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Proceedings Papers
In This Volume
Volume 5B: 42nd Mechanisms and Robotics Conference
42nd Mechanisms and Robotics Conference
Morphing and Shape Adaptable Mechanisms
L-System-Generated Topology Optimization of Compliant Mechanisms Using Graph-Based Interpretation
IDETC-CIE 2018; V05BT07A001https://doi.org/10.1115/DETC2018-85225
Topics:
Compliant mechanisms
,
Optimization
,
Topology
,
Design
,
Density
,
Genetic algorithms
Design and Prototyping of a Shape-Changing Rigid-Body Human Foot in Gait
IDETC-CIE 2018; V05BT07A002https://doi.org/10.1115/DETC2018-85630
Topics:
Design
,
Shapes
,
Compliant mechanisms
,
Kinematics
,
Engineering prototypes
,
Geometry
,
Physiology
,
Prostheses
,
Robotics
Spiral Pulley Negative Stiffness Mechanism for Morphing Aircraft Actuation
IDETC-CIE 2018; V05BT07A003https://doi.org/10.1115/DETC2018-85640
Topics:
Aircraft
,
Pulleys
,
Stiffness
,
Energy conversion
,
Torque
,
Geometry
,
Kinematics
,
Springs
,
Cables
,
Tension
Reconfigurable Trusses of Nonlinear Morphing Elements
IDETC-CIE 2018; V05BT07A004https://doi.org/10.1115/DETC2018-85911
Topics:
Composite materials
,
Stiffness
,
Strips
,
Trusses (Building)
A Study on the Structural Suitability of Tensegrity Structures to Serve As Morphing Aircraft Wings
IDETC-CIE 2018; V05BT07A005https://doi.org/10.1115/DETC2018-85945
Topics:
Aircraft
,
Tensegrity structures
,
Wings
,
Tensegrity
,
Stiffness
,
Cables
,
Boundary-value problems
,
Compression
,
Equilibrium (Physics)
,
Flight
Novel Classification of Planar Four-Bar Mechanisms With Variable Topology
IDETC-CIE 2018; V05BT07A006https://doi.org/10.1115/DETC2018-86005
Topics:
Topology
,
Classification
,
Geometry
,
Manufacturing
,
Medical devices
Design of Planar Shape-Morphing Mechanism Arrays Using Harmonic Mechanisms
IDETC-CIE 2018; V05BT07A007https://doi.org/10.1115/DETC2018-86086
Topics:
Design
,
Shapes
,
Degrees of freedom
,
Depth sounding
,
Engineering prototypes
,
Harmonic motion
,
Tiles
A Single Actuator Mechanism for Airfoil Shape Morphing
IDETC-CIE 2018; V05BT07A008https://doi.org/10.1115/DETC2018-86115
Topics:
Actuators
,
Airfoils
,
Shapes
,
Linkages
,
Design
,
Design methodology
,
NACA airfoils
A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms
IDETC-CIE 2018; V05BT07A009https://doi.org/10.1115/DETC2018-86375
Topics:
Conceptual design
,
Shapes
,
Compliant mechanisms
,
Design
,
Dimensions
,
Stress
,
Engineering simulation
,
Finite element analysis
,
Flow (Dynamics)
,
Geometry
Motion Planning, Dynamics, and Control
Preventing Tumbling With a Twisting Trunk for the Quadruped Robot: Origaker I
IDETC-CIE 2018; V05BT07A010https://doi.org/10.1115/DETC2018-85053
Topics:
Robots
,
Stability
,
Center of mass
Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation
IDETC-CIE 2018; V05BT07A011https://doi.org/10.1115/DETC2018-85090
Topics:
Energy efficiency
,
Robots
,
Springs
,
Stiffness
,
Energy consumption
,
Motors
,
Variable structure systems
,
Actuators
,
Deflection
,
End effectors
Velocity Decomposition-Enhanced Control for Point and Curved-Foot Planar Bipeds Experiencing Velocity Disturbances
IDETC-CIE 2018; V05BT07A012https://doi.org/10.1115/DETC2018-85200
Topics:
Control equipment
,
Cycles
,
Degrees of freedom
,
Design
,
Dynamics (Mechanics)
,
Errors
,
Feedback
,
Robots
,
Simulation
,
Simulation results
Control Solution for a Cable-Driven Parallel Robot With Highly Variable Payload
IDETC-CIE 2018; V05BT07A013https://doi.org/10.1115/DETC2018-85304
Topics:
Cables
,
Robots
,
Control equipment
,
Dynamometers
,
Torque
,
Design
,
Engines
,
Feedforward control
,
Motors
,
Robust control
Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators
IDETC-CIE 2018; V05BT07A014https://doi.org/10.1115/DETC2018-85395
Topics:
Manipulators
,
Projectiles
,
Trajectories (Physics)
,
Robots
,
Interpolation
,
Polynomials
Adaptive Extended Jacobian Can Improve the Global Conditioning Index of Redundant Robots
IDETC-CIE 2018; V05BT07A015https://doi.org/10.1115/DETC2018-85467
Topics:
Robots
,
Kinematics
,
Algorithms
Persistent Target Detection and Tracking by an Autonomous Swarm
IDETC-CIE 2018; V05BT07A016https://doi.org/10.1115/DETC2018-85573
Topics:
Algorithms
,
Batteries
,
Control algorithms
,
Decision making
,
Design
,
Heat
,
Radioactive substances
,
Sensors
,
Teams
,
Testing
Investigation of Impact Hammering Task of Musical Saw With a Humanoid Robot for Industrial Automation
IDETC-CIE 2018; V05BT07A017https://doi.org/10.1115/DETC2018-85600
Topics:
Humanoid robots
,
Feedback
,
Robots
,
Acoustics
,
Deflection
,
Instrumentation
,
Stiffness
,
Vibration
Development of Active Magnetic Bearing System Using Adaptive Feedforward Cancellation for Compensation and Analysis of External Forces in Rotating Machinery
IDETC-CIE 2018; V05BT07A019https://doi.org/10.1115/DETC2018-85754
Topics:
Feedforward control
,
Machinery
,
Magnetic bearings
,
Dynamics (Mechanics)
,
Journal bearings
,
Rotors
Optimizing Cable Arrangement in Cable-Driven Parallel Robots to Improve the Range of Available Wrenches
IDETC-CIE 2018; V05BT07A020https://doi.org/10.1115/DETC2018-85905
Topics:
Cables
,
Robots
,
Optimization
,
Polynomials
Operational Space Formulation Under Joint Constraints
IDETC-CIE 2018; V05BT07A022https://doi.org/10.1115/DETC2018-86058
Topics:
Algorithms
,
Kinetic energy
,
Manipulators
,
Robots
,
Simulation
,
Torque
,
Trajectories (Physics)
Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles
IDETC-CIE 2018; V05BT07A024https://doi.org/10.1115/DETC2018-86120
Topics:
Path planning
,
Robots
,
Simulation
,
Collisions (Physics)
,
Computation
,
Dynamics (Mechanics)
,
Algorithms
,
Emergency management
,
Fluids
,
Inspection
Optimal Kinematic Redundancy Planning for Planar Mobile Cable-Driven Parallel Robots
IDETC-CIE 2018; V05BT07A025https://doi.org/10.1115/DETC2018-86182
Topics:
Cables
,
Kinematics
,
Redundancy (Engineering)
,
Robots
,
Degrees of freedom
,
Equilibrium (Physics)
The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame
IDETC-CIE 2018; V05BT07A026https://doi.org/10.1115/DETC2018-86189
Topics:
Manipulators
,
Robots
,
End effectors
,
Stress
,
Computer simulation
,
Design
,
Vibration
Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a 6 DOF Bipedal Robot in a Sagittal Plane
Jesús Franco-Robles, Alejandro De Lucio-Rangel, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Jesús Rivera-Guillén
IDETC-CIE 2018; V05BT07A027https://doi.org/10.1115/DETC2018-86206
Topics:
Cycles
,
Machinery
,
Robots
,
Trajectories (Physics)
,
Artificial neural networks
,
Kinematics
,
Multilayer perceptron
,
Simulation
,
Time series
Data Driven Virtual Fixtures for Improved Shared Control
IDETC-CIE 2018; V05BT07A028https://doi.org/10.1115/DETC2018-86209
Topics:
Computer-aided design
,
Hardware
,
Inspection
,
Pipelines
,
Radiation (Physics)
,
Radioactive wastes
,
Robotics
,
Shapes
,
Shared control
Novel Mechanisms, Robots, and Applications
Dynamic Trajectory Planning and Geometric Design of a Two-DOF Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop
IDETC-CIE 2018; V05BT07A030https://doi.org/10.1115/DETC2018-85138
Topics:
Cables
,
Design
,
Robots
,
Trajectories (Physics)
,
Algebra
,
Actuators
,
Dynamic models
,
End effectors
,
Kinematics
,
Oscillations
Design of Constant-Force Mechanisms Based on Straight-Line Linkages
IDETC-CIE 2018; V05BT07A031https://doi.org/10.1115/DETC2018-85241
Topics:
Design
,
Linkages
,
Springs
,
Compression
,
End effectors
A Positively-Engaged Infinitely Variable Transmission Using Split Helical Gears
IDETC-CIE 2018; V05BT07A032https://doi.org/10.1115/DETC2018-85260
Topics:
Electric vehicles
,
Gears
,
Helical gears
,
Motors
,
Optimization
,
Robots
,
Torque
,
Vehicles
Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot
IDETC-CIE 2018; V05BT07A033https://doi.org/10.1115/DETC2018-85261
Cycloidal Geartrain In-Use Efficiency Study
IDETC-CIE 2018; V05BT07A034https://doi.org/10.1115/DETC2018-85275
Topics:
Actuators
,
Cycles
,
Robotics
,
Simulation
,
Steady state
,
Testing
,
Torque
Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism
IDETC-CIE 2018; V05BT07A035https://doi.org/10.1115/DETC2018-85280
Topics:
Design engineering
,
Parallel mechanisms
,
Manipulators
,
Torque
,
Degrees of freedom
A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation
Audelia G. Dharmawan, Priti Xavier, David Anderson, K. Blake Perez, Hassan H. Hariri, Gim Song Soh, Avinash Baji, Roland Bouffanais, Shaohui Foong, Hong Yee Low, Kristin L. Wood
IDETC-CIE 2018; V05BT07A036https://doi.org/10.1115/DETC2018-85294
Topics:
Adhesives
,
Biomimetics
,
Design
,
Modeling
,
Robots
,
Engineering prototypes
,
Equilibrium (Physics)
,
Performance
,
Torque
,
Wheels
Motion Analysis and Experiments of Reducer-Integrated Motor Using Strain Wave Gearing System
IDETC-CIE 2018; V05BT07A037https://doi.org/10.1115/DETC2018-85299
Topics:
Motors
,
Waves
,
Rotation
,
Gears
,
Actuators
,
Deformation
,
Engineering prototypes
,
Robots
,
Stiffness
,
Stress
Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism
IDETC-CIE 2018; V05BT07A038https://doi.org/10.1115/DETC2018-85322
Design and Analysis of a Novel 6-URS Self-Reconfigurable All-Dimensional Walking Robot
IDETC-CIE 2018; V05BT07A041https://doi.org/10.1115/DETC2018-85432
Topics:
Design
,
Robots
,
Degrees of freedom
,
Screws
,
Simulation
,
Trajectories (Physics)
Design and Analysis of a Cable-Driven Deployable Cylindrical Mechanism
IDETC-CIE 2018; V05BT07A042https://doi.org/10.1115/DETC2018-85575
Topics:
Cables
,
Design
,
Construction
,
Engineering prototypes
,
Kinematics
,
Linkages
,
Pulleys
,
Shapes
Low-Cost Autonomous Underwater Vehicle (AUV) for Inspection of Water-Filled Tunnels During Operation
IDETC-CIE 2018; V05BT07A043https://doi.org/10.1115/DETC2018-85592
Topics:
Inspection
,
Tunnels
,
Underwater vehicles
,
Water
,
Buoyancy
,
Flow (Dynamics)
,
Maintenance
,
Water supply
,
Water tunnels
Modelling of Continuous Contact-Based Skating Technique
IDETC-CIE 2018; V05BT07A044https://doi.org/10.1115/DETC2018-85598
Topics:
Algorithms
,
Blades
,
Computer software
,
Degrees of freedom
,
Design
,
Equations of motion
,
Humanoid robots
,
Ice
,
Kinematics
,
Modeling
Identifying Stiffness, Friction, and Kinematic Error Signature in Gear Bearing Drive Transmissions
IDETC-CIE 2018; V05BT07A045https://doi.org/10.1115/DETC2018-85647
Topics:
Bearings
,
Errors
,
Friction
,
Gears
,
Kinematics
,
Stiffness
,
Dynamic models
,
Engines
,
Manufacturing
,
Motors
Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots
IDETC-CIE 2018; V05BT07A046https://doi.org/10.1115/DETC2018-85961
Topics:
Cables
,
Collisions (Physics)
,
Printing
,
Robots
,
Shapes
,
Cross section (Physics)
,
Additive manufacturing
,
Design
,
Manipulators
,
Risk
Development and Kinematic Position Analysis of a Novel Class 2 Tensegrity Robot
Carlos G. Manríquez-Padilla, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Carl D. Crane, III
IDETC-CIE 2018; V05BT07A047https://doi.org/10.1115/DETC2018-86057
Topics:
Kinematics
,
Robots
,
Tensegrity
,
Engineering prototypes
,
Kinematic analysis
,
Simulation
,
Trajectories (Physics)
,
Universal joints
Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist
IDETC-CIE 2018; V05BT07A048https://doi.org/10.1115/DETC2018-86093
Topics:
Kinematics
,
Manipulators
,
Artificial neural networks
,
Errors
,
Density
,
End effectors
,
Matlab
,
Robots
,
Testing
,
Trains
Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism
IDETC-CIE 2018; V05BT07A049https://doi.org/10.1115/DETC2018-86122
Topics:
Kinematics
,
Modeling
,
Parallel mechanisms
,
Algorithms
,
Architecture
,
Jacobian matrices
,
Kinematic analysis
Vibration Analysis of a Long Boom for a Farm Machine
IDETC-CIE 2018; V05BT07A051https://doi.org/10.1115/DETC2018-86188
Topics:
Machinery
,
Vibration analysis
,
Vehicles
,
Cantilevers
,
Data collection
,
Sensors
,
Vibration
Modeling and Machine Learning Aided Analysis of a Claw-Less Magnetically Coupled Ball-Drive Design
IDETC-CIE 2018; V05BT07A052https://doi.org/10.1115/DETC2018-86202
Topics:
Design
,
Machine learning
,
Modeling
,
Mechanical admittance
,
Wheels
,
Algorithms
,
Finite element analysis
,
Machinery
,
Principal component analysis
,
Testing
Design of a Novel Torsional Spring for the Next Generation Compliant Actuators
IDETC-CIE 2018; V05BT07A053https://doi.org/10.1115/DETC2018-86374
Topics:
Actuators
,
Design
,
Springs
,
Absorption
,
Energy storage
,
Force control
,
Humanoid robots
,
Prostheses
,
Seas
,
Shock (Mechanics)
Effect of Fiber Angle Variation on Bending Behavior of Semi-Cylindrical Fiber-Reinforced Soft Actuator
IDETC-CIE 2018; V05BT07A054https://doi.org/10.1115/DETC2018-86400
Topics:
Actuators
,
Fibers
,
Robots
,
Screw threads
,
Thread
,
Computer software
,
Elastomers
,
Finite element analysis
,
Simulation results
Origami-Based Engineering Design
