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

Topics: Compliant mechanisms , Shape optimization , Design , Optimization , Shapes , Deformation , Degrees of freedom , Displacement , Kinematics , Stiffness

Deployable Euler Spiral Connectors (DESCs)

Collin Ynchausti, Spencer P. Magleby, Anton E. Bowden, Larry L. Howell

IDETC-CIE 2019; V05AT07A006https://doi.org/10.1115/DETC2019-97546

Abstract

View Articletitled, Deployable Euler Spiral Connectors (DESCs)

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Topics: Design

Programmable Logic Gates Based on Tunable Multistable Mechanisms

Mohamed Zanaty, Hubert Schneegans, Ilan Vardi, Simon Henein

IDETC-CIE 2019; V05AT07A007https://doi.org/10.1115/DETC2019-97647

Abstract

View Articletitled, Programmable Logic Gates Based on Tunable Multistable Mechanisms

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Topics: Blocks (Building materials) , Boundary-value problems , Finite element analysis , Gates (Closures) , Machinery , Stability

Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

Shuaishuai Lu, Peng Yan

IDETC-CIE 2019; V05AT07A008https://doi.org/10.1115/DETC2019-97690

Abstract

View Articletitled, Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

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Topics: Modeling , Springs , Temperature effects , Stress , Temperature , Finite element analysis , Bending (Stress) , Compliant mechanisms , Mechanical properties , Motion control

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

Nianfeng Wang, Fan Yue, Canran Li, Xianmin Zhang

IDETC-CIE 2019; V05AT07A009https://doi.org/10.1115/DETC2019-97758

Abstract

View Articletitled, Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

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Topics: Bending (Stress) , Optimization , Stress , Displacement , Stiffness , Design

An Improved Unified Solution for a Vibration Equation of Tension-Stiffening Beam Using Extended Rayleigh Energy Method

Zhijun Yang, Ruiqi Li, Youdun Bai

IDETC-CIE 2019; V05AT07A010https://doi.org/10.1115/DETC2019-97767

Abstract

View Articletitled, An Improved Unified Solution for a Vibration Equation of Tension-Stiffening Beam Using Extended Rayleigh Energy Method

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Topics: Tension , Vibration

A Novel Reconfigurable Wheel-Legged Mobile Mechanism

Hongchuan Zhang, Xianmin Zhang, Yanjiang Huang, Junjie Du, Benliang Zhu

IDETC-CIE 2019; V05AT07A011https://doi.org/10.1115/DETC2019-97785

Abstract

View Articletitled, A Novel Reconfigurable Wheel-Legged Mobile Mechanism

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Topics: Wheels , Kinematics , Cables , Engineering prototypes , Mobile robots , Potential energy , Robots , Rotation , Springs

Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study

Kristian Mauser, Jan Friese, Alexander Hasse

IDETC-CIE 2019; V05AT07A012https://doi.org/10.1115/DETC2019-97799

Abstract

View Articletitled, Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study

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Topics: Compliant mechanisms , Stiffness

Design of a Triad-Pod Kinematic Flexure Mount for a Primary Mirror in Space Telescope at Cryogenic Temperature

Tonglong Huo, Jingjun Yu, Hongzhe Zhao

IDETC-CIE 2019; V05AT07A013https://doi.org/10.1115/DETC2019-97812

Abstract

View Articletitled, Design of a Triad-Pod Kinematic Flexure Mount for a Primary Mirror in Space Telescope at Cryogenic Temperature

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Topics: Bending (Stress) , Design , Kinematics , Mirrors , Telescopes , Temperature , Rotation , Stiffness , Thermal stresses , Engineering simulation

Large-Stroke Constant-Force Mechanisms Utilizing Second Bending Mode of Flexible Beams: Evaluation Metrics and Design Approach

Fulei Ma, Guimin Chen, Haitian Wang

IDETC-CIE 2019; V05AT07A014https://doi.org/10.1115/DETC2019-97813

Abstract

View Articletitled, Large-Stroke Constant-Force Mechanisms Utilizing Second Bending Mode of Flexible Beams: Evaluation Metrics and Design Approach

