics Models for Control of Parallel Manipulators With Actuation Redundancy

PDF

Topics: Dynamics (Mechanics) , Manipulators , Redundancy (Engineering)

Conceptual Design, Performance Evaluation and Dimensional Optimization of a Compact Acceleration Sensor Based on Flexure Parallel Mechanisms

Dan Zhang, Zhen Gao

IDETC-CIE 2011; 999-1008https://doi.org/10.1115/DETC2011-48089

Abstract

View Articletitled, Conceptual Design, Performance Evaluation and Dimensional Optimization of a Compact Acceleration Sensor Based on Flexure Parallel Mechanisms

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Topics: Bending (Stress) , Conceptual design , Optimization , Parallel mechanisms , Performance evaluation , Sensors , Finite element analysis , Modeling , Springs , Algorithms

Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators

Xianwen Kong, Jingjun Yu, Cle´ment Gosselin

IDETC-CIE 2011; 1009-1016https://doi.org/10.1115/DETC2011-48165

Abstract

View Articletitled, Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators

PDF

Topics: Kinematic chains , Manipulators , Screws , Algebra , Kinematics , Parallel mechanisms , Stability

Singularity Analysis of the 4-RUU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry

Semaan Amine, Mehdi Tale Masouleh, Ste´phane Caro, Philippe Wenger, Cle´ment Gosselin

IDETC-CIE 2011; 1017-1026https://doi.org/10.1115/DETC2011-48226

Abstract

View Articletitled, Singularity Analysis of the 4-RUU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry

PDF

Topics: Algebra , Geometry , Manipulators , Jacobian matrices , Rotation

Mobility and Singularity Analysis of a Class of 2-DOF Rotational Parallel Mechanisms Using a Visual Graphic Approach

J. J. Yu, X. Dong, X. Pei, G. H. Zong, Xianwen Kong, Qunxian Qiu

IDETC-CIE 2011; 1027-1036https://doi.org/10.1115/DETC2011-48274

Abstract

View Articletitled, Mobility and Singularity Analysis of a Class of 2-DOF Rotational Parallel Mechanisms Using a Visual Graphic Approach

PDF

Topics: Mechanical admittance , Parallel mechanisms , Architecture , Degrees of freedom , Kinematics , Screws , Systems theory

Screw Systems Generated by Subalgebras: A Further Analysis

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

IDETC-CIE 2011; 1037-1049https://doi.org/10.1115/DETC2011-48304

Abstract

View Articletitled, Screw Systems Generated by Subalgebras: A Further Analysis

PDF

Topics: Screws , Design , Kinematic chains , Kinematics , Lie algebras

Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

Enrique Cuan-Urquizo, Ernesto Rodriguez-Leal, Jian S. Dai

IDETC-CIE 2011; 1051-1058https://doi.org/10.1115/DETC2011-48476

Abstract

View Articletitled, Mobility Analysis and Inverse Kinematics of a Novel 2R1T Parallel Manipulator

PDF

Topics: Kinematics , Manipulators , Mechanical admittance , Screws

Type Synthesis of 3-DOF Parallel Manipulators With Both Planar and Translational Operation Modes

Xianwen Kong

IDETC-CIE 2011; 1059-1067https://doi.org/10.1115/DETC2011-48510

Abstract

View Articletitled, Type Synthesis of 3-DOF Parallel Manipulators With Both Planar and Translational Operation Modes

PDF

Topics: Chain , Manipulators , Parallel mechanisms , Screws

Closed-Form Solutions to the Kinematics of a Parallel Locomotion Mechanism With Actuated Spoke Wheels

Ping Ren, Dennis Hong

IDETC-CIE 2011; 1069-1079https://doi.org/10.1115/DETC2011-48557

Abstract

View Articletitled, Closed-Form Solutions to the Kinematics of a Parallel Locomotion Mechanism With Actuated Spoke Wheels

PDF

Topics: Kinematics , Wheels , Robots , Computer simulation , Engineering prototypes , Mechanical admittance , Path planning

