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22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems
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Proceedings Papers

Structural Parameters Which Reduce the Number of Manipulator Configurations

Constantinos Mavroidis, Bernard Roth
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 359-366, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0235
https://doi.org/10.1115/DETC1992-0235
View Paper titled, Structural Parameters Which Reduce the Number of Manipulator Configurations
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Topics: Manipulators, Chain, Kinematics, End effectors, Polynomials
Proceedings Papers

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Shannon Ridgeway, Carl D. Crane, III, Phillip Adsit, Roy Harrell
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 591-597, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0263
https://doi.org/10.1115/DETC1992-0263
View Paper titled, The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot
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Topics: Design engineering, Mobile robots, Design, Actuators, Kinematics, Torque
Proceedings Papers

Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

Akhil Madhani, Steven Dubowsky
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 581-590, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0262
https://doi.org/10.1115/DETC1992-0262
View Paper titled, Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach
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Topics: Design, Path planning, Robotics, Actuators, Friction, Kinematics, Machinery, Torque
Proceedings Papers

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

Peter V. Nagy, Subhas Desa, William L. Whittaker
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 573-580, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0261
https://doi.org/10.1115/DETC1992-0261
View Paper titled, Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments
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Topics: Modeling, Robots, Stability, Static stability
Proceedings Papers

Workspace of Beetle Body As a Function of Foot Position

C. K. Foo, E. F. Fichter, B. L. Fichter
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 567-572, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0260
https://doi.org/10.1115/DETC1992-0260
View Paper titled, Workspace of Beetle Body As a Function of Foot Position
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Topics: Design, Legged locomotion, Shapes, Simulation models, Symmetry (Physics)
Proceedings Papers

An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

Clément M. Gosselin, Eric Lavoie, Pierre Toutant
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 323-328, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0230
https://doi.org/10.1115/DETC1992-0230
View Paper titled, An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators
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Topics: Algorithms, Manipulators, Computer-aided design
Proceedings Papers

A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm

Wei-Ming Lee
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 313-322, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0229
https://doi.org/10.1115/DETC1992-0229
View Paper titled, A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm
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Topics: Algorithms, Kinematics, Robots, Jacobian matrices, Switches, Trajectories (Physics)
Proceedings Papers

On the Kinematics of the UPS Wrist for Real Time Control

Jason J. Lee, Sun-Lai Chang
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 305-312, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0228
https://doi.org/10.1115/DETC1992-0228
View Paper titled, On the Kinematics of the UPS Wrist for Real Time Control
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Topics: Kinematics, Real-time control, Design, Algorithms, Force control, Kinematic analysis, Machining
Proceedings Papers

Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

Jichuan Zhang, Gongliang Guo, William A. Gruver
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 299-304, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0227
https://doi.org/10.1115/DETC1992-0227
View Paper titled, Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism
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Topics: Design, Linkages, Robotics, Artificial limbs, Bionics, Degrees of freedom, Displacement, End effectors, Engineering simulation, Friction
Proceedings Papers

Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study

Sridhar R. Thirupathi, Nagi G. Naganathan
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 233-241, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0220
https://doi.org/10.1115/DETC1992-0220
View Paper titled, Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study
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Topics: Piezoelectric ceramics, Suspension systems, Wheels, Actuators, Automobiles, Composite materials, Deflection, Hydraulic actuators, Stiffness
Proceedings Papers

Rate Kinematics for Mobile Manipulators

Chau-Chang Wang, Nilanjan Sarkar, Vijay Kumar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 225-231, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0219
https://doi.org/10.1115/DETC1992-0219
View Paper titled, Rate Kinematics for Mobile Manipulators
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Topics: Kinematics, Manipulators, End effectors, Actuators, Chain, Preferences
Proceedings Papers

The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator

Radha Sarma, Steven N. Kramer, V. Ramamurti
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 173-178, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0212
https://doi.org/10.1115/DETC1992-0212
View Paper titled, The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator
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Topics: Equations of motion, Geometry, Manipulators, Trusses (Building), Design, Construction, Engines, Kinematics, Motors, Simulation
Proceedings Papers

Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

Byung-Ju Yi, Robert A. Freeman, Delbert Tesar
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 163-172, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0211
https://doi.org/10.1115/DETC1992-0211
View Paper titled, Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism
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Topics: Stiffness, Degrees of freedom, Design, Tradeoffs
Proceedings Papers

A Sensitivity Analysis Based Method for Robot Calibration

S. Kaizerman, B. Benhabib, R. G. Fenton, G. Zak
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 119-127, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0206
https://doi.org/10.1115/DETC1992-0206
View Paper titled, A Sensitivity Analysis Based Method for Robot Calibration
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Topics: Calibration, Robots, Sensitivity analysis, Kinematics, Degrees of freedom, Manipulators
Proceedings Papers

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

Wang Guozhen
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 113-117, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0205
https://doi.org/10.1115/DETC1992-0205
View Paper titled, Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms
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Topics: Displacement
Proceedings Papers

Direct Position Analysis of the 4-6 Stewart Platforms

Ning-Xin Chen, Shin-Min Song
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 75-80, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0200
https://doi.org/10.1115/DETC1992-0200
View Paper titled, Direct Position Analysis of the 4-6 Stewart Platforms
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Topics: Polynomials, Robots, Vehicles
Proceedings Papers

Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints

P. Dietmaier
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 35-40, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0195
https://doi.org/10.1115/DETC1992-0195
View Paper titled, Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints
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Topics: Kinematics, Manipulators, Linkages, Displacement, Polynomials
Proceedings Papers

On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators

Clément M. Gosselin, Jaouad Sefrioui, Marc J. Richard
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 13-19, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0193
https://doi.org/10.1115/DETC1992-0193
View Paper titled, On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators
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Topics: Kinematics, Manipulators, Polynomials, Actuators, Grippers
Proceedings Papers

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

D. Zlatanov, M. Q. Dai, R. G. Fenton, B. Benhabib
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 529-536, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0255
https://doi.org/10.1115/DETC1992-0255
View Paper titled, Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator
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Topics: Degrees of freedom, Design engineering, Kinematic analysis, Manipulators, Kinematics
Proceedings Papers

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

W. Lin, Carl D. Crane, III, J. Duffy
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 521-527, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0254
https://doi.org/10.1115/DETC1992-0254
View Paper titled, Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms
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Topics: Displacement, Polynomials