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Topics: Design , Displacement , Engineering prototypes

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

Marcos B. Oliveira, Alexander Lurie, David Ewen, Philip Long, Taskin Padir, Samuel M. Felton

IDETC-CIE 2019; V05AT07A015https://doi.org/10.1115/DETC2019-97842

Abstract

View Articletitled, Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

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Topics: Actuators , Additive manufacturing , Casting , Manufacturing , Cutting , Damage , Deflection , Design , Exoskeleton devices , Grippers

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

Duanling Li, Kaijie Dong, Xingze Wang, Biao Li, Zhou Su

IDETC-CIE 2019; V05AT07A016https://doi.org/10.1115/DETC2019-97845

Abstract

View Articletitled, Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

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Topics: Design , Cables , Stiffness , Deformation , Friction , Theoretical analysis

Additive Manufacturing of a Bistable Mechanism Using Fused Deposition Modeling: Experimental and Theoretical Characterization

Mouna Ben Salem, Guillaume Aiche, Yassine Haddab, Lennart Rubbert, Pierre Renaud

IDETC-CIE 2019; V05AT07A017https://doi.org/10.1115/DETC2019-97872

Abstract

View Articletitled, Additive Manufacturing of a Bistable Mechanism Using Fused Deposition Modeling: Experimental and Theoretical Characterization

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Topics: Additive manufacturing , Modeling , Machinery , Manufacturing , Manufacturing technology , Stiffness

A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model (PRBM) Concept and the Degrees-of-Freedom Analysis

Sushrut G. Bapat, Pratheek Bagivalu Prasanna, Ashok Midha

IDETC-CIE 2019; V05AT07A018https://doi.org/10.1115/DETC2019-98497

Abstract

View Articletitled, A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model (PRBM) Concept and the Degrees-of-Freedom Analysis

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Topics: Compliant mechanisms , Degrees of freedom , Mode shapes , Boundary-value problems , Classical mechanics , Design , Displacement , Mathematical analysis , Potential energy , Stress

Stiffness Based Stability Enhancement in Human-Robot Collaboration

Sri Sadhan Jujjavarapu, Ehsan T. Esfahani

IDETC-CIE 2019; V05AT07A019https://doi.org/10.1115/DETC2019-98506

Abstract

View Articletitled, Stiffness Based Stability Enhancement in Human-Robot Collaboration

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Topics: Collaboration , Robots , Stability , Stiffness , Muscle , Mechanical admittance

Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators

Sree Kalyan Patiballa, Sreeshankar Satheeshbabu, Girish Krishnan

IDETC-CIE 2019; V05AT07A020https://doi.org/10.1115/DETC2019-98514

Abstract

View Articletitled, Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators

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Topics: Actuators , Compliant mechanisms , Design , Flow (Dynamics) , Stress , Kinematics , Topology , Biomimetics , Embedded systems , Engineering prototypes

Classification of Compliant Mechanisms and Determination of the Degrees of Freedom Using the Concepts of Compliance Number and Pseudo-Rigid-Body Model

Pratheek Bagivalu Prasanna, Ashok Midha, Sushrut G. Bapat

IDETC-CIE 2019; V05AT07A021https://doi.org/10.1115/DETC2019-98522

Abstract

View Articletitled, Classification of Compliant Mechanisms and Determination of the Degrees of Freedom Using the Concepts of Compliance Number and Pseudo-Rigid-Body Model

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Topics: Compliant mechanisms , Degrees of freedom , Kinematics

Mechanism Synthesis and Analysis

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang

IDETC-CIE 2019; V05AT07A022https://doi.org/10.1115/DETC2019-97007

Abstract

View Articletitled, Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

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Topics: Algorithms , Mechanical admittance , Parallel mechanisms , Computer software , Computer-aided engineering , Design , Dimensions , Kinematics , Optimization

Determining the Number of Distinct Solutions in Planar Mechanism Design

Lawrence Funke, Jonathan Raney, Cyler Caldwell

IDETC-CIE 2019; V05AT07A023https://doi.org/10.1115/DETC2019-97360

Abstract

View Articletitled, Determining the Number of Distinct Solutions in Planar Mechanism Design

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Topics: Design , Modal assurance criterion , Artificial neural networks , Self-organization

On the End-Point Deflection of Static Balanced Manipulators With Various Spring Configurations

Chi-Shiun Jhuang, Dar-Zen Chen

IDETC-CIE 2019; V05AT07A024https://doi.org/10.1115/DETC2019-97411

Abstract

View Articletitled, On the End-Point Deflection of Static Balanced Manipulators With Various Spring Configurations

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Topics: Deflection , Manipulators , Springs

Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes

P. C. López-Custodio, J. S. Dai, R. Fu, Y. Jin

IDETC-CIE 2019; V05AT07A025https://doi.org/10.1115/DETC2019-97423

Abstract

View Articletitled, Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes

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Topics: Accounting , Kinematic analysis , Robots , Kinematics , Constraint systems

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Swaminath Venkateswaran, Matthieu Furet, Damien Chablat, Philippe Wenger

IDETC-CIE 2019; V05AT07A026https://doi.org/10.1115/DETC2019-97544

Abstract

View Articletitled, Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

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Topics: Biomimetics , Design , Robots , Tensegrity mechanisms , Cables , Pipes , Inspection , End effectors , Junctions , Pipe bends

Kinematic Optimization of a 2-DOF U, 2PSS Parallel Wrist Device

Neil M. Bajaj, Aaron M. Dollar

IDETC-CIE 2019; V05AT07A027https://doi.org/10.1115/DETC2019-98108

Abstract

View Articletitled, Kinematic Optimization of a 2-DOF U, 2<span class="underline">P</span>SS Parallel Wrist Device

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Topics: Design , Kinematics , Optimization

A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

Saman Lessanibahri, Philippe Cardou, Stéphane Caro

IDETC-CIE 2019; V05AT07A028https://doi.org/10.1115/DETC2019-98146

Abstract

View Articletitled, A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

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Topics: Cables , Robots , Manipulators , Design , Inertia (Mechanics) , Motors , Rotation , Surveillance

Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

Shrinath Deshpande, Anurag Purwar

IDETC-CIE 2019; V05AT07A029https://doi.org/10.1115/DETC2019-98193

Abstract

View Articletitled, Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

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Topics: Creativity , Linkages , Machine learning , Kinematics , Computational methods , Design , Statistical distributions , Algorithms , Artificial neural networks , Bridges (Structures)

Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

Shashank Sharma, Anurag Purwar

IDETC-CIE 2019; V05AT07A030https://doi.org/10.1115/DETC2019-98194

Abstract

View Articletitled, Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

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Topics: Simulation

Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement

Xueao Liu, Jeffrey Glabe, Hongyu Wu, Chunjie Wang, J. Michael McCarthy

IDETC-CIE 2019; V05AT07A031https://doi.org/10.1115/DETC2019-98389

Abstract

View Articletitled, Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement

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Topics: Design , Linkages , Algorithms , Chain , Degrees of freedom , Rotation

Mechanism-Based Metamaterials

Designing Lightweight Tensegrity-Based Structures and Materials of Tailorable Thermal Expansion

Rochelle E. Silverman, Edwin A. Peraza Hernandez

IDETC-CIE 2019; V05AT07A032https://doi.org/10.1115/DETC2019-97304

Abstract

View Articletitled, Designing Lightweight Tensegrity-Based Structures and Materials of Tailorable Thermal Expansion

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Topics: Design , Tensegrity , Thermal expansion , Temperature , Aerospace engineering , Manufacturing , Shapes , Thermal stresses , Topology

Bi-Material Re-Entrant Triangle Structures Incorporating Tailorable Thermal Expansion and Tunable Poisson’s Ratio

He Xiaobing, Xie Yan, Yu Jingjun

IDETC-CIE 2019; V05AT07A033https://doi.org/10.1115/DETC2019-97686

Abstract

View Articletitled, Bi-Material Re-Entrant Triangle Structures Incorporating Tailorable Thermal Expansion and Tunable Poisson’s Ratio

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Topics: Poisson ratio , Thermal expansion