Visual Synthesis of RRR- and RPR-Legged Planar Parallel Manipulators Using Constraint Manifold Geometry

Anurag Purwar, Aditya Gupta

IDETC-CIE 2011; 1081-1092https://doi.org/10.1115/DETC2011-48830

Abstract

View Articletitled, Visual Synthesis of RRR- and RPR-Legged Planar Parallel Manipulators Using Constraint Manifold Geometry

PDF

Topics: Geometry , Manifolds , Manipulators , Design , Algebra , Kinematics , Chain , Dimensions

Robot Dynamics and Control

Kinematics of the (nS)-2SPU Wrist

Raffaele Di Gregorio

IDETC-CIE 2011; 1093-1099https://doi.org/10.1115/DETC2011-47103

Abstract

View Articletitled, Kinematics of the (nS)-2SPU Wrist

PDF

Topics: Kinematics , Manipulators , Control algorithms , Design , End effectors , Hardware , Kinematic analysis , Linkages , Rollers

Vibration Suppression for a Flexible Link Robot Using Acceleration and/or Angular Rate Measurements and a Flatness Based Trajectory Control

Peter Staufer, Hubert Gattringer, Hartmut Bremer

IDETC-CIE 2011; 1101-1110https://doi.org/10.1115/DETC2011-47362

Abstract

View Articletitled, Vibration Suppression for a Flexible Link Robot Using Acceleration and/or Angular Rate Measurements and a Flatness Based Trajectory Control

PDF

Topics: Damping , Feedback , Robots , Trajectories (Physics) , Vibration , Vibration suppression , Strain gages , Dampers , Deformation , Elasticity

Planning Manipulation and Grasping Tasks With a Redundant Arm

Steven R. Gray, Joseph M. Romano, Jordan Brindza, Soonkyum Kim, Katherine J. Kuchenbecker, Vijay Kumar

IDETC-CIE 2011; 1111-1119https://doi.org/10.1115/DETC2011-47453

Abstract

View Articletitled, Planning Manipulation and Grasping Tasks With a Redundant Arm

PDF

Topics: Grasping , Hardware , Kinematics , Machinery , Manipulators , Redundancy (Engineering) , Robotics , Software architecture

NURBs for Robot Manipulator Trajectory Generation

John Steuben, John Steele, Cameron J. Turner

IDETC-CIE 2011; 1121-1130https://doi.org/10.1115/DETC2011-47477

Abstract

View Articletitled, NURBs for Robot Manipulator Trajectory Generation

PDF

Topics: Manipulators , Trajectories (Physics) , Robotics , B-splines , Control systems , Fittings , Simulation , Splines

Optimal Trajectory Planning for Brachiation Robot on Ladder With Irregular Branches

Ali Meghdari, Seyyed Mohammad Hosseini Lavasani, Mir Saman Rahimi Mousavi, Mohsen Norouzi

IDETC-CIE 2011; 1131-1137https://doi.org/10.1115/DETC2011-47648

Abstract

View Articletitled, Optimal Trajectory Planning for Brachiation Robot on Ladder With Irregular Branches

PDF

Topics: Control equipment , Robots , Trajectories (Physics)

Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand

Lei Cui, Ugo Cupcic, Jian S. Dai

IDETC-CIE 2011; 1139-1147https://doi.org/10.1115/DETC2011-47728

Abstract

View Articletitled, Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand

PDF

Topics: Calibration , Humanoid robots , Kinematics , Shades and shadows , End effectors , Friction , Grasping , Optimization

Improved PID Control Using an Adaptive Two-Input Single-Output Coarse/Fine Approach

Eric Wood, Carl A. Nelson, Alyssa Koch

IDETC-CIE 2011; 1149-1158https://doi.org/10.1115/DETC2011-47881

Abstract

View Articletitled, Improved PID Control Using an Adaptive Two-Input Single-Output Coarse/Fine Approach

