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Proceedings Papers

Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator

Ziqing Yu, Jiaming Fu, Bin Yao, George Chiu, Richard Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A058, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115235
https://doi.org/10.1115/DETC2023-115235
View Paper titled, Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
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Topics: Actuators, Dynamic modeling, Dynamic models, Gain scheduling, Robust control, Stiffness, Torque control, Control algorithms, Robots, Force control
Proceedings Papers

Comparisons of Dynamic Models of a Stacked Miura-Origami Structure Based on Different Modeling Techniques

Haiping Wu, Zuolin Liu, Hongbin Fang
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A008, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115277
https://doi.org/10.1115/DETC2023-115277
View Paper titled, Comparisons of Dynamic Models of a Stacked Miura-Origami Structure Based on Different Modeling Techniques
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Topics: Dynamic modeling, Dynamic models, Modeling, Excitation, Kinematics, Displacement, Dynamic response, Dynamics (Mechanics), Equilibrium (Physics), Origami-inspired design
Proceedings Papers

A Comparative Study of Surrogate Modeling of Nonlinear Dynamic Systems

Ying Zhao, Chen Jiang, Manuel A. Vega, Michael D. Todd, Zhen Hu
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A040, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90027
https://doi.org/10.1115/DETC2022-90027
View Paper titled, A Comparative Study of Surrogate Modeling of Nonlinear Dynamic Systems
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Topics: Metamodeling, Nonlinear dynamical systems, Artificial neural networks, Design, Dynamic models, Dynamic systems, Uncertainty
Proceedings Papers

Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections

Hai Zhou, Haiping Wu, Jian Xu, Hongbin Fang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A046, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71939
https://doi.org/10.1115/DETC2021-71939
View Paper titled, Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections
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Topics: Dynamic response, Dynamics (Mechanics), Stiffness, Computer simulation, Excitation, Design, Dynamic models, Metamaterials, Origami-inspired design, Steady state
Proceedings Papers

Finite Element Modeling of Geometrically Exact Shell With Large Deformation and Rotation

Jielong Wang
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A013, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68429
https://doi.org/10.1115/DETC2021-68429
View Paper titled, Finite Element Modeling of Geometrically Exact Shell With Large Deformation and Rotation
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Topics: Deformation, Finite element analysis, Modeling, Rotation, Shells, Algorithms, Computer simulation, Degrees of freedom, Dynamic models, Fibers
Proceedings Papers

Nonlinear Control of a Transient Inductrack System Using State Feedback

Ruiyang Wang, Bingen Yang
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A027, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69961
https://doi.org/10.1115/DETC2021-69961
View Paper titled, Nonlinear Control of a Transient Inductrack System Using State Feedback
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Topics: State feedback, Transients (Dynamics), Feedback, Design, Dynamic modeling, Control equipment, Couplings, Degrees of freedom, Dynamic models, Dynamic systems
Proceedings Papers

An Improved Dynamic Model of the Mecanum Wheel for Multibody Simulations

Peter Manzl, Johannes Gerstmayr
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A031, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70281
https://doi.org/10.1115/DETC2021-70281
View Paper titled, An Improved Dynamic Model of the Mecanum Wheel for Multibody Simulations
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Topics: Dynamic models, Engineering simulation, Simulation, Wheels, Rollers, Kinematics, Friction, Geometry, Mobile robots, Robotics
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

Design of Path Tracking Controller for Autonomous Vehicles Through Bias Learning of Vehicle Dynamic Models Under Environmental Uncertainty

Lichuan Ren, Zhimin Xi
Proc. ASME. IDETC-CIE2021, Volume 3B: 47th Design Automation Conference (DAC), V03BT03A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69284
https://doi.org/10.1115/DETC2021-69284
View Paper titled, Design of Path Tracking Controller for Autonomous Vehicles Through Bias Learning of Vehicle Dynamic Models Under Environmental Uncertainty
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Topics: Autonomous vehicles, Control equipment, Design, Dynamic models, Modeling, Uncertainty, Vehicle dynamics, Vehicles
Proceedings Papers

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 1 — Kinematic Analysis

R. A. Hart, N. D. Ebrahimi
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 117-125, September 27–30, 1987
Publisher: American Society of Mechanical Engineers
Paper No: DETC1987-0070
https://doi.org/10.1115/DETC1987-0070
View Paper titled, Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 1 — Kinematic Analysis
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Topics: Dynamic modeling, Kinematic analysis, Robotic vehicles, Vehicles, Dynamic models, Actuators, Chain, Dynamic analysis, Equilibrium (Physics), Kinematic chains
Proceedings Papers

Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 2 — Dynamic Analysis

R. A. Hart, N. D. Ebrahimi
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 437-442, September 27–30, 1987
Publisher: American Society of Mechanical Engineers
Paper No: DETC1987-0109
https://doi.org/10.1115/DETC1987-0109
View Paper titled, Dynamic Modeling of a Multi-Legged Robotic Vehicle: Part 2 — Dynamic Analysis
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Topics: Dynamic analysis, Dynamic modeling, Robotic vehicles, Dynamic models, Kinematics, Vehicles, Wheels
Proceedings Papers

Inverse Dynamic Models Used for Force Control of Compliant, Closed-Chain Mechanisms

D. J. Manko, W. L. Whittaker
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation, 61-66, September 17–21, 1989
Publisher: American Society of Mechanical Engineers
Paper No: DETC1989-0106
https://doi.org/10.1115/DETC1989-0106
View Paper titled, Inverse Dynamic Models Used for Force Control of Compliant, Closed-Chain Mechanisms
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Topics: Chain, Dynamic models, Force control, Compliant mechanisms, Approximation, Differential algebraic equations, Equations of motion, Legged locomotion
Proceedings Papers

Dynamic Analysis of Engine-Mount Systems

Hashem Ashrafiuon, C. Nataraj
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics, 191-196, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0203
https://doi.org/10.1115/DETC1991-0203
View Paper titled, Dynamic Analysis of Engine-Mount Systems
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Topics: Dynamic analysis, Engines, Damping, Rubber, Stiffness, Vibration, Aircraft engines, Analytical methods, Dynamic models, Elasticity
Proceedings Papers

Effect of Axial Vibrations on the Dynamics of a Helical Gear Pair

Ahmet Kahraman
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Machinery Dynamics and Element Vibrations, 83-89, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0279
https://doi.org/10.1115/DETC1991-0279
View Paper titled, Effect of Axial Vibrations on the Dynamics of a Helical Gear Pair
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Topics: Dynamics (Mechanics), Helical gears, Vibration, Bearings, Errors, Gears, Dynamic models, Mode shapes, Rotation
Proceedings Papers

Optimal Design of Vibration Absorber Systems Supported by Elastic Base

Hashem Ashrafiuon
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Modal Analysis, Modeling, Diagnostics, and Control — Analytical and Experimental, 185-188, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0383
https://doi.org/10.1115/DETC1991-0383
View Paper titled, Optimal Design of Vibration Absorber Systems Supported by Elastic Base
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Topics: Design, Vibration absorbers, Damping, Dynamic models, Equations of motion, Excitation, Stiffness
Proceedings Papers

Optimal Design of Resonance Suppression Helical Springs

Yuji Lin, P. H. Hodges, A. P. Pisano
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 1 — Design Automation and Design Optimization, 79-84, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0072
https://doi.org/10.1115/DETC1991-0072
View Paper titled, Optimal Design of Resonance Suppression Helical Springs
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Topics: Design, Resonance, Springs, Wire, Dynamic models, Valves, Automotive engines, Computers, Engines, Fatigue
Proceedings Papers

Linearized Dynamic Models for Robot Manipulators With Varying Link Parameters

Chang-Jin Li, T. S. Sankar, A. Hemami
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics, 293-298, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0216
https://doi.org/10.1115/DETC1991-0216
View Paper titled, Linearized Dynamic Models for Robot Manipulators With Varying Link Parameters
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Topics: Dynamic models, Manipulators, Algorithms, Kinematics, Degrees of freedom, Robots, Uncertainty
Proceedings Papers

Dynamic Analysis of Mechanical Systems With Time-Varying Topologies: Part 1 — Dynamic Model and Stability Analysis

Yu Wang
Proc. ASME. DETC90, 16th Design Automation Conference: Volume 2 — Optimal Design and Mechanical Systems Analysis, 173-179, September 16–19, 1990
Publisher: American Society of Mechanical Engineers
Paper No: DETC1990-0065
https://doi.org/10.1115/DETC1990-0065
View Paper titled, Dynamic Analysis of Mechanical Systems With Time-Varying Topologies: Part 1 — Dynamic Model and Stability Analysis
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Topics: Dynamic analysis, Dynamic models, Stability, Collisions (Physics), Computer simulation, Differential equations, Equations of motion, Kinematics, Poincaré maps, Topology
Proceedings Papers

Optimal Design of the Path of Chain Link Systems

J.-P. Peng, M. Carpino
Proc. ASME. DETC90, 16th Design Automation Conference: Volume 2 — Optimal Design and Mechanical Systems Analysis, 375-381, September 16–19, 1990
Publisher: American Society of Mechanical Engineers
Paper No: DETC1990-0091
https://doi.org/10.1115/DETC1990-0091
View Paper titled, Optimal Design of the Path of Chain Link Systems
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Topics: Chain, Design, Dynamic analysis, Dynamic models, Dynamics (Mechanics), Errors, Kinematics
Proceedings Papers

Flexible-Body Dynamics Modelling With a Reduced-Order Model

K. Harold Yae, Daniel J. Inman
Proc. ASME. DETC90, 16th Design Automation Conference: Volume 2 — Optimal Design and Mechanical Systems Analysis, 87-91, September 16–19, 1990
Publisher: American Society of Mechanical Engineers
Paper No: DETC1990-0054
https://doi.org/10.1115/DETC1990-0054
View Paper titled, Flexible-Body Dynamics Modelling With a Reduced-Order Model
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Topics: Flexible body dynamics, Modeling, Dynamic models, Finite element analysis, Degrees of freedom, Design, Dynamic analysis, Dynamic systems, Dynamics (Mechanics), Stiffness