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Proceedings Papers

Automatic Kinematic Alignment of Flexures in Parallel Mechanisms

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Patrick V. L. Piening, Marijn Nijenhuis, Ronald G. K. M. Aarts, Dannis M. Brouwer
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A012, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-142820
https://doi.org/10.1115/DETC2024-142820
View Paper titled, Automatic Kinematic Alignment of Flexures in Parallel Mechanisms
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Topics: Compliant mechanisms, Kinematics, Optimization, Parallel mechanisms
Proceedings Papers

A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics

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Shen Huiping, Zhongqiu Du, Damien Chablat, Ju Li, Guanglei Wu
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A081, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114943
https://doi.org/10.1115/DETC2023-114943
View Paper titled, A New 3-DOF 2T1R Parallel Mechanism: Topology Design and Kinematics
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Topics: Design, Kinematics, Parallel mechanisms, Topology
Proceedings Papers

A Collaborative Robotic Screw Assembly System Using 6-PUS Parallel Mechanism

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Qiao Sun, Dalong Gao, Xianbao Chen, Jing Sun, Ninjian Huang, Feng Gao
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A057, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114479
https://doi.org/10.1115/DETC2023-114479
View Paper titled, A Collaborative Robotic Screw Assembly System Using 6-PUS Parallel Mechanism
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Topics: Manufacturing, Parallel mechanisms, Robotics, Robots, Screws
Proceedings Papers

Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges

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Zhujin Jiang, Ketao Zhang
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A047, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115262
https://doi.org/10.1115/DETC2023-115262
View Paper titled, Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
Open the PDF for Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges in another window
Topics: Bending (Stress), Hinges, Origami-inspired design, Parallel mechanisms, Robots, Stiffness
Proceedings Papers

A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs

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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

Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design

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Loïc Tissot-Daguette, Etienne Thalmann, Florent Cosandier, Simon Henein
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A026, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109120
https://doi.org/10.1115/DETC2023-109120
View Paper titled, Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design
Open the PDF for Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design in another window
Topics: Bending (Stress), Design, Kinematics, Parallel mechanisms, Stiffness
Proceedings Papers

Towards High Dynamic Operations With Parallel-Serial Hybrid Robots

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Keerthi Sagar, Vishal Ramadoss, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A064, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116954
https://doi.org/10.1115/DETC2023-116954
View Paper titled, Towards High Dynamic Operations With Parallel-Serial Hybrid Robots
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Topics: Robots, Kinematics, Manipulators, Linkages, Control modeling, Design, High speed machining, Kinematic chains, Manufacturing, Modeling
Proceedings Papers

Forty-Two Watt I Indirect Cognates of a Four-Bar via Angular-Velocity Graph Coloring

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Craig Lusk
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A029, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91339
https://doi.org/10.1115/DETC2022-91339
View Paper titled, Forty-Two Watt I Indirect Cognates of a Four-Bar via Angular-Velocity Graph Coloring
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Topics: Chain, Design, Geometry, Linkages, Optimization, Parallel mechanisms
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

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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 Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

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Zhujin Jiang, Chen Liu, Ketao Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91176
https://doi.org/10.1115/DETC2022-91176
View Paper titled, A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics
Proceedings Papers

Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

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Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A051, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70059
https://doi.org/10.1115/DETC2021-70059
View Paper titled, Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms
Proceedings Papers

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

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Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A033, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70378
https://doi.org/10.1115/DETC2021-70378
View Paper titled, Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots
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Topics: Design, Kinematic analysis, Machining, Robots, Stiffness, Kinematics, Manipulators, Degrees of freedom, Hard materials, Milling
Proceedings Papers

A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms

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Lingyu Kong, Genliang Chen, Guanyu Huang, Sumian Song, Anhuan Xie, Dan Zhang
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A034, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70723
https://doi.org/10.1115/DETC2021-70723
View Paper titled, A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms
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Topics: Kinematics, Parallel mechanisms, Errors, Calibration, Manipulators, Modeling, Topology
Proceedings Papers

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

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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 of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm

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C. Innocenti, V. Parenti-Castelli
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 545-552, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0257
https://doi.org/10.1115/DETC1992-0257
View Paper titled, Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm
Open the PDF for Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm in another window
Topics: Algorithms, Kinematics, Parallel mechanisms, Geometry, Numerical analysis
Proceedings Papers

Geometry and Position Analysis of a Novel Class of Hybrid Manipulators

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Change-de Zhang, Shin-Min Song
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 1-9, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0300
https://doi.org/10.1115/DETC1994-0300
View Paper titled, Geometry and Position Analysis of a Novel Class of Hybrid Manipulators
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Topics: Geometry, Manipulators, Polynomials, Degrees of freedom, End effectors, Parallel mechanisms, Stiffness, Stress
Proceedings Papers

A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties

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Clement M. Gosselin, Rémi Ricard, Meyer A. Nahon
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 951-958, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0125
https://doi.org/10.1115/DETC1995-0125
View Paper titled, A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties
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Topics: Architecture, Kinematics, Parallel mechanisms, Manipulators, Optimization, Computer-aided design, Design, Kinematic analysis, Stiffness
Proceedings Papers

Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications

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J. A. Carretero, M. Nahon, B. Buckham, C. M. Gosselin
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A008, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-3981
https://doi.org/10.1115/DETC97/DAC-3981
View Paper titled, Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications
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Topics: Kinematic analysis, Parallel mechanisms, Telescopes, Jacobian matrices, Kinematics, Construction, Degrees of freedom, Mirrors, Stiffness
Proceedings Papers

Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators

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Jiegao Wang, Clément M. Gosselin
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A019, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5961
https://doi.org/10.1115/DETC98/MECH-5961
View Paper titled, Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators
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Topics: Actuators, Parallel mechanisms, Potential energy, Center of mass, Manipulators, Springs, Design
Proceedings Papers

Static Balancing of Spatial and Planar Parallel Manipulators With Prismatic Actuators

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Marc Leblond, Clément M. Gosselin
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A021, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5963
https://doi.org/10.1115/DETC98/MECH-5963
View Paper titled, Static Balancing of Spatial and Planar Parallel Manipulators With Prismatic Actuators
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Topics: Actuators, Manipulators, Design, Kinematics, Optimization, Parallel mechanisms, Torque, Weight (Mass)