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Proceedings Papers

Some Implications for Parallel Kinematic Machine Design Based on Kinetostatic Model

Clément M. Gosselin, Dan Zhang
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 533-542, September 10–13, 2000
Paper No: DETC2000/MECH-14108
DOI: https://doi.org/10.1115/DETC2000/MECH-14108
View Paper titled, Some Implications for Parallel Kinematic Machine Design Based on Kinetostatic Model
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Topics: Degrees of freedom, Design, Genetic algorithms, Kinematics, Machine design, Materials properties, Modeling, Optimization, Stiffness
Proceedings Papers

In-Parallel Passive Compliant Coupler for Robot Force Control

T. A. Dwarakanath, Carl D. Crane, III, Joseph Duffy, Chad Tyler
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 587-593, September 10–13, 2000
Paper No: DETC2000/MECH-14114
DOI: https://doi.org/10.1115/DETC2000/MECH-14114
View Paper titled, In-Parallel Passive Compliant Coupler for Robot Force Control
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Topics: Force control, Robots, Design, Signal to noise ratio, Compliant mechanisms, Displacement, Shape optimization
Proceedings Papers

Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor

David Stein, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 595-601, September 10–13, 2000
Paper No: DETC2000/MECH-14115
DOI: https://doi.org/10.1115/DETC2000/MECH-14115
View Paper titled, Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor
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Topics: Path planning, Stepper motors, Stators, Rotors, Poles (Building), Design, Electromagnets, Engineering prototypes, Permanent magnets, Trajectories (Physics)
Proceedings Papers

A 7R-Based, Two Degrees of Freedom Robomech

Ahmad A. Smaili
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 717-723, September 10–13, 2000
Paper No: DETC2000/MECH-14134
DOI: https://doi.org/10.1115/DETC2000/MECH-14134
View Paper titled, A 7R-Based, Two Degrees of Freedom Robomech
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Topics: Degrees of freedom, Chain, End effectors, Kinematics, Robots
Proceedings Papers

Real-Time Forward Kinematics of the General 6-6 Stewart Platform Using One Extra Sensor

Tae-Young Lee, Jae-Kyung Shim
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 427-434, September 10–13, 2000
Paper No: DETC2000/MECH-14095
DOI: https://doi.org/10.1115/DETC2000/MECH-14095
View Paper titled, Real-Time Forward Kinematics of the General 6-6 Stewart Platform Using One Extra Sensor
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Topics: Kinematics, Sensors, Algorithms, Algebra, Computation, Iterative methods
Proceedings Papers

Modeling and Batch Fabrication of Spatial Micro-Manipulators

C. Kimball, L. W. Tsai, D. DeVoe, J. Maloney
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 603-611, September 10–13, 2000
Paper No: DETC2000/MECH-14116
DOI: https://doi.org/10.1115/DETC2000/MECH-14116
View Paper titled, Modeling and Batch Fabrication of Spatial Micro-Manipulators
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Topics: Manipulators, Manufacturing, Modeling, Cantilever beams, Compliant mechanisms, Deflection, Microelectromechanical systems
Proceedings Papers

Configuration Management for Modular Flexible Small Automation Systems: A Case Study

Cameron J. Turner, Jacy M. Legault, Dan J. Cox
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 661-670, September 10–13, 2000
Paper No: DETC2000/MECH-14122
DOI: https://doi.org/10.1115/DETC2000/MECH-14122
View Paper titled, Configuration Management for Modular Flexible Small Automation Systems: A Case Study
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Topics: Decision making, Design
Proceedings Papers

Closed-Form Forward Dynamic Equations of 6-DOF P US Type Parallel Manipulators

Jong-Phil Kim, Jeha Ryu
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 543-550, September 10–13, 2000
Paper No: DETC2000/MECH-14109
DOI: https://doi.org/10.1115/DETC2000/MECH-14109
View Paper titled, Closed-Form Forward Dynamic Equations of 6-DOF P US Type Parallel Manipulators
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Topics: Equations of motion, Manipulators, Computer simulation, Computer software, Degrees of freedom, Inertia (Mechanics), Kinematic analysis, Kinematics, Simulation
Proceedings Papers

On the Placement of Serial Manipulators

Karim Abdel-Malek, Wei Yu
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 725-732, September 10–13, 2000
Paper No: DETC2000/MECH-14125
DOI: https://doi.org/10.1115/DETC2000/MECH-14125
View Paper titled, On the Placement of Serial Manipulators
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Topics: Manipulators, Kinematics, Biomedicine, Computation, Manufacturing, Robots
Proceedings Papers

Understanding Voids in the Workspace of Serial Robot Manipulators

Karim Abdel-Malek, Harn-Jou Yeh, Saib Othman
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 733-740, September 10–13, 2000
Paper No: DETC2000/MECH-14126
DOI: https://doi.org/10.1115/DETC2000/MECH-14126
View Paper titled, Understanding Voids in the Workspace of Serial Robot Manipulators
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Topics: Manipulators, Analytical methods
Proceedings Papers

