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Proceedings Papers

Utilizing Reinforcement Learning to Improve Gait Training Performance and Development of Gravity-Compensating Control System for RoboREHAB Device

Jacob Anthony, Chad Ballard, Chung-Hyun Goh, Jacob Carr, Woohyoung Jeon
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A030, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143328
https://doi.org/10.1115/DETC2024-143328
View Paper titled, Utilizing Reinforcement Learning to Improve Gait Training Performance and Development of Gravity-Compensating Control System for RoboREHAB Device
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Topics: Control systems, Gravity (Force), Reinforcement learning
Proceedings Papers

Parametric Analysis and Design of a Triple-Magnet System for Magnetic Gravity Compensation in Linear Motion

Shuojie Li, Xiangxian Zeng, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A035, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143022
https://doi.org/10.1115/DETC2024-143022
View Paper titled, Parametric Analysis and Design of a Triple-Magnet System for Magnetic Gravity Compensation in Linear Motion
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Topics: Design, Gravity (Force), Magnetic fields, Magnets, Permanent magnets
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

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

Multi-Objective Optimal Design of Gravity Compensators Using Pareto Front With Genetic Algorithm

Vu Linh Nguyen
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A003, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-112372
https://doi.org/10.1115/DETC2023-112372
View Paper titled, Multi-Objective Optimal Design of Gravity Compensators Using Pareto Front With Genetic Algorithm
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Topics: Design, Genetic algorithms, Gravity (Force), Springs, Torque
Proceedings Papers

Spring Locus Design for Gravity Balanced Mechanisms

Colin Rubow, Tristan Archuleta, Haohan Zhang
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A001, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109820
https://doi.org/10.1115/DETC2023-109820
View Paper titled, Spring Locus Design for Gravity Balanced Mechanisms
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Topics: Design, Gravity (Force), Linkages, Springs
Proceedings Papers

A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs

Jieyu Wang, Xianwen Kong, Yingzhong Tian
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A089, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116500
https://doi.org/10.1115/DETC2023-116500
View Paper titled, A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs
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Topics: Springs, Potential energy, Manipulators, Parallel mechanisms, Algebra, Center of mass, Energy efficiency, Gravity (Force), Linkages
Proceedings Papers

Magnetization, Geometry, and Segmentation Analysis of Nested Halbach Cylinders for Optimizing the Interactive Torque

Elijah Biggs, Chin-Hsing Kuo, Ting Ren
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A087, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115290
https://doi.org/10.1115/DETC2023-115290
View Paper titled, Magnetization, Geometry, and Segmentation Analysis of Nested Halbach Cylinders for Optimizing the Interactive Torque
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Topics: Cylinders, Geometry, Gravity (Force), Image segmentation, Magnetization, Permanent magnets, Torque, Magnetic fields, Simulation, Computer software
Proceedings Papers

Comparative Analysis of Smoothed Particle Hydrodynamics (SPH) for Fluid-Structure Interaction: Computational Performance of Lagrangian SPH and Structural Modeling Strategies

Bonaventura Tagliafierro, Iván Martínez-Estévez, Salvatore Capasso, José M. Domínguez, Joseph O’Connor, Corrado Altomare, Giacomo Viccione, Alejandro J. C. Crespo, Benedict D. Rogers, Radu Serban, Dan Negruţ
Proc. ASME. IDETC-CIE2023, Volume 10: 19th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V010T10A028, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-111406
https://doi.org/10.1115/DETC2023-111406
View Paper titled, Comparative Analysis of Smoothed Particle Hydrodynamics (SPH) for Fluid-Structure Interaction: Computational Performance of Lagrangian SPH and Structural Modeling Strategies
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Topics: Fluid structure interaction, Hydrodynamics, Modeling, Particulate matter, Fluids, Finite element methods, Computer software, Continuum mechanics, Elasticity, Engineering simulation
Proceedings Papers

On the Effectiveness and Optimal Performance of Gravity Compensation Design of an Inverted Slider-Crank Mechanism Using Realistic Springs

Xiangxian Zeng, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A023, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89695
https://doi.org/10.1115/DETC2022-89695
View Paper titled, On the Effectiveness and Optimal Performance of Gravity Compensation Design of an Inverted Slider-Crank Mechanism Using Realistic Springs
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Topics: Design, Gravity (Force), Springs
Proceedings Papers