Medical and Rehabilitation Robots

Design of a Robotic Cannula for Robotic Lumber Discectomy

Yang Ding, Benjamin V. Johnson, David J. Cappelleri

IDETC-CIE 2019; V05AT07A034https://doi.org/10.1115/DETC2019-97365

Abstract

View Articletitled, Design of a Robotic Cannula for Robotic Lumber Discectomy

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Topics: Design , Discectomies , Lumber , Robotics , Instrumentation , Rotation , Surgery , Control equipment , Design engineering , Disks

Creating Robust Passive Multi-Loop Wearable Hand Devices

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh

IDETC-CIE 2019; V05AT07A035https://doi.org/10.1115/DETC2019-97623

Abstract

View Articletitled, Creating Robust Passive Multi-Loop Wearable Hand Devices

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Topics: Actuators , Chain , Conceptual design , Design , Dimensions , Engineering prototypes , Grasping , Kinematics , Mechanical admittance , Physiology

An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

Bo-Rong Yang, Yu-Cheng Zhang, Hee-Hyol Lee, Eiichiro Tanaka

IDETC-CIE 2019; V05AT07A036https://doi.org/10.1115/DETC2019-97796

Abstract

View Articletitled, An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

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Topics: Stairs , Trajectories (Physics) , Ultrasonic transducers , Roads , Safety , Simulation

Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster, Guilherme M. Cesar, Chase M. Pfeifer, Prithviraj Dasgupta

IDETC-CIE 2019; V05AT07A037https://doi.org/10.1115/DETC2019-98011

Abstract

View Articletitled, Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled

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Topics: Design , Kinematics , Robots , Spinal cord , Testing , Wounds

Time Invariant Motion Controller for Physical Human Robot Interaction

Juan D. Muñoz Osorio, Felipe Castañeda, Felix Allmendinger, Uwe E. Zimmermann

IDETC-CIE 2019; V05AT07A038https://doi.org/10.1115/DETC2019-98031

Abstract

View Articletitled, Time Invariant Motion Controller for Physical Human Robot Interaction

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Topics: Cancer , Control equipment , Human-robot interaction , Kinetic energy , Light water reactors , Manipulators , Robotics , Robots , Simulation , Torque

Upper Limb Rehabilitation and Mobility Assistance Using Robotic Devices: A Review

AmirHossein MajidiRad, Yimesker S. Yihun

IDETC-CIE 2019; V05AT07A039https://doi.org/10.1115/DETC2019-98063

Abstract

View Articletitled, Upper Limb Rehabilitation and Mobility Assistance Using Robotic Devices: A Review

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Topics: Biomedicine , Electroencephalography , Electromyography , Feedback , Haptics , Human-robot interaction , Mechanical admittance , Patient treatment , Performance , Physiology

Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery

Farid Tavakkolmoghaddam, Krishnanand Kaipa, Siqin Dong, Michel Audette, Tomaz Mesar, Eric C. Feliberti

IDETC-CIE 2019; V05AT07A040https://doi.org/10.1115/DETC2019-98134

Abstract

View Articletitled, Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery

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Topics: Design , Robots , Surgery , Cavities , Containment , Instrumentation

Machine Learning Driven Individualized Gait Rehabilitation: Classification, Prediction, and Mechanism Design

Amol Loya, Shrinath Deshpande, Anurag Purwar

IDETC-CIE 2019; V05AT07A041https://doi.org/10.1115/DETC2019-98434

Abstract

View Articletitled, Machine Learning Driven Individualized Gait Rehabilitation: Classification, Prediction, and Mechanism Design

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Topics: Design , Linkages , Machine learning

Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm

Georgia S. Patterson, Tyler D. Zell, David E. Parker, John Grieve, Samuel C. Watson, Vishesh Vikas

IDETC-CIE 2019; V05AT07A042https://doi.org/10.1115/DETC2019-98467

Abstract

View Articletitled, Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm

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Topics: Engines , Motors , Robotics , Tendons

Mobile Robotics

Kalman Filter Based Sensor Fusion for a Mobile Manipulator

Barnaba Ubezio, Shashank Sharma, Guglielmo Van der Meer, Michele Taragna

IDETC-CIE 2019; V05AT07A043https://doi.org/10.1115/DETC2019-97241

Abstract

View Articletitled, Kalman Filter Based Sensor Fusion for a Mobile Manipulator

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Topics: Kalman filters , Manipulators , Sensors , Algorithms , End effectors , Calibration , Filters , Microelectromechanical systems , Noise (Sound) , Robots

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

Benjamin Abruzzo, David Cappelleri, Philippos Mordohai

IDETC-CIE 2019; V05AT07A044https://doi.org/10.1115/DETC2019-97377

Abstract

View Articletitled, A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

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Topics: Robotics , Teams , Robots , Errors , Kalman filters , Mobile robots , Sensors , Simulation , Uncertainty , Unmanned aerial vehicles

Autonomous Door Opening With the Interacting-BoomCopter UAV

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri

IDETC-CIE 2019; V05AT07A045https://doi.org/10.1115/DETC2019-97397

Abstract

View Articletitled, Autonomous Door Opening With the Interacting-BoomCopter UAV

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Topics: Doors , Unmanned aerial vehicles , End effectors , Image processing , Design , Feedback , Flight , Sensors , Weight (Mass)

Study of a Biomimetic Energy-Efficient Thruster for Underwater Vehicles

Giacomo Palmieri, Massimo Callegari, Daniele Costa, Matteo-Claudio Palpacelli, David Scaradozzi

IDETC-CIE 2019; V05AT07A046https://doi.org/10.1115/DETC2019-97451

Abstract

View Articletitled, Study of a Biomimetic Energy-Efficient Thruster for Underwater Vehicles

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Topics: Biomimetics , Underwater vehicles , Design , Propulsion , Propulsion systems , Computational fluid dynamics , Design engineering , Energy efficiency , Kinematics , Mechanical drives

Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking

Shubhdildeep S. Sohal, Pinhas Ben-Tzvi

IDETC-CIE 2019; V05AT07A047https://doi.org/10.1115/DETC2019-97530

Abstract

View Articletitled, Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking

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Topics: Mobile robots , Robots , Manufacturing , Design , Failure , Image processing , Trajectories (Physics) , Uncertainty

Mobile Robot Obstacle Avoidance Based on Deep Reinforcement Learning

Shumin Feng, Hailin Ren, Xinran Wang, Pinhas Ben-Tzvi

IDETC-CIE 2019; V05AT07A048https://doi.org/10.1115/DETC2019-97536

Abstract

View Articletitled, Mobile Robot Obstacle Avoidance Based on Deep Reinforcement Learning

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Topics: Mobile robots

Actuated Dual-Slip Model of Planar Slope Walking

Raul Lema Galindo, Elise Weimholt, James P. Schmiedeler

IDETC-CIE 2019; V05AT07A049https://doi.org/10.1115/DETC2019-97601

Abstract

View Articletitled, Actuated Dual-Slip Model of Planar Slope Walking

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Topics: Exoskeleton devices , Humanoid robots , Optimization , Pendulums , Springs , Tradeoffs

Robotics Simulator for Development and Verification of Swarm Behaviors

Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. McDonald, Michael A. Neumann, Christopher A. Kitts

IDETC-CIE 2019; V05AT07A050https://doi.org/10.1115/DETC2019-97622

Abstract

View Articletitled, Robotics Simulator for Development and Verification of Swarm Behaviors

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Topics: Robotics , Simulation , Composite materials , Dynamics (Mechanics) , Navigation , Robots

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Matthew W. Powelson, Wesley A. Demirjian, Stephen L. Canfield

IDETC-CIE 2019; V05AT07A051https://doi.org/10.1115/DETC2019-98012

Abstract

View Articletitled, Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

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Topics: Adhesives , Robots , Design , Adhesion , Design methodology , Sensors , Surveillance , Suspension systems , Vehicles , Weight (Mass)

Design of an Underactuated Legged Robot With Prismatic Legs for Passive Adaptability to Terrain

Seonghoon Noh, Aaron Dollar

IDETC-CIE 2019; V05AT07A052https://doi.org/10.1115/DETC2019-98118

Abstract

View Articletitled, Design of an Underactuated Legged Robot With Prismatic Legs for Passive Adaptability to Terrain

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Topics: Design , Robots , Sensors , Computation , Geometry , Grasping , Trajectories (Physics)

Performance Comparison of Inertial Measurement Units Fused With Odometry in Extended Kalman Filter for Dead-Reckoning Navigation

Kevin Carey, Benjamin Abruzzo, David P. Harvie, Christopher Korpela

IDETC-CIE 2019; V05AT07A053https://doi.org/10.1115/DETC2019-98184

Abstract

View Articletitled, Performance Comparison of Inertial Measurement Units Fused With Odometry in Extended Kalman Filter for Dead-Reckoning Navigation

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Topics: Kalman filters , Measurement units and standards , Navigation , Vehicles , Errors , Robots

Motion Planning, Dynamics, and Control of Robots

An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots

Shivesh Kumar, Andreas Mueller

IDETC-CIE 2019; V05AT07A054https://doi.org/10.1115/DETC2019-97115

Abstract

View Articletitled, An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots

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Topics: Computer software , Dynamics (Mechanics) , Kinematics , Robots , Dynamic modeling , Design , Humanoid robots , Machinery , Parallel mechanisms , Robot dynamics

Quadrotor Singularity Free Modeling and Acrobatic Maneuvering

Haowen Liu, Bingen Yang

IDETC-CIE 2019; V05AT07A055https://doi.org/10.1115/DETC2019-97205

Abstract

View Articletitled, Quadrotor Singularity Free Modeling and Acrobatic Maneuvering

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Topics: Modeling , Unmanned aerial vehicles , Tracking control , Trajectories (Physics)

Sliding Mode Set-Point Control of a Three-DOF Cable-Suspended Parallel Robot With Uncertain Mass and Disturbances

Ping Ren, Xu Sheng

IDETC-CIE 2019; V05AT07A056https://doi.org/10.1115/DETC2019-97275

Abstract

View Articletitled, Sliding Mode Set-Point Control of a Three-DOF Cable-Suspended Parallel Robot With Uncertain Mass and Disturbances

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Topics: Cables , Robots , Control equipment , Computer simulation , End effectors , Parallel mechanisms , Tension , Uncertainty

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty

IDETC-CIE 2019; V05AT07A057https://doi.org/10.1115/DETC2019-97306

Abstract

View Articletitled, Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

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Topics: Design , Simulation , Robots , Shapes , Adhesion , Errors , Friction

The Design of Robust Phase Oscillator for Wearable Robotic Systems

Juan De La Fuente, Susheelkumar C. Subramanian, Prudhvi Tej Chinimilli, Sangram Redkar, Thomas Sugar

IDETC-CIE 2019; V05AT07A058https://doi.org/10.1115/DETC2019-97453

Abstract

View Articletitled, The Design of Robust Phase Oscillator for Wearable Robotic Systems

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Topics: Design , Robotics , Robots , Control equipment , Damping , Exoskeleton devices , Limit cycles , Noise (Sound) , Pendulums , Robustness

Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty

Po-Yu Chen, Kuei-Yuan Chan

IDETC-CIE 2019; V05AT07A059https://doi.org/10.1115/DETC2019-97503

Abstract

View Articletitled, Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty

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Topics: Manipulators , Manufacturing , Uncertainty , Errors , Robots , Flanges , Rotation , Simulation results , Testing

Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies

Erik Chumacero-Polanco, James Yang

IDETC-CIE 2019; V05AT07A060https://doi.org/10.1115/DETC2019-97511

Abstract

View Articletitled, Powered Ankle-Foot Prostheses: A Survey on Sensing Systems and Control Strategies

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Topics: Prostheses

Semi-Autonomous Teleoperation, Guidance, and Obstacle Avoidance With Path Adherence

Daniel Budolak, Raghuraj Chauhan, Pinhas Ben-Tzvi

IDETC-CIE 2019; V05AT07A061https://doi.org/10.1115/DETC2019-97529

Abstract

View Articletitled, Semi-Autonomous Teleoperation, Guidance, and Obstacle Avoidance With Path Adherence

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Topics: Path planning , Shared control , Trajectories (Physics)

Modelling and Evaluation of the Friction in Robotic Joints Considering Thermal Effects

Giovanni Legnani, Giovanni Incerti, Roberto Pagani, Matteo Gheza

IDETC-CIE 2019; V05AT07A062https://doi.org/10.1115/DETC2019-97545

Abstract

View Articletitled, Modelling and Evaluation of the Friction in Robotic Joints Considering Thermal Effects

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Topics: Friction , Modeling , Robotics , Temperature effects , Manipulators , Temperature , Cycles , Energy consumption , Polynomials , Robots

Playing a Musical Saw With a Humanoid Robot: Investigation for Industrial Automation

Akira Mishima, Yusuke Fuke, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama

IDETC-CIE 2019; V05AT07A063https://doi.org/10.1115/DETC2019-97731

Abstract

View Articletitled, Playing a Musical Saw With a Humanoid Robot: Investigation for Industrial Automation

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Topics: Feedback , Humanoid robots

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

Latifah Nurahmi, Dongming Gan

IDETC-CIE 2019; V05AT07A064https://doi.org/10.1115/DETC2019-97851

Abstract

View Articletitled, Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

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Topics: Dynamic analysis , Parallel mechanisms , Screws , Mechanical admittance , Rotation

Computing Robust Inverse Kinematics Under Uncertainty

Anirban Sinha, Nilanjan Chakraborty

IDETC-CIE 2019; V05AT07A065https://doi.org/10.1115/DETC2019-97945

Abstract

View Articletitled, Computing Robust Inverse Kinematics Under Uncertainty

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Topics: Kinematics , Uncertainty , Errors , Redundant manipulators , Robots , End effectors , Probability , Robot motion , Robotics , Simulation

Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

Benjamin E. Hargis, Benjamin F. Brandt, Stephen L. Canfield, Michael Tinker

IDETC-CIE 2019; V05AT07A066https://doi.org/10.1115/DETC2019-97952

Abstract

View Articletitled, Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

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Topics: Engineering prototypes , Modeling , Satellites , Design , Flight , Cable reels , Damping , Equations of motion , Robotics , String

Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso

Wankun Sirichotiyakul, Aykut C. Satici, Eric S. Sanchez, Pranav A. Bhounsule

IDETC-CIE 2019; V05AT07A067https://doi.org/10.1115/DETC2019-97955

Abstract

View Articletitled, Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso

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Topics: Wheels , Control equipment , Closed loop systems , Dynamics (Mechanics) , Energy dissipation , Modeling , Poincaré maps , Simulation , Steady state

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

Carlotta Mummolo, William Z. Peng, Joo H. Kim

IDETC-CIE 2019; V05AT07A068https://doi.org/10.1115/DETC2019-98036

Abstract

View Articletitled, Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

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Topics: Angular momentum , Center of mass , Control equipment , Dynamics (Mechanics) , Engines , Kinematics , Motors , Robotics , Robots , Stability

Online Trajectory Optimization for Legged Robotics Incorporating Vision for Dynamically Efficient and Safe Footstep Locations

Joshua R. Hooks, Min Sung Ahn, Dennis Hong

IDETC-CIE 2019; V05AT07A069https://doi.org/10.1115/DETC2019-98039

Abstract

View Articletitled, Online Trajectory Optimization for Legged Robotics Incorporating Vision for Dynamically Efficient and Safe Footstep Locations

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Topics: Optimization , Robotics , Trajectories (Physics) , Algorithms , Center of mass , Optimization algorithms , Robots , Simulation

Design, Modeling, and Optimization of a Hopping Robot Platform

Jacob W. Knaup, Daniel M. Aukes

IDETC-CIE 2019; V05AT07A070https://doi.org/10.1115/DETC2019-98109

Abstract

View Articletitled, Design, Modeling, and Optimization of a Hopping Robot Platform

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Topics: Design , Modeling , Optimization , Robots , Simulation , Clearances (Engineering) , Laminates , Damping , Dynamic models , Dynamics (Mechanics)