Proceedings Papers

Topics: Biological tissues , Bits (Tools) , Brain , Centrifugal force , Damage , Drilling , Drills (Tools) , Emergencies , Emergency management , Fluids

Compliant Mechanisms for Robotic Ankles

Thomas G. Sugar, Matthew Holgate

IDETC-CIE 2013; V06AT07A002https://doi.org/10.1115/DETC2013-12167

Abstract

View Articletitled, Compliant Mechanisms for Robotic Ankles

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Topics: Compliant mechanisms , Robotics , Tendons , Actuators

Haptic Device With Spherical MR-Brake for Wrist Rehabilitation

Michele Antolini, Orhun Köse, Hakan Gurocak

IDETC-CIE 2013; V06AT07A003https://doi.org/10.1115/DETC2013-12272

Abstract

View Articletitled, Haptic Device With Spherical MR-Brake for Wrist Rehabilitation

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Topics: Brakes , Haptics , Actuators , Patient treatment , Linkages , Motors , Computers , Degrees of freedom , Design , Rotation

On the Design of a Portable Force Illusion Device for Navigation Aids

Jacobus W. M. Wever, Clement Gosselin, Just L. Herder

IDETC-CIE 2013; V06AT07A004https://doi.org/10.1115/DETC2013-12374

Abstract

View Articletitled, On the Design of a Portable Force Illusion Device for Navigation Aids

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Topics: Design , Navigation , Engineering prototypes , Engines , Gravity (Force) , Haptics , Kinematics , Mechatronic devices , Motors , Shapes

A Computational Framework for Predicting the Motions of a Protein System From a Robot Kinematics Viewpoint

Keisuke Arikawa

IDETC-CIE 2013; V06AT07A005https://doi.org/10.1115/DETC2013-12527

Abstract

View Articletitled, A Computational Framework for Predicting the Motions of a Protein System From a Robot Kinematics Viewpoint

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Topics: Proteins , Robot kinematics , Compliance , Computation , Springs , Algorithms , Chain , Computer software , Kinematics , Manipulators

An Improved Free Energy Formulation and Implementation for Kinetostatic Protein Folding Simulation

Pouya Tavousi, Morad Behandish, Kazem Kazerounian, Horea T. Ilieş

IDETC-CIE 2013; V06AT07A006https://doi.org/10.1115/DETC2013-12671

Abstract

View Articletitled, An Improved Free Energy Formulation and Implementation for Kinetostatic Protein Folding Simulation

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Topics: Proteins , Simulation , Atoms , Algorithms , Biology , Molecular dynamics , Vacuum , Van der Waals forces

Critical Timescales for Burrowing in Undersea Substrates via Localized Fluidization, Demonstrated by RoboClam: A Robot Inspired by Atlantic Razor Clams

Amos G. Winter, V, Robin L. H. Deits, Daniel S. Dorsch

IDETC-CIE 2013; V06AT07A007https://doi.org/10.1115/DETC2013-12798

Abstract

View Articletitled, Critical Timescales for Burrowing in Undersea Substrates via Localized Fluidization, Demonstrated by RoboClam: A Robot Inspired by Atlantic Razor Clams

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Topics: Atlantic Ocean , Fluidization , Robots , Soil , Kinematics , Density , Engineers , Genetic algorithms , Shells , Testing

Dimensional Optimization of a Two-Arm Robot for Single-Site Surgery Operations

Christophe Drouin, Abolfazl Pourghodrat, Sylvain Miossec, Gérard Poisson, Carl A. Nelson

IDETC-CIE 2013; V06AT07A008https://doi.org/10.1115/DETC2013-12918

Abstract

View Articletitled, Dimensional Optimization of a Two-Arm Robot for Single-Site Surgery Operations

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Topics: Optimization , Robots , Surgery , Instrumentation , Cavities , Collisions (Physics) , Design , Robotics , Weight (Mass)

Soft Pneumatic Artificial Muscles With Low Threshold Pressures for a Cardiac Compression Device

Steven C. Obiajulu, Ellen T. Roche, Frank A. Pigula, Conor J. Walsh

IDETC-CIE 2013; V06AT07A009https://doi.org/10.1115/DETC2013-13004

Abstract

View Articletitled, Soft Pneumatic Artificial Muscles With Low Threshold Pressures for a Cardiac Compression Device

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Topics: Compression , Muscle , Actuators , Design , Elastomers , Braid (Textile) , Damage , Failure , Fittings , Geometry

Novel Instant Vacuum Biopsy Needle System

Andrew Barnett, Patrick W. McLaughlin, Haojun Zheng, Jason Z. Moore

IDETC-CIE 2013; V06AT07A010https://doi.org/10.1115/DETC2013-13028

Abstract

View Articletitled, Novel Instant Vacuum Biopsy Needle System

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Topics: Needles , Vacuum , Cutting , Failure , Gages , Kidney , Pneumatic cylinders

Microsurgical Devices by Pop-Up Book MEMS

Joshua B. Gafford, Samuel B. Kesner, Robert J. Wood, Conor J. Walsh

IDETC-CIE 2013; V06AT07A011https://doi.org/10.1115/DETC2013-13086

Abstract

View Articletitled, Microsurgical Devices by Pop-Up Book MEMS

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Topics: Microelectromechanical systems , Grippers , Manufacturing , Hinges , Adhesives , Laminates , Stress , Weight (Mass) , Cables , Electrical components

An MRI Coil-Mounted Multi-Probe Robotic Positioner for Cryoablation

Faye Y. Wu, Meysam Torabi, Atsushi Yamada, Alex Golden, Gregory S. Fischer, Kemal Tuncali, Dan D. Frey, Conor Walsh

IDETC-CIE 2013; V06AT07A012https://doi.org/10.1115/DETC2013-13132

Abstract

View Articletitled, An MRI Coil-Mounted Multi-Probe Robotic Positioner for Cryoablation

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Topics: Magnetic resonance imaging , Probes , Robotics , Actuators , Errors , Imaging , Needles , Railroad passenger cars , Cables , Computer software

Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

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

IDETC-CIE 2013; V06AT07A013https://doi.org/10.1115/DETC2013-13161

Abstract

View Articletitled, Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

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Topics: Robots , Surgery , Robotics , Cavities , End effectors , Feedback , Biological tissues , Degrees of freedom , Ergonomics , Haptics

Avian-Inspired Grasping for Quadrotor Micro UAVs

Justin Thomas, Joe Polin, Koushil Sreenath, Vijay Kumar

IDETC-CIE 2013; V06AT07A014https://doi.org/10.1115/DETC2013-13289

Abstract

View Articletitled, Avian-Inspired Grasping for Quadrotor Micro UAVs

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Topics: Grasping , Unmanned aerial vehicles , Design , Dynamic models , Stress , Transportation systems , Water

Analysis of a Low Effort Rectilinear Gait for a Snake-Inspired Robot

James K. Hopkins, Satyandra K. Gupta

IDETC-CIE 2013; V06AT07A015https://doi.org/10.1115/DETC2013-13294

Abstract

View Articletitled, Analysis of a Low Effort Rectilinear Gait for a Snake-Inspired Robot

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Topics: Robots , Waves , Displacement , Biomimetics , Friction , Robotics , Space , Traction

Control of Hand Prostheses: A Literature Review

Aimee Cloutier, James Yang

IDETC-CIE 2013; V06AT07A016https://doi.org/10.1115/DETC2013-13349

Abstract

View Articletitled, Control of Hand Prostheses: A Literature Review

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Topics: Prostheses , Artificial limbs , Feedback , Electromyography , Signals , Design , Nervous system , Degrees of freedom , Muscle

Compliant Mechanisms and Micro/Nano Mechanisms (A. Midha Symposium)

Preliminary Investigations Into the Design and Manufacturing of Fully Compliant Layered Mechanisms (FCLMs)

John A. Mirth

IDETC-CIE 2013; V06AT07A017https://doi.org/10.1115/DETC2013-12124

Abstract

View Articletitled, Preliminary Investigations Into the Design and Manufacturing of Fully Compliant Layered Mechanisms (FCLMs)

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Topics: Design , Manufacturing , Additive manufacturing , Compliant mechanisms , Geometry , Brittleness , Linkages , Rapid prototyping , Stability , Structural reinforcement

Non-Dimensional Kinetoelastostatic Maps for Compliant Mechanisms

Santosh D. B. Bhargav, Harish I. Varma, G. K. Ananthasuresh

IDETC-CIE 2013; V06AT07A018https://doi.org/10.1115/DETC2013-12178

Abstract

View Articletitled, Non-Dimensional Kinetoelastostatic Maps for Compliant Mechanisms

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Topics: Compliant mechanisms , Shapes , Topology , Stress , Cross section (Physics) , Design , Displacement , Finite element analysis , Geometry

Composite and Multi-Scale Compliant Mechanisms for Manipulation and Mechanical Characterization

Santosh D. B. Bhargav, Gaurav Singh, G. K. Ananthasuresh

IDETC-CIE 2013; V06AT07A019https://doi.org/10.1115/DETC2013-12179

Abstract

View Articletitled, Composite and Multi-Scale Compliant Mechanisms for Manipulation and Mechanical Characterization

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Topics: Compliant mechanisms , Composite materials , Stiffness , Cements (Adhesives) , Grippers , Biological cells , Design , Engineering prototypes , Failure , Levers

Design of Large-Range XY Compliant Parallel Manipulators Based on Parasitic Motion Compensation

Guangbo Hao, Qiaoling Meng, Yangmin Li

IDETC-CIE 2013; V06AT07A020https://doi.org/10.1115/DETC2013-12206

Abstract

View Articletitled, Design of Large-Range XY Compliant Parallel Manipulators Based on Parasitic Motion Compensation

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Topics: Design , Manipulators , Motion compensation , Bending (Stress) , Finite element analysis , Stiffness , Actuators , Dimensions , Dynamics (Mechanics) , Kinematics

Granular Jamming With Hydraulic Control

Allen Jiang, Tomaso Aste, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara

IDETC-CIE 2013; V06AT07A021https://doi.org/10.1115/DETC2013-12213

Abstract

View Articletitled, Granular Jamming With Hydraulic Control

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Topics: Compressibility , Hydraulic control , Incompressible fluids , Mechanical admittance , Particulate matter , Pressure , Robotics , Robots , Stiffness , Vacuum

The Uncertainty Elimination in Discrete Topology Optimization of Compliant Mechanisms

Hong Zhou, Satya Raviteja Kandala

IDETC-CIE 2013; V06AT07A022https://doi.org/10.1115/DETC2013-12273

Abstract

View Articletitled, The Uncertainty Elimination in Discrete Topology Optimization of Compliant Mechanisms

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

Design and Optimization of a Bend-and-Sweep Compliant Mechanism

Yashwanth Tummala, Mary Frecker, Aimy Wissa, James E. Hubbard, Jr.

IDETC-CIE 2013; V06AT07A023https://doi.org/10.1115/DETC2013-12338

Abstract

View Articletitled, Design and Optimization of a Bend-and-Sweep Compliant Mechanism

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Topics: Compliant mechanisms , Design , Optimization , Wings , Stiffness , Wing spars , Biomimetics , Defense industry , Degrees of freedom , Flight

Symmetry Design in Flexure Systems Using Kinematic Principles

Jingjun Yu, Shouzhong Li, Shusheng Bi, Guanghua Zong

IDETC-CIE 2013; V06AT07A024https://doi.org/10.1115/DETC2013-12385

Abstract

View Articletitled, Symmetry Design in Flexure Systems Using Kinematic Principles

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Topics: Bending (Stress) , Design , Kinematics , Symmetry (Physics) , Degrees of freedom , Flexure mechanisms , Geometry , Mechanical admittance , Screws

Hinge-Free Compliant Mechanism Design via the Topological Level-Set

Krishnan Suresh

IDETC-CIE 2013; V06AT07A025https://doi.org/10.1115/DETC2013-12443

Abstract

View Articletitled, Hinge-Free Compliant Mechanism Design via the Topological Level-Set

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Topics: Compliant mechanisms , Design , Hinges , Optimization , Finite element analysis , Stiffness , Topology

Analyzing and Designing Serial Flexure Elements

Jonathan B. Hopkins

IDETC-CIE 2013; V06AT07A026https://doi.org/10.1115/DETC2013-12473

Abstract

View Articletitled, Analyzing and Designing Serial Flexure Elements

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Topics: Bending (Stress) , Design

Design of Isotropic Accelerometer Strapdowns for Rigid-Body Pose-and-Twist Estimation

Ting Zou, Jorge Angeles

IDETC-CIE 2013; V06AT07A027https://doi.org/10.1115/DETC2013-12496

Abstract

View Articletitled, Design of Isotropic Accelerometer Strapdowns for Rigid-Body Pose-and-Twist Estimation

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Topics: Accelerometers , Algorithms , Design , Isotropy

Using Rigid-Body Mechanism Topologies to Design Shape-Changing Compliant Mechanisms

Kai Zhao, James P. Schmiedeler

IDETC-CIE 2013; V06AT07A028https://doi.org/10.1115/DETC2013-12576

Abstract

View Articletitled, Using Rigid-Body Mechanism Topologies to Design Shape-Changing Compliant Mechanisms

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Topics: Compliant mechanisms , Design , Rigid-body mechanisms , Shapes , Topology , Dimensions , Actuators , Deformation , Degrees of freedom , Finite element analysis

Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms

Justin Beroz, Shorya Awtar, A. John Hart

IDETC-CIE 2013; V06AT07A029https://doi.org/10.1115/DETC2013-12582

Abstract

View Articletitled, Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms

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Topics: Compliant mechanisms , Kinematics , Trajectories (Physics) , Stress , Polynomials , Topology , Design , Errors , Deformation , Finite element analysis

An Investigation Into the Effects of Curved Beam Elements on the Out-of-Plane Stiffness Profile in a Compliant Large-Displacement Finger

Valerie Y. Goemans, Just L. Herder, Mary I. Frecker

IDETC-CIE 2013; V06AT07A030https://doi.org/10.1115/DETC2013-12623

Abstract

View Articletitled, An Investigation Into the Effects of Curved Beam Elements on the Out-of-Plane Stiffness Profile in a Compliant Large-Displacement Finger

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Topics: Displacement , Stiffness , Compliant mechanisms , Optimization , Tradeoffs , Design , Genetic algorithms , Shapes

Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators

Joshua Bishop-Moser, Girish Krishnan, Sridhar Kota

IDETC-CIE 2013; V06AT07A031https://doi.org/10.1115/DETC2013-12657

Abstract

View Articletitled, Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators

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Topics: Actuators , Displacement , Fibers , Fluids , Kinematics , Design , Power density , Robots , Shapes , Stiffness

Type Synthesis of 3-DOF Translational Compliant Parallel Mechanisms

Cong Yue, Hai-Jun Su, Xianwen Kong

IDETC-CIE 2013; V06AT07A032https://doi.org/10.1115/DETC2013-12718

Abstract

View Articletitled, Type Synthesis of 3-DOF Translational Compliant Parallel Mechanisms

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Topics: Parallel mechanisms , Bending (Stress) , Screws , Chain , Conceptual design , Deformation , Degrees of freedom , Design , Finite element analysis , Machinery

A Strength Based Approach for the Synthesis of a Compliant Nonlinear Spring for an Orthotic Knee Brace

Girish Krishnan, Ryan Rank, John Rokosz, Phil Carvey, Sridhar Kota

IDETC-CIE 2013; V06AT07A033https://doi.org/10.1115/DETC2013-12727

Abstract

View Articletitled, A Strength Based Approach for the Synthesis of a Compliant Nonlinear Spring for an Orthotic Knee Brace

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Topics: Bracing (Construction) , Knee , Orthotics , Springs , Compliant mechanisms , Design , Energy storage , Absorption , Blocks (Building materials) , Cycles

Deflection of an Eccentric Tooth of a Comb Drive in an Electrostatic Field

J. P. Meijaard, B. Krijnen, D. M. Brouwer

IDETC-CIE 2013; V06AT07A034https://doi.org/10.1115/DETC2013-12956

Abstract

View Articletitled, Deflection of an Eccentric Tooth of a Comb Drive in an Electrostatic Field

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Topics: Deflection , Displacement , Shapes , Bifurcation

The Design of a Fully Compliant Statically Balanced Mechanism

Ezekiel G. Merriam, Mark Colton, Spencer Magleby, Larry L. Howell

IDETC-CIE 2013; V06AT07A035https://doi.org/10.1115/DETC2013-13142

Abstract

View Articletitled, The Design of a Fully Compliant Statically Balanced Mechanism

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Topics: Compliant mechanisms , Deflection , Degrees of freedom , Design , Haptics , Manufacturing , Optimization , Testing

Modeling and Optimization of a Miniature Elastomeric Compliant Mechanism Using a 3-Spring Pseudo Rigid Body Model

Dana Vogtmann, Satyandra K. Gupta, Sarah Bergbreiter

IDETC-CIE 2013; V06AT07A036https://doi.org/10.1115/DETC2013-13537

Abstract

View Articletitled, Modeling and Optimization of a Miniature Elastomeric Compliant Mechanism Using a 3-Spring Pseudo Rigid Body Model

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Topics: Compliant mechanisms , Engines , Errors , Finite element analysis , Geometry , Modeling , Motors , Optimization , Robotics , Robots

Mechanism Analysis and Synthesis

Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Locations

Pierre Larochelle

IDETC-CIE 2013; V06AT07A037https://doi.org/10.1115/DETC2013-12021

Abstract

View Articletitled, Synthesis of Planar Mechanisms for Pick and Place Tasks With Guiding Locations

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Topics: Algebra , Algorithms , Chain , Construction , Geometry , Kinematic chains , Kinematics , Optimization algorithms

Planar Linkage Synthesis for Rigid Body Guidance Using Poles and Rotation Angles

Ronald A. Zimmerman, II

IDETC-CIE 2013; V06AT07A038https://doi.org/10.1115/DETC2013-12036

Abstract

View Articletitled, Planar Linkage Synthesis for Rigid Body Guidance Using Poles and Rotation Angles

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Topics: Linkages , Poles (Building) , Rotation

Pole-Axis Based Singularity Analysis of Spherical Mechanisms

Raffaele Di Gregorio

IDETC-CIE 2013; V06AT07A039https://doi.org/10.1115/DETC2013-12060

Abstract

View Articletitled, Pole-Axis Based Singularity Analysis of Spherical Mechanisms

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Topics: Poles (Building)

Link-Based Performance Optimization of Spatial Mechanisms

Yimesker Yihun, Ken Bosworth, Alba Perez-Gracia

IDETC-CIE 2013; V06AT07A040https://doi.org/10.1115/DETC2013-12081

Abstract

View Articletitled, Link-Based Performance Optimization of Spatial Mechanisms

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Topics: Optimization , Kinematics , Design , Dimensions , Linkages , Algorithms , Friction , Genetic algorithms , Stress

Study on a New Kind of 6-Degree of Freedom Parallel Earthquake Simulator

Chunxiang Ma, Miaoqi Zheng, Xu Huang, Jun He, Jie Chen, Feng Gao

IDETC-CIE 2013; V06AT07A041https://doi.org/10.1115/DETC2013-12282

Abstract

View Articletitled, Study on a New Kind of 6-Degree of Freedom Parallel Earthquake Simulator

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Topics: Earthquakes , Kinematics

Type Synthesis of 2-DOF Rotational Parallel Manipulators With an Equal-Diameter Spherical Pure Rolling Motion

Kang Wu, Jingjun Yu, Guanghua Zong, Xianwen Kong

IDETC-CIE 2013; V06AT07A042https://doi.org/10.1115/DETC2013-12305

Abstract

View Articletitled, Type Synthesis of 2-DOF Rotational Parallel Manipulators With an Equal-Diameter Spherical Pure Rolling Motion

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Topics: Manipulators , Architecture , Geometry , Mechanical admittance , Robots , Symmetry (Physics)

Topological Synthesis and Integrated Kinematic-Structural Dimensional Optimization of a Ten-Bar Linkage for a Hydraulic Rescue Spreader

Thomas Sullivan, James D. Van de Ven

IDETC-CIE 2013; V06AT07A043https://doi.org/10.1115/DETC2013-12327

Abstract

View Articletitled, Topological Synthesis and Integrated Kinematic-Structural Dimensional Optimization of a Ten-Bar Linkage for a Hydraulic Rescue Spreader

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Topics: Kinematics , Linkages , Optimization , Dimensions , Emergency response , Rotation , Vehicles

On the Force Capabilities of Two-Degree-of-Freedom Planar Parallel Mechanisms Equipped With Torque Limiters

Wei Chen, Clément Gosselin

IDETC-CIE 2013; V06AT07A044https://doi.org/10.1115/DETC2013-12379

Abstract

View Articletitled, On the Force Capabilities of Two-Degree-of-Freedom Planar Parallel Mechanisms Equipped With Torque Limiters

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Topics: Parallel mechanisms , Torque , Robots , Safety , Design , End effectors , Jacobian matrices , Architecture

Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne

IDETC-CIE 2013; V06AT07A045https://doi.org/10.1115/DETC2013-12462

Abstract

View Articletitled, Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints

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Topics: Parallel mechanisms , Rotation , Universal joints , Screws , Degrees of freedom , Jacobian matrices , Mechanical admittance , Topology , Torsion

An Algebraic and Computational Strategy for Structure Decomposition of Variable Topology Mechanisms

Chin-Hsing Kuo, Lung-Yu Chang

IDETC-CIE 2013; V06AT07A046https://doi.org/10.1115/DETC2013-12510

Abstract

View Articletitled, An Algebraic and Computational Strategy for Structure Decomposition of Variable Topology Mechanisms

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Topics: Algebra , Topology , Computation , Sawing , Steel , Structural analysis

Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators

Xianwen Kong, Damien Chablat, Stéphane Caro, Jingjun Yu, Clément Gosselin

IDETC-CIE 2013; V06AT07A047https://doi.org/10.1115/DETC2013-12575

Abstract

View Articletitled, Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators

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Topics: Chain , Manipulators , Redundant manipulators , Kinematics , Degrees of freedom , Generators , Parallel mechanisms , Screws

Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains

Andrew Johnson, Xianwen Kong

IDETC-CIE 2013; V06AT07A048https://doi.org/10.1115/DETC2013-12586

Abstract

View Articletitled, Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains

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Topics: Chain , Computer software , Computer-aided design , Manipulators , Robots , End effectors , Engineering prototypes , Kinematics , Three-dimensional computer-aided design

Kinetostatic Design-Refinement of Articulated Knee Braces

Seung-kook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi

IDETC-CIE 2013; V06AT07A049https://doi.org/10.1115/DETC2013-12716

Abstract

View Articletitled, Kinetostatic Design-Refinement of Articulated Knee Braces

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Topics: Bracing (Construction) , Design , Knee , Performance , Springs , Dampers , Dimensions , Exoskeleton devices , Kinematics , Sports

Synthesis of a Stephenson II Function Generator for Eight Precision Positions

Mark M. Plecnik, J. Michael McCarthy

IDETC-CIE 2013; V06AT07A050https://doi.org/10.1115/DETC2013-12763

Abstract

View Articletitled, Synthesis of a Stephenson II Function Generator for Eight Precision Positions

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Topics: Generators , Linkages

Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

Gim Song Soh, Fangtian Ying

IDETC-CIE 2013; V06AT07A051https://doi.org/10.1115/DETC2013-12799

Abstract

View Articletitled, Dimensional Synthesis of Planar Eight-Bar Linkages Based on a Parallel Robot With a Prismatic Base Joint

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Topics: Linkages , Robots , Design , Wheelchairs , Chain , End effectors

Axodes Analysis of the Multi DOF Parallel Mechanisms and Parasitic Motion

Ziming Chen, Huafeng Ding, Wenao Cao, Zhen Huang

IDETC-CIE 2013; V06AT07A052https://doi.org/10.1115/DETC2013-12838

Abstract

View Articletitled, Axodes Analysis of the Multi DOF Parallel Mechanisms and Parasitic Motion

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Topics: Parallel mechanisms , Screws , Degrees of freedom , Jacobian matrices

Generation of Planar Kinematic Chains With One Multiple Joint

Huafeng Ding, Weijuan Yang, Peng Huang, Li Ma, Andrés Kecskeméthy

IDETC-CIE 2013; V06AT07A053https://doi.org/10.1115/DETC2013-12915

Abstract

View Articletitled, Generation of Planar Kinematic Chains With One Multiple Joint

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Topics: Kinematic chains , String

Four-Bar Linkage Synthesis for a Combination of Motion and Path-Point Generation

Yuxuan Tong, David H. Myszka, Andrew P. Murray

IDETC-CIE 2013; V06AT07A054https://doi.org/10.1115/DETC2013-12969

Abstract

View Articletitled, Four-Bar Linkage Synthesis for a Combination of Motion and Path-Point Generation

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Topics: Linkages , Manufacturing , Computer programming , Design , Kinematic chains , Numerical analysis

A Task Driven Approach to Unified Synthesis of Planar Four-Bar Linkages Using Algebraic Fitting of a Pencil of G-Manifolds

Q. J. Ge, Ping Zhao, Anurag Purwar

IDETC-CIE 2013; V06AT07A055https://doi.org/10.1115/DETC2013-12977

Abstract

View Articletitled, A Task Driven Approach to Unified Synthesis of Planar Four-Bar Linkages Using Algebraic Fitting of a Pencil of G-Manifolds

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Topics: Algebra , Fittings , Linkages , Manifolds , Algorithms , Approximation , Dimensions

Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory

Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger

IDETC-CIE 2013; V06AT07A056https://doi.org/10.1115/DETC2013-13037

Abstract

View Articletitled, Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory

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Topics: Design , Trajectories (Physics) , Optimization , Manipulators , Cascades (Fluid dynamics) , Cycles , Degrees of freedom , Engineering prototypes , Kinematics

Use of the Jacobian to Verify Smooth Movement in Watt I and Stephenson I Six-Bar Linkages

Brian E. Parrish, J. Michael McCarthy

IDETC-CIE 2013; V06AT07A057https://doi.org/10.1115/DETC2013-13051

Abstract

View Articletitled, Use of the Jacobian to Verify Smooth Movement in Watt I and Stephenson I Six-Bar Linkages

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Topics: Jacobian matrices , Linkages , Algorithms , Circuits

Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

Semaan Amine, Latifah Nurahmi, Philippe Wenger, Stéphane Caro

IDETC-CIE 2013; V06AT07A058https://doi.org/10.1115/DETC2013-13084

Abstract

View Articletitled, Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

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Topics: Conceptual design , Generators , Manipulators , Manufacturing , Architecture , Geometry , Kinematics , Screws

A Cable-Driven Grasping Mechanism With Lock/Unlock Constraints

Soroush Abyaneh, Omid Saber, Hassan Zohoor

IDETC-CIE 2013; V06AT07A059https://doi.org/10.1115/DETC2013-13109

Abstract

View Articletitled, A Cable-Driven Grasping Mechanism With Lock/Unlock Constraints

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Topics: Cables , Grasping , Locks (Waterways)

Planar, Higher Variable Joints for Reconfigurable Mechanisms

Brian J. Slaboch, Philip A. Voglewede

IDETC-CIE 2013; V06AT07A060https://doi.org/10.1115/DETC2013-13120

Abstract

View Articletitled, Planar, Higher Variable Joints for Reconfigurable Mechanisms

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Topics: Geometry , Topology

Task Driven Unified Synthesis of Planar Four-Bar and Six-Bar Linkages With Revolute and Prismatic Joints for Five Position Synthesis

Ping Zhao, Anurag Purwar, Q. J. Ge

IDETC-CIE 2013; V06AT07A061https://doi.org/10.1115/DETC2013-13168

Abstract

View Articletitled, Task Driven Unified Synthesis of Planar Four-Bar and Six-Bar Linkages With Revolute and Prismatic Joints for Five Position Synthesis

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Topics: Linkages , Algorithms , End effectors

A Task Driven Approach to the Synthesis of Spherical 4R Linkages Using Algebraic Fitting Method

Ping Zhao, Xiangyun Li, Anurag Purwar, Kartik Thakkar, Q. J. Ge

IDETC-CIE 2013; V06AT07A062https://doi.org/10.1115/DETC2013-13179

Abstract

View Articletitled, A Task Driven Approach to the Synthesis of Spherical 4R Linkages Using Algebraic Fitting Method

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Topics: Algebra , Fittings , Linkages , Approximation , Kinematics , Manifolds

Using the Singularity Trace to Understand Linkage Motion Characteristics

Lin Li, David H. Myszka, Andrew P. Murray, Charles W. Wampler

IDETC-CIE 2013; V06AT07A063https://doi.org/10.1115/DETC2013-13244

Abstract

View Articletitled, Using the Singularity Trace to Understand Linkage Motion Characteristics

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Topics: Linkages , Design , Construction

Computer Aided Design of Useful Spherical Watt I Six-Bar Linkages

Kaustubh H. Sonawale, Alex Arredondo, J. Michael McCarthy

IDETC-CIE 2013; V06AT07A064https://doi.org/10.1115/DETC2013-13454

Abstract

View Articletitled, Computer Aided Design of Useful Spherical Watt I Six-Bar Linkages

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Topics: Computer-aided design , Linkages , Chain , Computer software , Design , Kinematics , Topology

Mobile Robots and Cable-Driven Systems

Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully-Specified Paths With G¹ Discontinuities

Eric Barnett, Clément Gosselin

IDETC-CIE 2013; V06AT07A065https://doi.org/10.1115/DETC2013-12108

Abstract

View Articletitled, Time-Optimal Trajectory Planning of Cable-Driven Parallel Mechanisms for Fully-Specified Paths With <em>G</em><sup>1</sup> Discontinuities

