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Proceedings Papers

3D Capsule Compliant Gripper Based on Shape Optimization for Surgical Manipulation: Enhancing Precision in Lymph Node Isolation

Estefania Hermoza Llanos, Myung-Jin Choi, Roger A. Sauer, Burkhard Corves, Mathias Huesing, Sven Klinkel, Anupam Saxena
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A010, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-139594
https://doi.org/10.1115/DETC2024-139594
View Paper titled, 3D Capsule Compliant Gripper Based on Shape Optimization for Surgical Manipulation: Enhancing Precision in Lymph Node Isolation
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Topics: Grippers, Shape optimization, Surgery, Biological tissues, Computer-aided design, Design, Shapes, Biomedicine, Cancer, Dimensions
Proceedings Papers

Development of a Compact Hybrid Gripper for Automated Harvesting of White Button Mushroom

Bikram Koirala, Guoyang Shen, Huy Canh Nguyen, Jiming Kang, Abdollah Zakeri, Venkatesh Balan, Fatima Merchant, Driss Benhaddou, Weihang Zhu
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A036, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143056
https://doi.org/10.1115/DETC2024-143056
View Paper titled, Development of a Compact Hybrid Gripper for Automated Harvesting of White Button Mushroom
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Topics: End effectors, Grippers
Proceedings Papers

Fabrication of Rotary Comb Drives With Floating Center

Matteo Verotti, Alvise Bagolini, Leandro Lorenzelli, Rocco Crescenzi, Nicola Pio Belfiore
Proc. ASME. IDETC-CIE2024, Volume 8: 18th International Conference on Micro- and Nanosystems (MNS), V008T08A007, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143428
https://doi.org/10.1115/DETC2024-143428
View Paper titled, Fabrication of Rotary Comb Drives With Floating Center
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Topics: Manufacturing, Linkages, Design, Kinematics, Microelectromechanical systems, Semiconductor wafers, Silicon-on-insulator, Engineering prototypes, Etching, Grasping
Proceedings Papers

Characterization of a Compliant Mechanism Gripper With Visual Force Feedback Capabilities

Vineet K. Mohanty, Sukesh Jagannathan Ranganathan, Haris Raja Vallinayagam, Milton E. Aguirre
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A017, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143671
https://doi.org/10.1115/DETC2024-143671
View Paper titled, Characterization of a Compliant Mechanism Gripper With Visual Force Feedback Capabilities
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Topics: Compliant mechanisms, Force feedback, Grippers
Proceedings Papers

Cam-Shaped Soft Gripper With PVDF/Graphene Piezoelectric Sensor

Liang-Chi Chen, Jeng-Yu Chiou, Kuan-Lan Hsu, Tsung-Han Huang, Wei-Song Hung, Brijesh Patel, Po Ting Lin
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A047, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143168
https://doi.org/10.1115/DETC2024-143168
View Paper titled, Cam-Shaped Soft Gripper With PVDF/Graphene Piezoelectric Sensor
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Topics: Graphene, Grippers, Membranes, Polyvinylidene fluoride, Sensors
Proceedings Papers

Mechanical Design of a Novel Robotic Gripper for Fixed Automation Applications

Hunter Jones, Brian J. Slaboch
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A033, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-142774
https://doi.org/10.1115/DETC2024-142774
View Paper titled, Mechanical Design of a Novel Robotic Gripper for Fixed Automation Applications
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Topics: Design engineering, End effectors, Grippers, Actuators, Design, Electric motors, Energy consumption, Energy efficiency, Engines, Motors
Proceedings Papers

Safe Robot to Human Tool Handover to Support Effective Collaboration

Jeon Ho Kang, Paolo Limcaoco, Neel Dhanaraj, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A088, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116334
https://doi.org/10.1115/DETC2023-116334
View Paper titled, Safe Robot to Human Tool Handover to Support Effective Collaboration
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Topics: Collaboration, Robots, End effectors, Grasping, Design, Grippers, Manufacturing, Robotics
Proceedings Papers

Revisiting Mechanical Advantage of Compliant Mechanisms: A Case-Study of a Compliant Gripper Using the Spring-Lever Model

Shreyas Dixit, G. K. Ananthasuresh
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A036, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116440
https://doi.org/10.1115/DETC2023-116440
View Paper titled, Revisiting Mechanical Advantage of Compliant Mechanisms: A Case-Study of a Compliant Gripper Using the Spring-Lever Model
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Topics: Case studies, Compliant mechanisms, Grippers, Levers, Springs
Proceedings Papers

Numerical Optimization of Underactuated Flexure-Based Grippers

Boi Okken, Jan P. Dekker, Jan J. de Jong, Dannis M. Brouwer
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A041, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116752
https://doi.org/10.1115/DETC2023-116752
View Paper titled, Numerical Optimization of Underactuated Flexure-Based Grippers
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Topics: Bending (Stress), Grippers, Optimization
Proceedings Papers

StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String

Devin Carroll, Valerie Ang, Mark Yim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A077, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109541
https://doi.org/10.1115/DETC2023-109541
View Paper titled, StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String
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Topics: Robots, String, Orthotics, Grippers, Robotics, Actuators, Blocks (Building materials), Developing nations, Disaster recovery, End effectors
Proceedings Papers

Efficient Object Manipulation in Confined Space Using Compliant Based Gripper

Krushang Gabani, Yuhe Oswin Ji, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A036, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116674
https://doi.org/10.1115/DETC2023-116674
View Paper titled, Efficient Object Manipulation in Confined Space Using Compliant Based Gripper
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Topics: Grippers, Manipulators, Algorithms, Collisions (Physics), Human-robot collaboration, Machinery, Optimization, Robotics, Stiffness
Proceedings Papers

Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting

Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A024, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116587
https://doi.org/10.1115/DETC2023-116587
View Paper titled, Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting
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Topics: Design, Food products, Grippers
Proceedings Papers

Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading

Joshua Prendergast, Manaswin Oddiraju, Mostafa Nouh, Souma Chowdhury
Proc. ASME. IDETC-CIE2022, Volume 3B: 48th Design Automation Conference (DAC), V03BT03A027, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90132
https://doi.org/10.1115/DETC2022-90132
View Paper titled, Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading
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Topics: Absorption, Conceptual design, Design, Displacement, End effectors, Finite element analysis, Grippers, Optimization, Poisson ratio, Robotics
Proceedings Papers

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Patrick McGowan, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A016, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90939
https://doi.org/10.1115/DETC2022-90939
View Paper titled, Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes
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Topics: Compliant mechanisms, Design, Displacement, Finite element analysis, Computer software, Deformation, End effectors, Grippers, Rigid-body mechanisms, Robotics
Proceedings Papers

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Andrew Sharp, Austin Lovan, Eduardo Herrera, Evan Laske
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A043, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89299
https://doi.org/10.1115/DETC2022-89299
View Paper titled, Practical End-Effector Development Through Task Interface Taxonomy Analysis
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Topics: End effectors, Grippers, Robotics, Computer software, Gates (Closures), Design, Drills (Tools), Filters, Fire, Grasping
Proceedings Papers

Evolutionary Grasp Planning for Sheet Metal Parts With Multi-Type Grippers

Jicmat Ali Tribaldos, Chiradeep Sen
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A016, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71632
https://doi.org/10.1115/DETC2021-71632
View Paper titled, Evolutionary Grasp Planning for Sheet Metal Parts With Multi-Type Grippers
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Topics: Genetic algorithms, Grippers, Sheet metal
Proceedings Papers

Programmable Stiffness and Applications of 3D Printed TPU Grid Lattices

Yifan Yuan, Cynthia Sung
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A016, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69826
https://doi.org/10.1115/DETC2021-69826
View Paper titled, Programmable Stiffness and Applications of 3D Printed TPU Grid Lattices
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Topics: Additive manufacturing, Stiffness, Elastic moduli, Density, Wall thickness, Compression, Geometry, Grippers, Manufacturing, Mechanical properties
Proceedings Papers

Design of a New Piezoelectrically Actuated Compliant Microgripper With High Area Usage Efficiency

Zekui Lyu, Qingsong Xu
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A001, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67371
https://doi.org/10.1115/DETC2021-67371
View Paper titled, Design of a New Piezoelectrically Actuated Compliant Microgripper With High Area Usage Efficiency
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Topics: Design, Displacement, Microassembling, Grippers, Optimization, Bridges (Structures), Brittleness, Clamps (Tools), Construction, Damage
Proceedings Papers

A Compliant Micromechanism for Biaxially Stretching Biological Cells

Neeraj Singh Fartyal, Himanshu Marwah, Sreenath Balakrishnan
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A009, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68421
https://doi.org/10.1115/DETC2021-68421
View Paper titled, A Compliant Micromechanism for Biaxially Stretching Biological Cells
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Topics: Biological cells, Micromechanical devices, Design, Biological tissues, Additive manufacturing, Blood vessels, Cancer, Compliant mechanisms, Deformation, Dimensions
Proceedings Papers

Design, Modeling, and Optimization of a Novel Asymmetrical Piezoelectrically Actuated Microgripper

Zekui Lyu, Qingsong Xu
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A039, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68787
https://doi.org/10.1115/DETC2021-68787
View Paper titled, Design, Modeling, and Optimization of a Novel Asymmetrical Piezoelectrically Actuated Microgripper
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Topics: Design, Modeling, Optimization, Displacement, Grippers, Resonance, Biomedicine, Bridges (Structures), Clamps (Tools), End effectors