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Proceedings Papers

Proceedings Volume Cover
ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
  • Design Engineering Division
  • Computers and Information in Engineering Division
ISBN:
978-0-7918-5181-4
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
Brent R. Bielefeldt, Darren J. Hartl, Ergun Akleman
IDETC-CIE 2018; V05BT07A001https://doi.org/10.1115/DETC2018-85225
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Topics: Compliant mechanisms , Optimization , Topology , Design , Density , Genetic algorithms
Design and Prototyping of a Shape-Changing Rigid-Body Human Foot in Gait
Tanner N. Rolfe, Andrew P. Murray, David H. Myszka
IDETC-CIE 2018; V05BT07A002https://doi.org/10.1115/DETC2018-85630
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Topics: Design , Shapes , Compliant mechanisms , Kinematics , Engineering prototypes , Geometry , Physiology , Prostheses , Robotics
Spiral Pulley Negative Stiffness Mechanism for Morphing Aircraft Actuation
Jiaying Zhang, Alexander D. Shaw, Amoozgar Mohammadreza, Michael I. Friswell, Benjamin K. S. Woods
IDETC-CIE 2018; V05BT07A003https://doi.org/10.1115/DETC2018-85640
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Topics: Aircraft , Pulleys , Stiffness , Energy conversion , Torque , Geometry , Kinematics , Springs , Cables , Tension
Reconfigurable Trusses of Nonlinear Morphing Elements
Chrysoula Aza, Alberto Pirrera, Mark Schenk
IDETC-CIE 2018; V05BT07A004https://doi.org/10.1115/DETC2018-85911
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Topics: Composite materials , Stiffness , Strips , Trusses (Building)
A Study on the Structural Suitability of Tensegrity Structures to Serve As Morphing Aircraft Wings
David H. Myszka, James J. Joo
IDETC-CIE 2018; V05BT07A005https://doi.org/10.1115/DETC2018-85945
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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
Brian J. Slaboch, Bradley W. Hobbs
IDETC-CIE 2018; V05BT07A006https://doi.org/10.1115/DETC2018-86005
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Topics: Topology , Classification , Geometry , Manufacturing , Medical devices
Design of Planar Shape-Morphing Mechanism Arrays Using Harmonic Mechanisms
Craig Lusk
IDETC-CIE 2018; V05BT07A007https://doi.org/10.1115/DETC2018-86086
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Topics: Design , Shapes , Degrees of freedom , Depth sounding , Engineering prototypes , Harmonic motion , Tiles
A Single Actuator Mechanism for Airfoil Shape Morphing
Andrew Ellis, Cong Zhu (John) Sun, Fengfeng (Jeff) Xi, Amin Moosavian
IDETC-CIE 2018; V05BT07A008https://doi.org/10.1115/DETC2018-86115
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Topics: Actuators , Airfoils , Shapes , Linkages , Design , Design methodology , NACA airfoils
A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms
Sreekalyan Patiballa, Kazuhiro Uchikata, Ramkumar Komanduri Ranganath, Girish Krishnan
IDETC-CIE 2018; V05BT07A009https://doi.org/10.1115/DETC2018-86375
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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
Chunsong Zhang, Xuheng Chai, Jian S. Dai
IDETC-CIE 2018; V05BT07A010https://doi.org/10.1115/DETC2018-85053
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Topics: Robots , Stability , Center of mass
Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation
Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
IDETC-CIE 2018; V05BT07A011https://doi.org/10.1115/DETC2018-85090
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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
Martin Fevre, Bill Goodwine, James P. Schmiedeler
IDETC-CIE 2018; V05BT07A012https://doi.org/10.1115/DETC2018-85200
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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
Etienne Picard, Stéphane Caro, Franck Plestan, Fabien Claveau
IDETC-CIE 2018; V05BT07A013https://doi.org/10.1115/DETC2018-85304
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Topics: Cables , Robots , Control equipment , Dynamometers , Torque , Design , Engines , Feedforward control , Motors , Robust control
Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators
Mark Charlet, Élodie Marcellini, Clément Gosselin
IDETC-CIE 2018; V05BT07A014https://doi.org/10.1115/DETC2018-85395
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Topics: Manipulators , Projectiles , Trajectories (Physics) , Robots , Interpolation , Polynomials