Three Approaches for Managing Stiffness in Origami-Inspired Mechanisms
IDETC-CIE 2018; V05BT07A056https://doi.org/10.1115/DETC2018-85450
Multiphysics Modeling and Experimental Validation of Reconfigurable, E-Textile Origami Antennas
Hamil Shah, Abdullahi Inshaar, Chengzhe Zou, Shreyas Chaudhari, Saad Alharbi, Asimina Kiourti, Ryan L. Harne
IDETC-CIE 2018; V05BT07A057https://doi.org/10.1115/DETC2018-85603
Topics:
Modeling
,
Textiles
,
Deformation
,
Shapes
,
Architecture
,
Dipoles (Electromagnetism)
,
Electrical conductivity
,
Mechanical structures
,
Radiation (Physics)
,
Waves
Controlling Origami Stability Profile Using Magnets
IDETC-CIE 2018; V05BT07A058https://doi.org/10.1115/DETC2018-85712
Topics:
Magnets
,
Stability
,
Metamaterials
,
Design
,
Potential energy
,
Engineering prototypes
,
Mechanical properties
Topology Optimization for Discovery of Auxetic Origami Structures
IDETC-CIE 2018; V05BT07A059https://doi.org/10.1115/DETC2018-85732
Topics:
Optimization
,
Topology
,
Design
,
Bifurcation
,
Metamaterials
,
Modal analysis
,
Poisson ratio
,
Trusses (Building)
Folding a Rigid Flat Surface Around a Square Hub
IDETC-CIE 2018; V05BT07A060https://doi.org/10.1115/DETC2018-85791
Topics:
Degrees of freedom
,
Membranes
,
Solar energy
,
Winding (process)
Using Multi-Stable Origami Mechanism for Peristaltic Gait Generation: A Case Study
IDETC-CIE 2018; V05BT07A061https://doi.org/10.1115/DETC2018-85932
Topics:
Actuators
,
Control equipment
,
Cycles
,
Deformation
,
Design
,
Robots
,
Stability
,
Switches
Design of Structures With Multiple Equilibrium Configurations
IDETC-CIE 2018; V05BT07A063https://doi.org/10.1115/DETC2018-86157
Topics:
Design
,
Equilibrium (Physics)
,
Springs
,
Linkages
,
Rigid-body mechanisms
Compact Directional and Frictional Hinges for Flat Folding Applications
IDETC-CIE 2018; V05BT07A064https://doi.org/10.1115/DETC2018-86225
Topics:
Hinges
,
Compliant mechanisms
,
Kinematics
,
Packing (Shipments)
,
Packings (Cushioning)
,
Robotics
,
Shapes
,
Springs
Design of Hinge-Line Geometry to Facilitate Non-Plastic Folding in Thin Metallic Origami-Inspired Devices
IDETC-CIE 2018; V05BT07A066https://doi.org/10.1115/DETC2018-86267
Topics:
Design
,
Geometry
,
Hinges
,
Origami-inspired design
,
Membranes
,
Biocompatibility
,
Corrosion resistance
,
Deformation
,
Displacement
,
Electronics
Design of One-DOF Triangular Resch Pattern With Thick-Panel Origami
IDETC-CIE 2018; V05BT07A067https://doi.org/10.1115/DETC2018-86312
An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms
IDETC-CIE 2018; V05BT07A068https://doi.org/10.1115/DETC2018-86359
Topics:
Design
,
Laminates
,
Rapid prototyping
,
Robotics
,
Simulation
,
Robots
,
Computer software
,
Manufacturing
,
Engineering prototypes
,
Equations of motion
Theoretical and Computational Kinematics (A.T. Yang Symposium)
Over-Constrained Mechanisms Derived From RPRP Loops
IDETC-CIE 2018; V05BT07A069https://doi.org/10.1115/DETC2018-85030
Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method
IDETC-CIE 2018; V05BT07A071https://doi.org/10.1115/DETC2018-85300
Topics:
Cables
,
Robots
,
Elasticity
,
Manipulators
,
Tension
,
Density
,
Gravity (Force)
,
Manipulator design
,
Theorems (Mathematics)
