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Proceedings Papers

Isotropic Design of Spherical Parallel Manipulators

Hamid R. Mohammadi Daniali, Paul J. Zsombor-Murray, Jorge Angeles
Proc. ASME. DETC94, 20th Design Automation Conference: Volume 2 — Robust Design Applications; Decomposition and Design Optimization; Optimization Tools and Applications, 461-466, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0157
https://doi.org/10.1115/DETC1994-0157
View Paper titled, Isotropic Design of Spherical Parallel Manipulators
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Topics: Design, Manipulators, Architecture, Errors, Manipulator design, Manufacturing, Servomechanisms
Proceedings Papers

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Gregory S. Chirikjian
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 161-167, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0319
https://doi.org/10.1115/DETC1994-0319
View Paper titled, Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators
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Topics: Actuators, Kinematics, Manipulators, Feedback, Robotics, Algorithms, Manipulator design, Pneumatic cylinders, Solenoids
Proceedings Papers

Dual Constraints for Twice-Redundant Manipulators: Global Singularity Elimination Plus Optimization of a Run-Time Criterion

Steven J. Remis
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 485-490, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0359
https://doi.org/10.1115/DETC1994-0359
View Paper titled, Dual Constraints for Twice-Redundant Manipulators: Global Singularity Elimination Plus Optimization of a Run-Time Criterion
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Topics: Manipulators, Optimization, Design, Manipulator design, Redundant manipulators
Proceedings Papers

Modified Methods for Dynamic Modelling of Robot Manipulators

Mohamed M. Sallam, Roshdy F. Abo-Shanab, Abo-Bakr A. Nassr
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A088, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5860
https://doi.org/10.1115/DETC98/MECH-5860
View Paper titled, Modified Methods for Dynamic Modelling of Robot Manipulators
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Topics: Dynamic modeling, Manipulators, Equations of motion, Algorithms, Computer software, Design, Dynamic models, End effectors, Manipulator design, Nonlinear differential equations
Proceedings Papers

Specification of Assembly Requirements in Terms of Elementary Manipulation Tasks

Matthew D. Devenish, Graham G. Rogers
Proc. ASME. IDETC-CIE2001, Volume 1: 21st Computers and Information in Engineering Conference, 739-745, September 9–12, 2001
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/CIE-21306
https://doi.org/10.1115/DETC2001/CIE-21306
View Paper titled, Specification of Assembly Requirements in Terms of Elementary Manipulation Tasks
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Topics: Manufacturing, Modeling, Computer-aided design, Design, Design methodology, Errors, Formal specification, Manipulator design, Manipulators, Testing
Proceedings Papers

Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method

Leila Notash, Derek McColl
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A071, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85300
https://doi.org/10.1115/DETC2018-85300
View Paper titled, Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method
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Topics: Cables, Robots, Elasticity, Manipulators, Tension, Density, Gravity (Force), Manipulator design, Theorems (Mathematics)
Proceedings Papers

Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes

Shramana Ghosh, Dongming Gan
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A042, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59821
https://doi.org/10.1115/DETC2016-59821
View Paper titled, Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes
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Topics: Design, Exoskeleton devices, Manipulators, Arches, Chain, Kinematics, Manipulator design, Stiffness
Proceedings Papers

A 5-DOF Hybrid Parallel Robotic Manipulator: Design, Analysis, Performance Modeling and Multi-Objective Optimization

Zhen Gao, Dan Zhang
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A060, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34795
https://doi.org/10.1115/DETC2014-34795
View Paper titled, A 5-DOF Hybrid Parallel Robotic Manipulator: Design, Analysis, Performance Modeling and Multi-Objective Optimization
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Topics: Manipulator design, Modeling, Pareto optimization, Design, Kinematic analysis, Machinery, Manipulators, Manufacturing, Manufacturing technology, Optimization
Proceedings Papers

Kinematic and Dynamic Evaluation of Mobile Robots Performing Welding Tasks

Stephen L. Canfield, Josh Qualls, Alexander Shibakov
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A096, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35109
https://doi.org/10.1115/DETC2014-35109
View Paper titled, Kinematic and Dynamic Evaluation of Mobile Robots Performing Welding Tasks
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Topics: Kinematics, Mobile robots, Welding, Robots, Design, Manufacturing, Robotic welding, Engineering standards, Gages, Manipulator design
Proceedings Papers

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

Carl A. Nelson, Xiaoli Zhang
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 11-17, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28367
https://doi.org/10.1115/DETC2010-28367
View Paper titled, Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator
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Topics: Manipulators, Surgical tools, Design, Actuators, Gears, Kinematics, Manipulator design, Surgery
Proceedings Papers

Optimal, Model-Based Design of Soft Robotic Manipulators

Deepak Trivedi, Dustin Dienno, Christopher D. Rahn
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 801-809, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35612
https://doi.org/10.1115/DETC2007-35612
View Paper titled, Optimal, Model-Based Design of Soft Robotic Manipulators
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Topics: Design, Manipulators, Actuators, Pressure, Stress, Algorithms, Dimensions, Manipulator design, Muscle, Optimization
Proceedings Papers

Properties of the SX-YS-ZS Structures and Singularity Determination in Parallel Manipulators Which Generate Those Structures

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 185-193, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57065
https://doi.org/10.1115/DETC2004-57065
View Paper titled, Properties of the SX-YS-ZS Structures and Singularity Determination in Parallel Manipulators Which Generate Those Structures
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Topics: Manipulators, Actuators, Topology, Design, End effectors, Kinematic chains, Kinematics, Manipulator design, Mechanical admittance, Parallel mechanisms
Proceedings Papers

Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators Are Locked

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1117-1123, September 2–6, 2003
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48821
https://doi.org/10.1115/DETC2003/DAC-48821
View Paper titled, Forward Problem Singularities of Manipulators Which Become PS-2RS or 2PS-RS Structures When the Actuators Are Locked
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Topics: Actuators, Manipulators, Design, End effectors, Kinematic chains, Kinematics, Manipulator design, Mechanical admittance, Parallel mechanisms, Stress
Proceedings Papers

An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase

Abhishek Agrawal, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 641-649, September 24–28, 2005
Publisher: American Society of Mechanical Engineers
Paper No: DETC2005-85069
https://doi.org/10.1115/DETC2005-85069
View Paper titled, An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase
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Topics: Actuators, Degrees of freedom, Design, Design methodology, Energy efficiency, Gravity (Force), Inertia (Mechanics), Machinery, Manipulator design, Manipulators