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Topics: Cables , Parallel mechanisms , Trajectories (Physics) , Manufacturing , Robotics , Robots , Tension

Stiffness Matrix Evaluation for a Dual-Reeved Tensile Truss

Jerry Xiong, Michael P. Hennessey

IDETC-CIE 2013; V06AT07A066https://doi.org/10.1115/DETC2013-12140

Abstract

View Articletitled, Stiffness Matrix Evaluation for a Dual-Reeved Tensile Truss

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Topics: Stiffness , Trusses (Building) , Cables , Kinematics , Robotics , Robots

Implementation of SSM to Lateral Guided Steering Vehicle With Body Fixed High-Speed Camera

Yoshihiro Takita, Date Hisashi

IDETC-CIE 2013; V06AT07A067https://doi.org/10.1115/DETC2013-12142

Abstract

View Articletitled, Implementation of SSM to Lateral Guided Steering Vehicle With Body Fixed High-Speed Camera

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Topics: Vehicles , Wheels , Sensors , Servomechanisms , Simulation results , Stability , Trucks

Indices and Computational Strategy for Unmanned Ground Wheeled Vehicle Mobility Estimation and Enhancement

Jeremy P. Gray, Vladimir V. Vantsevich, Jim L. Overholt

IDETC-CIE 2013; V06AT07A068https://doi.org/10.1115/DETC2013-12158

Abstract

View Articletitled, Indices and Computational Strategy for Unmanned Ground Wheeled Vehicle Mobility Estimation and Enhancement

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Topics: Mechanical admittance , Vehicles , Army , Stability , Torque , Traction

Methodology to Identify and Analyze Optimal Cable Configurations in the Design of Cable-Driven Serial Manipulators

Joshua T. Bryson, Sunil K. Agrawal

IDETC-CIE 2013; V06AT07A069https://doi.org/10.1115/DETC2013-12261

Abstract

View Articletitled, Methodology to Identify and Analyze Optimal Cable Configurations in the Design of Cable-Driven Serial Manipulators

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Topics: Cables , Design , Manipulators , Robots , Kinematics

Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

Aliakbar Alamdari, Xiaobo Zhou, Venkat N. Krovi

IDETC-CIE 2013; V06AT07A070https://doi.org/10.1115/DETC2013-12401

Abstract

View Articletitled, Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

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Topics: Kinematics , Modeling analysis , Vehicles , Redundancy (Engineering) , Wheels , Chain , Robustness , Shapes , Stability , Surface roughness

Workspace Analysis of a Cable-Suspended Robot With Active/Passive Cables

Omid Saber, Hassan Zohoor

IDETC-CIE 2013; V06AT07A071https://doi.org/10.1115/DETC2013-12646

Abstract

View Articletitled, Workspace Analysis of a Cable-Suspended Robot With Active/Passive Cables

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Topics: Cables , Particle swarm optimization , Robots

Wrench Reconfigurability via Attachment Point Design in Mobile Cable Robots

Xiaobo Zhou, Seung-kook Jun, Venkat Krovi

IDETC-CIE 2013; V06AT07A072https://doi.org/10.1115/DETC2013-13091

Abstract

View Articletitled, Wrench Reconfigurability via Attachment Point Design in Mobile Cable Robots

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Topics: Cables , Design , Robots , Tension , Mechanical admittance , Optimization , Pulleys , Redundancy (Engineering) , Shapes , Simulation

Towards the Design of a Fully Actuated Invertible Flying Quadrotor MAV

Andreas Gelardos, David J. Cappelleri

IDETC-CIE 2013; V06AT07A073https://doi.org/10.1115/DETC2013-13277

Abstract

View Articletitled, Towards the Design of a Fully Actuated Invertible Flying Quadrotor MAV

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Topics: Design , Weight (Mass) , Aircraft , Design engineering , Dynamic models , Engineering prototypes , Engineering simulation , Flight , Manufacturing , Mechanical drives

Design and Fabrication of an Arm Exoskeleton for Aim Stabilization

Daniel M. Baechle, Eric D. Wetzel, Sunil K. Agrawal

IDETC-CIE 2013; V06AT07A074https://doi.org/10.1115/DETC2013-13371

Abstract

View Articletitled, Design and Fabrication of an Arm Exoskeleton for Aim Stabilization

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Topics: Design , Exoskeleton devices , Manufacturing , Cables , Degrees of freedom , Algorithms , Carbon fibers , Composite materials , Firing , Motors