A Linear Displacement Bistable Micromechanism

Michael S. Baker, Scott M. Lyon, Larry L. Howell
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 613-619, September 10–13, 2000
Paper No: DETC2000/MECH-14117
DOI: https://doi.org/10.1115/DETC2000/MECH-14117
View Paper titled, A Linear Displacement Bistable Micromechanism
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Topics: Displacement, Micromechanical devices, Deflection, Switches, Valves
Proceedings Papers

Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings

Jinwu Qian, Zhenbang Gong, Qixian Zhang
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 671-679, September 10–13, 2000
Paper No: DETC2000/MECH-14123
DOI: https://doi.org/10.1115/DETC2000/MECH-14123
View Paper titled, Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings
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Topics: Ceilings, Computer programming, Robots, Optimization
Proceedings Papers

Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications

Abdul Ghafoor, Jian S. Dai, Joseph Duffy
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 551-560, September 10–13, 2000
Paper No: DETC2000/MECH-14110
DOI: https://doi.org/10.1115/DETC2000/MECH-14110
View Paper titled, Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications
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Topics: Robotics, Stiffness, Springs, Screws
Proceedings Papers

Microfabrication and Characterization of Electro-Thermal-Compliant Micro Devices

Jun Li, G. K. Ananthasuresh
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 621-633, September 10–13, 2000
Paper No: DETC2000/MECH-14118
DOI: https://doi.org/10.1115/DETC2000/MECH-14118
View Paper titled, Microfabrication and Characterization of Electro-Thermal-Compliant Micro Devices
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Topics: Actuators, Compliant mechanisms, Excimer lasers, Heating, Joules, Materials properties, Metals, Microelectromechanical systems, Microfabrication, Micromachining
Proceedings Papers

Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space

Paresh Shah, Jian S. Dai
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 741-747, September 10–13, 2000
Paper No: DETC2000/MECH-14127
DOI: https://doi.org/10.1115/DETC2000/MECH-14127
View Paper titled, Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space
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Topics: Path planning, Manipulators, Redundant manipulators, Space
Proceedings Papers

Optimization-Based Design of a Fully-Compliant Bistable Micromechanism

Matthew B. Parkinson, Brian D. Jensen, Gregory M. Roach
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 635-641, September 10–13, 2000
Paper No: DETC2000/MECH-14119
DOI: https://doi.org/10.1115/DETC2000/MECH-14119
View Paper titled, Optimization-Based Design of a Fully-Compliant Bistable Micromechanism
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Topics: Design, Micromechanical devices, Optimization, Actuators, Displacement, Energy consumption, Friction, Manufacturing, Switches
Proceedings Papers

Modeling Gait Transitions of Quadruped and Their Generalization With CMAC Neural Networks

Jian-Nan Lin, Shin-Min Song
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 681-688, September 10–13, 2000
Paper No: DETC2000/MECH-14124
DOI: https://doi.org/10.1115/DETC2000/MECH-14124
View Paper titled, Modeling Gait Transitions of Quadruped and Their Generalization With CMAC Neural Networks
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Topics: Artificial neural networks, Kinematics, Modeling
Proceedings Papers

Spherically-Actuated Platform Manipulator

Robert L. Williams, II, Dana B. Poling
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 561-568, September 10–13, 2000
Paper No: DETC2000/MECH-14111
DOI: https://doi.org/10.1115/DETC2000/MECH-14111
View Paper titled, Spherically-Actuated Platform Manipulator
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Topics: Manipulators, Chain, Kinematics, Actuators, Hardware, NASA
Proceedings Papers

A Geometric Based Method for Distance-to-Contact Calculations in Two Dimensions

C. Wu, R. W. Mayne
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 749-758, September 10–13, 2000
Paper No: DETC2000/MECH-14128
DOI: https://doi.org/10.1115/DETC2000/MECH-14128
View Paper titled, A Geometric Based Method for Distance-to-Contact Calculations in Two Dimensions
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Topics: Dimensions, Path planning, Quadratic programming
Proceedings Papers

Design and Analysis of a Four-Degree-of-Freedom Hybrid Spherical Scanning Apparatus

Chuanqi Chen, Perry Y. Li, Arthur G. Erdman
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 689-694, September 10–13, 2000
Paper No: DETC2000/MECH-14130
DOI: https://doi.org/10.1115/DETC2000/MECH-14130
View Paper titled, Design and Analysis of a Four-Degree-of-Freedom Hybrid Spherical Scanning Apparatus
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Topics: Design, Kinematics, Lasers, Linkages, Computation, Computer software, Cycles, Degrees of freedom, Design engineering, Dimensions