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Proceedings Papers

Equilibrium, Stability, and Robustness in Underactuated Grasping

Gert A. Kragten, Just L. Herder
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 645-652, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34963
https://doi.org/10.1115/DETC2007-34963
View Paper titled, Equilibrium, Stability, and Robustness in Underactuated Grasping
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Topics: Equilibrium (Physics), Grasping, Robustness, Stability, Degrees of freedom, Design, Shapes
Proceedings Papers

A New Approach on Object Slippage Control in a Cooperating Manipulators System

Shahram Hadian Jazi, Mehdi Keshmiri, Farid Sheikholeslam
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 877-885, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35048
https://doi.org/10.1115/DETC2007-35048
View Paper titled, A New Approach on Object Slippage Control in a Cooperating Manipulators System
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Topics: Grasping, Manipulators, Control equipment, Dynamic modeling, End effectors, Friction, Stability, Coulombs, Differential equations, Equations of motion
Proceedings Papers

A Single Piezoelectric Trimorph Driven Bi-Directional Linear Ultrasonic Motor

Tung-Li Wu, Chen-Hui Yang, Shuo-Hung Chang
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 291-296, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34661
https://doi.org/10.1115/DETC2007-34661
View Paper titled, A Single Piezoelectric Trimorph Driven Bi-Directional Linear Ultrasonic Motor
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Topics: Ultrasonic motors, Vibration, Resonance, Design, Engines, Motors, Actuators, Copper, Engineering prototypes, Finite element analysis
Proceedings Papers

Compliant Mechanisms Formed From Shaped Wire

Tyler M. Pendleton, Brian D. Jensen
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 75-81, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34969
https://doi.org/10.1115/DETC2007-34969
View Paper titled, Compliant Mechanisms Formed From Shaped Wire
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Topics: Compliant mechanisms, Wire, Springs, Torsion, Design, Finite element model, Manufacturing, Rigid-body mechanisms, Stiffness
Proceedings Papers

Analysis of the Hex Cell Discretization for Topology Synthesis of Compliant Mechanisms

Nilesh D. Mankame, Anupam Saxena
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 111-126, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35244
https://doi.org/10.1115/DETC2007-35244
View Paper titled, Analysis of the Hex Cell Discretization for Topology Synthesis of Compliant Mechanisms
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Topics: Compliant mechanisms, Topology, Design, Engineering simulation, Optimization, Simulation, Stress, Displacement, Filtration, Finite element analysis
Proceedings Papers

A Jacobian-Based Algorithm for the Attitude Control of a Rigid Body Undergoing Fully-Reversed Sequences of Rotations

Sung K. Koh, Gregory S. Chirikjian, G. K. Ananthasuresh
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1255-1263, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34927
https://doi.org/10.1115/DETC2007-34927
View Paper titled, A Jacobian-Based Algorithm for the Attitude Control of a Rigid Body Undergoing Fully-Reversed Sequences of Rotations
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Topics: Algorithms, Jacobian matrices, Control algorithms, Rotation, Manipulators
Proceedings Papers

Synthesis of the Body Swing Rotator Joint Aligning Mechanism for the Abductor Joint of a Novel Tripedal Locomotion Robot

Dennis W. Hong, Derek F. Lahr
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1001-1011, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34471
https://doi.org/10.1115/DETC2007-34471
View Paper titled, Synthesis of the Body Swing Rotator Joint Aligning Mechanism for the Abductor Joint of a Novel Tripedal Locomotion Robot
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Topics: Robots, Design engineering, Actuators, Design, Engineering prototypes, Gears, Kinematic analysis, Motors
Proceedings Papers

Static Analysis of Torque and Coupler Driven Spherical Four-Bar Mechanisms With an Applied Load

David A. