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Proceedings Papers

Modeling Elastic Cable-Surface Friction for Soft Robots

Christopher-Denny Matte, Tsz Ho Kwok
Proc. ASME. IDETC-CIE2024, Volume 2A: 44th Computers and Information in Engineering Conference (CIE), V02AT02A041, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-142130
https://doi.org/10.1115/DETC2024-142130
View Paper titled, Modeling Elastic Cable-Surface Friction for Soft Robots
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Topics: Cables, Friction, Modeling, Soft robots
Proceedings Papers

Modeling of a Reconfigurable Cable-Driven Parallel Robot Under Low Gravity

Han Wei (Kelvin) Ang, Carl A. Nelson
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A040, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143628
https://doi.org/10.1115/DETC2024-143628
View Paper titled, Modeling of a Reconfigurable Cable-Driven Parallel Robot Under Low Gravity
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Topics: Cables, Gravity (Force), Modeling, Robots
Proceedings Papers

A Continuously Variable Stiffness Mechanism for Tendon-Driven Robots Using Decoupled Stiffening Cables and Hertzian Contact Mechanics

Parsa Molaei, Terrilyn A. Legier, Hunter B. Gilbert
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A048, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143916
https://doi.org/10.1115/DETC2024-143916
View Paper titled, A Continuously Variable Stiffness Mechanism for Tendon-Driven Robots Using Decoupled Stiffening Cables and Hertzian Contact Mechanics
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Topics: Cables, Contact mechanics, Robots, Stiffness, Tendons, Displacement, Robotics, Screws, Tension
Proceedings Papers

Design and Control of a Prosthetic Wrist Mechanism

Jonas G. E. Epp, Madison K. Ours, Payton A. Chaplinski, Alexander H. Pesch
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A029, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143057
https://doi.org/10.1115/DETC2024-143057
View Paper titled, Design and Control of a Prosthetic Wrist Mechanism
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Topics: Artificial limbs, Design, Electromyography, Accidents, Cables, Classification, Motor controls, Muscle
Proceedings Papers

Trajectory Following Control of a Cable Driven Parallel Robot on Planes With Various Inclined Angles

Maitha AlQaydi, Ziqing Yu, Lei Jin, Ahmad AlAttar, Tarek Taha, Dongming Gan
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A028, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-146296
https://doi.org/10.1115/DETC2024-146296
View Paper titled, Trajectory Following Control of a Cable Driven Parallel Robot on Planes With Various Inclined Angles
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Topics: Cables, Gain scheduling, Robots, Trajectories (Physics), Control equipment, Engineering simulation, Simulation, Gravity (Force)
Proceedings Papers

Reducing Nonlinear Vortex-Induced Vibrations in Power Lines With Moving Nonlinear Absorbers

Ehab Basta, Sunit K. Gupta, Oumar R. Barry
Proc. ASME. IDETC-CIE2024, Volume 9: 20th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A020, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-146367
https://doi.org/10.1115/DETC2024-146367
View Paper titled, Reducing Nonlinear Vortex-Induced Vibrations in Power Lines With Moving Nonlinear Absorbers
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Topics: Distributed power generation, Transmission lines, Vortex-induced vibration, Dampers, Vibration, Vibration absorbers, Wind, Arches, Cables, Design
Proceedings Papers

Testing and Validation of a Mobile Damping Robot for Power Lines

Andrew Choi, Oumar Barry
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A003, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115071
https://doi.org/10.1115/DETC2023-115071
View Paper titled, Testing and Validation of a Mobile Damping Robot for Power Lines
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Topics: Damping, Mobile robots, Robots, Testing, Transmission lines, Vibration, Vibration control, Wind, Cables, Equations of motion
Proceedings Papers

An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Michele Angelini, Edoardo Ida', Daniele Bertin, Marco Carricato, Enrico Mantovani, Davide Bazzi, Vincenzo Orassi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A056, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110570
https://doi.org/10.1115/DETC2023-110570
View Paper titled, An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
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Topics: Cables, Robots
Proceedings Papers

Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot

Tahir Rasheed, Philip Long, Taskin Padir, Stéphane Caro
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A010, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116412
https://doi.org/10.1115/DETC2023-116412
View Paper titled, Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot
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Topics: Cables, Robots, Composite materials, Equilibrium (Physics), Gantry cranes, Simulation, Stability
Proceedings Papers

Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots

Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A013, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116640
https://doi.org/10.1115/DETC2023-116640
View Paper titled, Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots
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Topics: Algorithms, Cables, Robots, Sensitivity analysis, Tension
Proceedings Papers

Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces

Lei Jin, Boxiang Zhang, Maitha Alqaydi, Xiaoming Wang, Tarek Taha, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A008, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116327
https://doi.org/10.1115/DETC2023-116327
View Paper titled, Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces
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Topics: Cables, Modeling, Optimization, Robots, Tension
Proceedings Papers

Design of Detachable Winch System for Field-Deployable Cable Driven Parallel Robot

Arely Flores Guevara, Matthew Q. Marshall
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A078, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110562
https://doi.org/10.1115/DETC2023-110562
View Paper titled, Design of Detachable Winch System for Field-Deployable Cable Driven Parallel Robot
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Topics: Cables, Design, Robots
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89714
https://doi.org/10.1115/DETC2022-89714
View Paper titled, Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures
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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90595
https://doi.org/10.1115/DETC2022-90595
View Paper titled, A Modular Continuum Manipulator for Aerial Manipulation and Perching
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator

Shuai Li, Damiano Zanotto
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A034, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71797
https://doi.org/10.1115/DETC2021-71797
View Paper titled, Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator
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Topics: Reinforcement learning, Transportation systems, Unmanned aerial vehicles, Cables, Accounting, Collisions (Physics), Computer simulation, Degrees of freedom, Dynamic models, Dynamics (Mechanics)
Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69957
https://doi.org/10.1115/DETC2021-69957
View Paper titled, Trajectory Planning for a 3-S P S-U Tensegrity Mechanism
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Proceedings Papers

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A053, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71064
https://doi.org/10.1115/DETC2021-71064
View Paper titled, Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach
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Topics: Artificial neural networks, Cables, Kinematics, Robots, Algorithms, Equilibrium (Physics), Function approximation, Gravity (Force), Kinematic analysis, Optimization
Proceedings Papers

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger

Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Zongquan Deng
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A001, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67340
https://doi.org/10.1115/DETC2021-67340
View Paper titled, Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger
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Topics: Cables, Robotics, Engines, Motors, Pulleys, Tendons, Design, Equilibrium (Physics), Linkages, Simulation experiments
Proceedings Papers

Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton

Jiaxu Huang, Rand Hidayah, Sunil Agrawal, Jorge A. Diez, Nicolas García-Aracil
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A044, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69353
https://doi.org/10.1115/DETC2021-69353
View Paper titled, Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton
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Topics: Cables, Exoskeleton devices, Force sensors, Sensors, Calibration, Control equipment, Dynamic testing (Materials), Errors, Manufacturing, Robotics