Adaptive Extended Jacobian Can Improve the Global Conditioning Index of Redundant Robots
Henrique Simas, Raffaele Di Gregorio
IDETC-CIE 2018; V05BT07A015https://doi.org/10.1115/DETC2018-85467
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Topics: Robots , Kinematics , Algorithms
Persistent Target Detection and Tracking by an Autonomous Swarm
John J. Gainer, Jr., Levi D. DeVries, Michael D. Kutzer
IDETC-CIE 2018; V05BT07A016https://doi.org/10.1115/DETC2018-85573
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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
Yusuke Fuke, Toshiki Hirogaki, Eiichi Aoyama, Akira Mishima
IDETC-CIE 2018; V05BT07A017https://doi.org/10.1115/DETC2018-85600
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Topics: Humanoid robots , Feedback , Robots , Acoustics , Deflection , Instrumentation , Stiffness , Vibration
Sliding Mode Set Point Control of a Six-DOF Cable-Suspended Parallel Robot With Tension Constraints and Uncertain Disturbances
Ping Ren, Yunlong Sun
IDETC-CIE 2018; V05BT07A018https://doi.org/10.1115/DETC2018-85742
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Topics: Cables , Robots , Tension , Control equipment , Algebra , Computer simulation , Design
Development of Active Magnetic Bearing System Using Adaptive Feedforward Cancellation for Compensation and Analysis of External Forces in Rotating Machinery
Shota Yabui, Tsuyoshi Inoue
IDETC-CIE 2018; V05BT07A019https://doi.org/10.1115/DETC2018-85754
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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
Kaveh Kamali, Ahmed Joubair, Ilian A. Bonev
IDETC-CIE 2018; V05BT07A020https://doi.org/10.1115/DETC2018-85905
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Topics: Cables , Robots , Optimization , Polynomials
Dynamic Modeling of a Quadruped With a Robotic Tail Using Virtual Work Principle
Yujiong Liu, Pinhas Ben-Tzvi
IDETC-CIE 2018; V05BT07A021https://doi.org/10.1115/DETC2018-86048
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Topics: Dynamic modeling , Robotics , Virtual work principle , Dynamics (Mechanics) , Computer simulation , Dynamic models , Modeling , Pendulums
Operational Space Formulation Under Joint Constraints
Juan D. Muñoz Osorio, Mario D. Fiore, Felix Allmendinger
IDETC-CIE 2018; V05BT07A022https://doi.org/10.1115/DETC2018-86058
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Topics: Algorithms , Kinetic energy , Manipulators , Robots , Simulation , Torque , Trajectories (Physics)
Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations
Carlos Gonzalez, Carlotta Mummolo, Joo H. Kim
IDETC-CIE 2018; V05BT07A023https://doi.org/10.1115/DETC2018-86063
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Topics: Torque , Stability , Actuators , Design , Motors , Muscle , Optimization , Pendulums , Robots
Optimal and Dynamically Feasible Path Planning for an Anguilliform Fish-Inspired Robot in Presence of Obstacles
Santhosh Kumar Thati, Aditi Raj, Atul Thakur
IDETC-CIE 2018; V05BT07A024https://doi.org/10.1115/DETC2018-86120
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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
Tahir Rasheed, Philip Long, David Marquez-Gamez, Stéphane Caro
IDETC-CIE 2018; V05BT07A025https://doi.org/10.1115/DETC2018-86182
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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
Jan J. de Jong, J. P. Meijaard, Volkert van der Wijk
IDETC-CIE 2018; V05BT07A026https://doi.org/10.1115/DETC2018-86189
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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
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Topics: Cycles , Machinery , Robots , Trajectories (Physics) , Artificial neural networks , Kinematics , Multilayer perceptron , Simulation , Time series
Data Driven Virtual Fixtures for Improved Shared Control
Andrew Sharp, Mitch Pryor
IDETC-CIE 2018; V05BT07A028https://doi.org/10.1115/DETC2018-86209
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Topics: Computer-aided design , Hardware , Inspection , Pipelines , Radiation (Physics) , Radioactive wastes , Robotics , Shapes , Shared control
Robot Evidence Based Search for a Dynamic User in an Indoor Environment
Shayne Lin, Goldie Nejat
IDETC-CIE 2018; V05BT07A029https://doi.org/10.1115/DETC2018-86295
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Topics: Robots , Probability

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
Jordan M. Longval, Clément Gosselin
IDETC-CIE 2018; V05BT07A030https://doi.org/10.1115/DETC2018-85138
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Topics: Cables , Design , Robots , Trajectories (Physics) , Algebra , Actuators , Dynamic models , End effectors , Kinematics , Oscillations
Design of Constant-Force Mechanisms Based on Straight-Line Linkages
Hsin-Ting Huang, Chin-Hsing Kuo
IDETC-CIE 2018; V05BT07A031https://doi.org/10.1115/DETC2018-85241
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Topics: Design , Linkages , Springs , Compression , End effectors
A Positively-Engaged Infinitely Variable Transmission Using Split Helical Gears
Ethan R. Brush, Carl A. Nelson
IDETC-CIE 2018; V05BT07A032https://doi.org/10.1115/DETC2018-85260
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Topics: Electric vehicles , Gears , Helical gears , Motors , Optimization , Robots , Torque , Vehicles
Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot
Nathan A. Jensen, Carl A. Nelson
IDETC-CIE 2018; V05BT07A033https://doi.org/10.1115/DETC2018-85261
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Topics: Actuators , Robots , Degrees of freedom , Engineering prototypes , Mechanical admittance , Parallel mechanisms
Cycloidal Geartrain In-Use Efficiency Study
Logan C. Farrell, James Holley, William Bluethmann, Marcia K. O’Malley
IDETC-CIE 2018; V05BT07A034https://doi.org/10.1115/DETC2018-85275
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Topics: Actuators , Cycles , Robotics , Simulation , Steady state , Testing , Torque
Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism
Dongsheng Zhang, Yundou Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao
IDETC-CIE 2018; V05BT07A035https://doi.org/10.1115/DETC2018-85280
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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
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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
Tatsuro Terakawa, Masaharu Komori, Yuya Morita
IDETC-CIE 2018; V05BT07A037https://doi.org/10.1115/DETC2018-85299
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Topics: Motors , Waves , Rotation , Gears , Actuators , Deformation , Engineering prototypes , Robots , Stiffness , Stress
Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism
Louis-Thomas Schreiber, Clément Gosselin
IDETC-CIE 2018; V05BT07A038https://doi.org/10.1115/DETC2018-85322
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Topics: Kinematics , Parallel mechanisms , Redundancy (Engineering) , Actuators , Degrees of freedom , Stress , Trajectories (Physics)
Improvement of the Balancing Accuracy in Gravity Compensators Based on the Inverted Slider Crank Mechanism
Vigen Arakelyan, Yang Zhang
IDETC-CIE 2018; V05BT07A039https://doi.org/10.1115/DETC2018-85361
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Topics: Gravity (Force) , Computer simulation , Errors , Springs
Part Monitoring and Quality Assessment of Conformal Additive Manufacturing Using Image Reconstruction
Michael D. Kutzer, Levi D. DeVries, Cooper D. Blas
IDETC-CIE 2018; V05BT07A040https://doi.org/10.1115/DETC2018-85370
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Topics: Additive manufacturing , Image reconstruction , Education , Geometry , Manufacturing , Modeling , Three-dimensional models
Design and Analysis of a Novel 6-URS Self-Reconfigurable All-Dimensional Walking Robot
Yanwen Li, Zhaoxu Qi, Pengfei Mao, Wenlong Sun, Juan Jiao, Weiguo Zhu
IDETC-CIE 2018; V05BT07A041https://doi.org/10.1115/DETC2018-85432
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Topics: Design , Robots , Degrees of freedom , Screws , Simulation , Trajectories (Physics)
Design and Analysis of a Cable-Driven Deployable Cylindrical Mechanism
Hang Xiao, Shengnan Lu, Xilun Ding
IDETC-CIE 2018; V05BT07A042https://doi.org/10.1115/DETC2018-85575
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Topics: Cables , Design , Construction , Engineering prototypes , Kinematics , Linkages , Pulleys , Shapes
Low-Cost Autonomous Underwater Vehicle (AUV) for Inspection of Water-Filled Tunnels During Operation
Almir Pidić, Egil Aasbøe, Jørgen Simensen Almankaas, Andreas Simskar Wulvik, Martin Steinert
IDETC-CIE 2018; V05BT07A043https://doi.org/10.1115/DETC2018-85592
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Topics: Inspection , Tunnels , Underwater vehicles , Water , Buoyancy , Flow (Dynamics) , Maintenance , Water supply , Water tunnels
Modelling of Continuous Contact-Based Skating Technique
Varan Gupta, Rohit Patel, Jitendra P. Khatait, I. N. Kar
IDETC-CIE 2018; V05BT07A044https://doi.org/10.1115/DETC2018-85598
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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
Elias Brassitos, Nader Jalili
IDETC-CIE 2018; V05BT07A045https://doi.org/10.1115/DETC2018-85647
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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
Marc Fabritius, Christoph Martin, Andreas Pott
IDETC-CIE 2018; V05BT07A046https://doi.org/10.1115/DETC2018-85961
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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
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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
Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, Stephen L. Canfield
IDETC-CIE 2018; V05BT07A048https://doi.org/10.1115/DETC2018-86093
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Topics: Kinematics , Manipulators , Artificial neural networks , Errors , Density , End effectors , Matlab , Robots , Testing , Trains
Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism
Jérôme Landuré, Clément Gosselin
IDETC-CIE 2018; V05BT07A049https://doi.org/10.1115/DETC2018-86122
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Topics: Kinematics , Modeling , Parallel mechanisms , Algorithms , Architecture , Jacobian matrices , Kinematic analysis
Vision-Based Hand Gesture Recognition With Deep Machine Learning for Visual Servoing
Abdulrahman Al-Shanoon, Haoxiang Lang, Ying Wang
IDETC-CIE 2018; V05BT07A050https://doi.org/10.1115/DETC2018-86186
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Topics: Machine learning , Robot motion , Artificial neural networks , End effectors , Feedforward control , Motion control , Robots , Sensors
Vibration Analysis of a Long Boom for a Farm Machine
Qianwei Zhang, Reza Fotouhi
IDETC-CIE 2018; V05BT07A051https://doi.org/10.1115/DETC2018-86188
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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
Biruk A. Gebre, Kishore Pochiraju
IDETC-CIE 2018; V05BT07A052https://doi.org/10.1115/DETC2018-86202
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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
Jeong H. Yoon, Dennis Hong
IDETC-CIE 2018; V05BT07A053https://doi.org/10.1115/DETC2018-86374
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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
Anis Darmohammadi, Hamid Reza Naeimi, Mahdi Agheli
IDETC-CIE 2018; V05BT07A054https://doi.org/10.1115/DETC2018-86400
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Topics: Actuators , Fibers , Robots , Screw threads , Thread , Computer software , Elastomers , Finite element analysis , Simulation results

Origami-Based Engineering Design

Origami-Based Design of Conceal-and-Reveal Systems
Bryce P. DeFigueiredo, Kyler A. Tolman, Erica Crampton, Nathan A. Pehrson, Spencer P. Magleby, Larry L. Howell
IDETC-CIE 2018; V05BT07A055https://doi.org/10.1115/DETC2018-85224
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Topics: Design , Complex systems , Engineering design
Three Approaches for Managing Stiffness in Origami-Inspired Mechanisms
Alden Yellowhorse, Larry L. Howell
IDETC-CIE 2018; V05BT07A056https://doi.org/10.1115/DETC2018-85450
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Topics: Origami-inspired design , Stiffness , Engineering systems and industry applications , Finite element analysis , Optimization
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
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Topics: Modeling , Textiles , Deformation , Shapes , Architecture , Dipoles (Electromagnetism) , Electrical conductivity , Mechanical structures , Radiation (Physics) , Waves
Controlling Origami Stability Profile Using Magnets
Hongbin Fang, Tse-Shao Chang, K. W. Wang
IDETC-CIE 2018; V05BT07A058https://doi.org/10.1115/DETC2018-85712
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Topics: Magnets , Stability , Metamaterials , Design , Potential energy , Engineering prototypes , Mechanical properties
Topology Optimization for Discovery of Auxetic Origami Structures
Andrew Gillman, Kazuko Fuchi, Alexander Cook, Alexander Pankonien, Philip R. Buskohl
IDETC-CIE 2018; V05BT07A059https://doi.org/10.1115/DETC2018-85732
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Topics: Optimization , Topology , Design , Bifurcation , Metamaterials , Modal analysis , Poisson ratio , Trusses (Building)