PDF

Topics: Control equipment , Errors , Kinematics , Manufacturing , Motors , Robotics , Shared control , Signals , Stability

How Dynamic is Dynamic Walking? Human vs. Robotic Gait

Carlotta Mummolo, Joo H. Kim

IDETC-CIE 2011; 1159-1165https://doi.org/10.1115/DETC2011-47897

Abstract

View Articletitled, How Dynamic is Dynamic Walking? Human vs. Robotic Gait

PDF

Topics: Optimization , Robotics , Stability , Dimensions , Robots , Center of mass , Design , Inertia (Mechanics) , System dynamics , Weight (Mass)

An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

Hoon Lee, Delbert Tesar

IDETC-CIE 2011; 1167-1176https://doi.org/10.1115/DETC2011-48030

Abstract

View Articletitled, An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

PDF

Topics: Actuators , Bearings , Robots , Stiffness , Shells , Weight (Mass) , Design , Roller bearings , Stress , Tapered roller bearings

Inclination Parameter Estimation for Manipulator and Humanoid Robot Links

Vishesh Vikas, Carl D. Crane, III

IDETC-CIE 2011; 1177-1183https://doi.org/10.1115/DETC2011-48221

Abstract

View Articletitled, Inclination Parameter Estimation for Manipulator and Humanoid Robot Links

PDF

Topics: Accelerometers , Errors , Gravity (Force) , Humanoid robots , Manipulators , Parameter estimation , Robotics , Sensors

Optimum Trajectory Planning for Redundant and Hyper-Redundant Manipulators Through Inverse Dynamics

Kagan K. Ayten, M. Necip Sahinkaya, P. Iravani

IDETC-CIE 2011; 1185-1192https://doi.org/10.1115/DETC2011-48237

Abstract

View Articletitled, Optimum Trajectory Planning for Redundant and Hyper-Redundant Manipulators Through Inverse Dynamics

PDF

Topics: Dynamics (Mechanics) , Manipulators , Trajectories (Physics) , Redundant manipulators , Actuators , B-splines , Computer simulation , Dynamic analysis , Dynamic models , End effectors

A New Variable Stiffness Suspension Mechanism

Olugbenga M. Anubi, Carl D. Crane, III

IDETC-CIE 2011; 1193-1201https://doi.org/10.1115/DETC2011-48279

Abstract

View Articletitled, A New Variable Stiffness Suspension Mechanism

PDF

Topics: Stiffness , Suspension systems , Roads , Transfer functions , Control equipment , Deflection , Displacement , Levers , Tires , Tradeoffs

Hybrid Position-Force Control of Climbing Parallel Robot Using Electrohydraulic Servo Actuators

Ilka Banfield, Roque J. Saltaren, Lisandro J. Puglisi, Rafael Aracil Santonja

IDETC-CIE 2011; 1203-1210https://doi.org/10.1115/DETC2011-48349

Abstract

View Articletitled, Hybrid Position-Force Control of Climbing Parallel Robot Using Electrohydraulic Servo Actuators

PDF

Topics: Actuators , Robots , Servomechanisms , Cascades (Fluid dynamics) , Control equipment , Dynamic models , Engineering prototypes , Errors , Feedback , Friction

Ground Reaction Forces for Various Standing Tasks Considering Generic Terrain

Brad Howard, Jingzhou James Yang

IDETC-CIE 2011; 1211-1219https://doi.org/10.1115/DETC2011-48529

Abstract

View Articletitled, Ground Reaction Forces for Various Standing Tasks Considering Generic Terrain

PDF

Topics: Displacement , Engineering simulation , Musculoskeletal system , Pareto optimization , Potential energy , Simulation , Stability , Stairs , Weight (Mass)

Pseudo Standing, Forward Falling, and Pulling Simulation for Pregnant Women

Qiuling Zou, Jingzhou James Yang

IDETC-CIE 2011; 1221-1231https://doi.org/10.1115/DETC2011-48654

Abstract

View Articletitled, Pseudo Standing, Forward Falling, and Pulling Simulation for Pregnant Women