Kinematic Analysis of Mechanisms Based on Parametric Polynomial System
IDETC-CIE 2018; V05BT07A072https://doi.org/10.1115/DETC2018-85347
Topics:
Kinematic analysis
,
Polynomials
,
Kinematics
,
Algebra
,
Computation
,
Image segmentation
,
Linkages
,
Manufacturing
Matrix Analysis of Second-Order Kinematic Constraints of Single-Loop Linkages in Screw Coordinates
IDETC-CIE 2018; V05BT07A074https://doi.org/10.1115/DETC2018-85433
Topics:
Kinematics
,
Linkages
,
Screws
,
Mechanical admittance
,
Algebra
,
Boiling
,
Computers
,
Dynamic analysis
,
Jacobian matrices
,
Stress
A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages
IDETC-CIE 2018; V05BT07A075https://doi.org/10.1115/DETC2018-85526
Topics:
Approximation
,
Geometry
,
Linkages
,
Screws
,
Jacobian matrices
,
Algebra
,
Boiling
,
Mechanical admittance
,
Polynomials
Transmission Errors and Backlash Analysis of a Single-Stage Cycloidal Drive Using Tooth Contact Analysis
IDETC-CIE 2018; V05BT07A076https://doi.org/10.1115/DETC2018-85558
Topics:
Errors
,
Manufacturing
,
Gears
,
Machine tools
,
Mechanical drives
,
Robots
,
Torque
A Machine Learning Approach to Kinematic Synthesis of Defect-Free Planar Four-Bar Linkages
IDETC-CIE 2018; V05BT07A078https://doi.org/10.1115/DETC2018-85578
Topics:
Kinematics
,
Linkages
,
Machine learning
,
Artificial neural networks
,
Databases
,
Optimization
,
Circuits
,
Conceptual design
,
Error functions
,
Errors
Recovering a Rotation Matrix From Three Direction Cosines
IDETC-CIE 2018; V05BT07A079https://doi.org/10.1115/DETC2018-85825
Topics:
Rotation
,
Jacobian matrices
,
Path planning
Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms
IDETC-CIE 2018; V05BT07A080https://doi.org/10.1115/DETC2018-85849
Topics:
Errors
,
Parallel mechanisms
,
Manipulators
,
Algebra
,
Clearances (Engineering)
,
Computation
,
Error analysis
,
Kinematics
,
Mechanical admittance
,
Modeling
Lower Bounds of the Allowable Motions of One N-Dimensional Ellipsoid Contained in Another
IDETC-CIE 2018; V05BT07A081https://doi.org/10.1115/DETC2018-85851
Topics:
Algebra
,
Collisions (Physics)
,
Containment
,
Kinematics
,
Manufacturing
,
Shapes
Rotations in a Non-Orthogonal Frame
IDETC-CIE 2018; V05BT07A082https://doi.org/10.1115/DETC2018-85862
Topics:
Conformational analysis
,
Crystals
,
Geometry
,
Polymers
,
Rotation
Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation
IDETC-CIE 2018; V05BT07A083https://doi.org/10.1115/DETC2018-85872
Topics:
Modeling
,
Robotics
,
Simulation
,
Kinematics
,
Robots
,
Computer simulation
,
Knee
Design of a Variable-Mobility Linkage Using the Bohemian Dome
IDETC-CIE 2018; V05BT07A085https://doi.org/10.1115/DETC2018-86004
Topics:
Design
,
Domes (Structural elements)
,
Linkages
,
Mechanical admittance
,
Generators
,
Kinematic chains
Singularities of the Typical Collaborative Robot Arm
IDETC-CIE 2018; V05BT07A086https://doi.org/10.1115/DETC2018-86305
Topics:
Robots
,
Manipulators
,
End effectors
,
Jacobian matrices
Curvature Theory on Contact and Transfer Characteristics of Enveloping Curves
IDETC-CIE 2018; V05BT07A088https://doi.org/10.1115/DETC2018-86378
Topics:
Cylinders
,
Geometry
,
Kinematics
,
Trajectories (Physics)
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