Folding a Rigid Flat Surface Around a Square Hub
Runping Xu, Xiao Zhang, Jiayao Ma, Yan Chen, Yue Cao, Zhong You
IDETC-CIE 2018; V05BT07A060https://doi.org/10.1115/DETC2018-85791
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Topics: Degrees of freedom , Membranes , Solar energy , Winding (process)
Using Multi-Stable Origami Mechanism for Peristaltic Gait Generation: A Case Study
Priyanka Bhovad, Suyi Li
IDETC-CIE 2018; V05BT07A061https://doi.org/10.1115/DETC2018-85932
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Topics: Actuators , Control equipment , Cycles , Deformation , Design , Robots , Stability , Switches
PALEO: Plastically Annealed Lamina Emergent Origami
Yves Klett
IDETC-CIE 2018; V05BT07A062https://doi.org/10.1115/DETC2018-85983
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Topics: Deformation , Mechanical admittance , Shapes
Design of Structures With Multiple Equilibrium Configurations
Yang Li, Sergio Pellegrino
IDETC-CIE 2018; V05BT07A063https://doi.org/10.1115/DETC2018-86157
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Topics: Design , Equilibrium (Physics) , Springs , Linkages , Rigid-body mechanisms
Compact Directional and Frictional Hinges for Flat Folding Applications
Patrick D. Shemenski, Brian P. Trease
IDETC-CIE 2018; V05BT07A064https://doi.org/10.1115/DETC2018-86225
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Topics: Hinges , Compliant mechanisms , Kinematics , Packing (Shipments) , Packings (Cushioning) , Robotics , Shapes , Springs
Energy Absorption of Origami Crash Box: Numerical Simulation and Theoretical Analysis
Mengyan Shi, Jiayao Ma, Yan Chen, Zhong You
IDETC-CIE 2018; V05BT07A065https://doi.org/10.1115/DETC2018-86261
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Topics: Absorption , Computer simulation , Theoretical analysis , Deformation , Design , Diamonds , Electromagnetic induction , Failure mechanisms
Design of Hinge-Line Geometry to Facilitate Non-Plastic Folding in Thin Metallic Origami-Inspired Devices
Miaomiao Zhang, Brian P. Trease
IDETC-CIE 2018; V05BT07A066https://doi.org/10.1115/DETC2018-86267
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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
Miao Zhang, Fufu Yang, Jiayao Ma, Yan Chen, Zhong You
IDETC-CIE 2018; V05BT07A067https://doi.org/10.1115/DETC2018-86312
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Topics: Design , Engineering systems and industry applications , Degrees of freedom , Kinematic analysis , Mechanical admittance
An Integrated Design and Simulation Environment for Rapid Prototyping of Laminate Robotic Mechanisms
Mohammad Sharifzadeh, Roozbeh Khodambashi, Daniel M. Aukes
IDETC-CIE 2018; V05BT07A068https://doi.org/10.1115/DETC2018-86359
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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
Kwun-Lon Ting, Kuan-Lun Hsu
IDETC-CIE 2018; V05BT07A069https://doi.org/10.1115/DETC2018-85030
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Topics: Computer simulation , Computer software , Computer-aided design , Linkages , Manufacturing , Mechanical admittance
A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF
Xianwen Kong, Andreas Müller
IDETC-CIE 2018; V05BT07A070https://doi.org/10.1115/DETC2018-85125
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Topics: Algebra , Construction , Degrees of freedom , Geometry , Kinematics , Mechanical admittance , Switches
Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method
Leila Notash, Derek McColl
IDETC-CIE 2018; V05BT07A071https://doi.org/10.1115/DETC2018-85300
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Topics: Cables , Robots , Elasticity , Manipulators , Tension , Density , Gravity (Force) , Manipulator design , Theorems (Mathematics)
Kinematic Analysis of Mechanisms Based on Parametric Polynomial System
Keisuke Arikawa
IDETC-CIE 2018; V05BT07A072https://doi.org/10.1115/DETC2018-85347
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Topics: Kinematic analysis , Polynomials , Kinematics , Algebra , Computation , Image segmentation , Linkages , Manufacturing
Analysis of the Spinning Motion and the Orientation Description Methods for 2-DOF RMs
Liu Kai, Yu Jingjun, Kong Xianwen
IDETC-CIE 2018; V05BT07A073https://doi.org/10.1115/DETC2018-85412
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Topics: Spin (Aerodynamics) , Spinning (Textile) , Degrees of freedom , Engineering prototypes , Equations of motion , Kinematics , Simulation
Matrix Analysis of Second-Order Kinematic Constraints of Single-Loop Linkages in Screw Coordinates
Liheng Wu, Andreas Müller, Jian S. Dai
IDETC-CIE 2018; V05BT07A074https://doi.org/10.1115/DETC2018-85433
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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
Andreas Müller
IDETC-CIE 2018; V05BT07A075https://doi.org/10.1115/DETC2018-85526
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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
Yi-Pei Shih, Bor-Tyng Sheen, Kun-Yu Wu, Jyh-Jone Lee
IDETC-CIE 2018; V05BT07A076https://doi.org/10.1115/DETC2018-85558
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Topics: Errors , Manufacturing , Gears , Machine tools , Mechanical drives , Robots , Torque
A Motion Synthesis Approach to Solving Alt-Burmester Problems by Exploiting Fourier Descriptor Relationship Between Path and Orientation Data
Shashank Sharma, Anurag Purwar, Q. Jeffrey Ge
IDETC-CIE 2018; V05BT07A077https://doi.org/10.1115/DETC2018-85567
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Topics: Algebra , Algorithms , Fittings , Linkages
A Machine Learning Approach to Kinematic Synthesis of Defect-Free Planar Four-Bar Linkages
Shrinath Deshpande, Anurag Purwar
IDETC-CIE 2018; V05BT07A078https://doi.org/10.1115/DETC2018-85578
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Topics: Kinematics , Linkages , Machine learning , Artificial neural networks , Databases , Optimization , Circuits , Conceptual design , Error functions , Errors
Recovering a Rotation Matrix From Three Direction Cosines
Mengdi Xu, Gregory S. Chirikjian
IDETC-CIE 2018; V05BT07A079https://doi.org/10.1115/DETC2018-85825
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Topics: Rotation , Jacobian matrices , Path planning
Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms
Jianzhong Ding, Shengnan Lu, Ting Da, Chunjie Wang, Gregory S. Chirikjian
IDETC-CIE 2018; V05BT07A080https://doi.org/10.1115/DETC2018-85849
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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
Sipu Ruan, Gregory S. Chirikjian, Jianzhong Ding
IDETC-CIE 2018; V05BT07A081https://doi.org/10.1115/DETC2018-85851
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Topics: Algebra , Collisions (Physics) , Containment , Kinematics , Manufacturing , Shapes
Rotations in a Non-Orthogonal Frame
Shengnan Lu, Xilun Ding, Gregory S. Chirikjian
IDETC-CIE 2018; V05BT07A082https://doi.org/10.1115/DETC2018-85862
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Topics: Conformational analysis , Crystals , Geometry , Polymers , Rotation
Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation
Bogdan Gherman, Iosif Birlescu, Paul Tucan, Calin Vaida, Adrian Pisla, Doina Pisla
IDETC-CIE 2018; V05BT07A083https://doi.org/10.1115/DETC2018-85872
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Topics: Modeling , Robotics , Simulation , Kinematics , Robots , Computer simulation , Knee
Geometric Design With Multiple Realizable Motion Directions in the Vicinity of a Planar Mechanism-Environment Contact
Nina Robson, Binyun Chen
IDETC-CIE 2018; V05BT07A084https://doi.org/10.1115/DETC2018-85952
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Topics: Design , Kinematics
Design of a Variable-Mobility Linkage Using the Bohemian Dome
P. C. López-Custodio, J. S. Dai
IDETC-CIE 2018; V05BT07A085https://doi.org/10.1115/DETC2018-86004
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Topics: Design , Domes (Structural elements) , Linkages , Mechanical admittance , Generators , Kinematic chains
Singularities of the Typical Collaborative Robot Arm
Mohammad H. FarzanehKaloorazi, Ilian A. Bonev
IDETC-CIE 2018; V05BT07A086https://doi.org/10.1115/DETC2018-86305
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Topics: Robots , Manipulators , End effectors , Jacobian matrices
Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell
Mohammad H. FarzanehKaloorazi, Ilian A. Bonev, Lionel Birglen
IDETC-CIE 2018; V05BT07A087https://doi.org/10.1115/DETC2018-86336
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Topics: Optimization , Robotics , Manipulators , Redundancy (Engineering) , Reactor protection systems
Curvature Theory on Contact and Transfer Characteristics of Enveloping Curves
Kwun-Lon Ting, Cody Leeheng Chan
IDETC-CIE 2018; V05BT07A088https://doi.org/10.1115/DETC2018-86378
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Topics: Cylinders , Geometry , Kinematics , Trajectories (Physics)
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