PDF

Topics: Optimization , Simulation , Simulation results , Actuators , Algorithms , Anatomy , B-splines , Computers , Degrees of freedom , Design

Tensegrity and Cable-Driven Systems

A Novel Inflatable Tendon Driven Manipulator With Constant Volume

Se´bastien Voisembert, Nazih Mechbal, Alain Riwan, Andre´ Barraco

IDETC-CIE 2011; 1233-1242https://doi.org/10.1115/DETC2011-47432

Abstract

View Articletitled, A Novel Inflatable Tendon Driven Manipulator With Constant Volume

PDF

Topics: Manipulators , Tendons , Cables , Air-supported structures , Robotics , Compression , Design , Robots , Skin , Stiffness

Reciprocal Screw-Based Force-Closure of Cable-Driven Closed Chains

Shabbir Kurbanhusen Mustafa, Sunil Kumar Agrawal

IDETC-CIE 2011; 1243-1251https://doi.org/10.1115/DETC2011-47599

Abstract

View Articletitled, Reciprocal Screw-Based Force-Closure of Cable-Driven Closed Chains

PDF

Topics: Cables , Chain , Screws

A Comparative Study of 4-Cable Planar Manipulators Based on Cylindrical Algebraic Decomposition

Damien Chablat, Erika Ottaviano, Guillaume Moroz

IDETC-CIE 2011; 1253-1262https://doi.org/10.1115/DETC2011-47726

Abstract

View Articletitled, A Comparative Study of 4-Cable Planar Manipulators Based on Cylindrical Algebraic Decomposition

PDF

Topics: Algebra , Cables , Manipulators , Computer-aided design , Jacobian matrices , Robots , Tension , Compression

Towards Parallel Cable-Driven Pantographs

Simon Perreault, Philippe Cardou, Cle´ment Gosselin

IDETC-CIE 2011; 1263-1272https://doi.org/10.1115/DETC2011-47751

Abstract

View Articletitled, Towards Parallel Cable-Driven Pantographs

PDF

Topics: Cables , Design , Electromechanical systems , Engineering prototypes , Magnetic fields , Springs , Tension

Wrench Capability Analysis of Cable-Driven Parallel Mechanisms

Yu Zou, Yuru Zhang

IDETC-CIE 2011; 1273-1282https://doi.org/10.1115/DETC2011-47807

Abstract

View Articletitled, Wrench Capability Analysis of Cable-Driven Parallel Mechanisms

PDF

Topics: Cables , Parallel mechanisms , Optimization , Geometry

Novel Form-Finding of Tensegrity Structures Using Ant Colony Systems

Yao Chen, Jian Feng, Yongfen Wu

IDETC-CIE 2011; 1283-1289https://doi.org/10.1115/DETC2011-47900

Abstract

View Articletitled, Novel Form-Finding of Tensegrity Structures Using Ant Colony Systems

PDF

Topics: Tensegrity structures , Cables , Algorithms , Architects , Compression , Design , Engineers , Optimization , Shapes , Stiffness

An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body

Franc¸ois Guay, Jean-Franc¸ois Collard, Philippe Cardou, Marc Gouttefarde

IDETC-CIE 2011; 1291-1300https://doi.org/10.1115/DETC2011-48169

Abstract

View Articletitled, An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body

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Topics: Algorithms , Cables , Potential energy , Equilibrium (Physics) , Optimization , Robots , Rotation

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

Hanwei Liu, Cle´ment Gosselin, Thierry Laliberte´

IDETC-CIE 2011; 1301-1308https://doi.org/10.1115/DETC2011-48261

Abstract

View Articletitled, A Spatial Spring-Loaded Cable-Loop-Driven Parallel Mechanism

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Topics: Cables , Parallel mechanisms , Springs , Actuators , Degrees of freedom , Displacement , Equilibrium (Physics) , Kinematics , Motors , Redundancy (Engineering)