Designing a Stand for Machine Tool Energy Efficiency, With Pump Embodied Energy Tradeoff Case Study

Ian C. Garretson, Qiuhao Guo, Barbara S. Linke
Proc. ASME. IDETC-CIE2021, Volume 5: 26th Design for Manufacturing and the Life Cycle Conference (DFMLC), V005T05A022, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70939
https://doi.org/10.1115/DETC2021-70939
View Paper titled, Designing a Stand for Machine Tool Energy Efficiency, With Pump Embodied Energy Tradeoff Case Study
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Topics: Design, Energy efficiency, Machine tools, Manufacturing, Pumps, Tradeoffs, Motors, Coolants, Energy consumption, Computer-aided design
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

Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A024, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-66762
https://doi.org/10.1115/DETC2021-66762
View Paper titled, Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties
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Topics: Gravity (Force), Manipulators, Reliability, Sensitivity analysis, Uncertainty, Robots, Simulation, Springs, Design, Dimensions
Proceedings Papers

Design and Construction of a Statically-Balanced Direct Drive ARM

H. Kazerooni, S. Kim
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 17-23, September 27–30, 1987
Publisher: American Society of Mechanical Engineers
Paper No: DETC1987-0058
https://doi.org/10.1115/DETC1987-0058
View Paper titled, Design and Construction of a Statically-Balanced Direct Drive ARM
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Topics: Construction, Design, Robots, Kinematics, Manufacturing, Motors, Actuators, Composite materials, Epoxy adhesives, Epoxy resins
Proceedings Papers

Dynamic Deflection of Paper Emerging From a Channel

James Stolte, Richard C. Benson
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Machinery Dynamics and Element Vibrations, 51-58, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0276
https://doi.org/10.1115/DETC1991-0276
View Paper titled, Dynamic Deflection of Paper Emerging From a Channel
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Topics: Deflection, Gravity (Force), Dynamic modeling, Industrial sewing machines, Machinery, Nonlinear equations
Proceedings Papers

Modeling of a Two Arm Flexible Robot in Gravity

Chaeyoun Oh, Martin J. Vanderploeg
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 523-530, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0159
https://doi.org/10.1115/DETC1991-0159
View Paper titled, Modeling of a Two Arm Flexible Robot in Gravity
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Topics: Gravity (Force), Modeling, Robots, Mode shapes, Electronics
Proceedings Papers

Weight-Excited Vibrations of Rotating Curved Beams

Jörg Wauer
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Rotating Machinery and Vehicle Dynamics, 43-50, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0227
https://doi.org/10.1115/DETC1991-0227
View Paper titled, Weight-Excited Vibrations of Rotating Curved Beams
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Topics: Vibration, Weight (Mass), Gravity (Force), Arches, Boundary-value problems, Cross section (Physics), Damping, Differential equations, Oscillations, Rotating beams
Proceedings Papers

Design Methods of Improving Robot Manipulator Performance

Nathan Ulrich, Vijay Kumar
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 545-550, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0162
https://doi.org/10.1115/DETC1991-0162
View Paper titled, Design Methods of Improving Robot Manipulator Performance
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Topics: Design methodology, Manipulators, Gravity (Force), Robots, Simulation results, Tension
Proceedings Papers

Electrostatic Effects on Submicron Particles Deposition

Salem Abuzeid, Ahmed A. Busnaina
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 625-631, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0078
https://doi.org/10.1115/CIE1991-0078
View Paper titled, Electrostatic Effects on Submicron Particles Deposition
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Topics: Particulate matter, Aerosols, Flow (Dynamics), Air flow, Brownian motion, Drag (Fluid dynamics), Equations of motion, Geometry, Gravity (Force), Lift (Fluid dynamics)
Proceedings Papers

Investigations of Liquid Motion in Rigid Containers Under Microgravity Conditions

G. H. Vatistas, V. Kozel, W. Yan, T. S. Sankar
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 589-593, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0073
https://doi.org/10.1115/CIE1991-0073
View Paper titled, Investigations of Liquid Motion in Rigid Containers Under Microgravity Conditions
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Topics: Containers, Drainage, Gravity (Force), Corners (Structural elements), Equilibrium (Physics), Gates (Closures), Oscillations, Reynolds number, Weightlessness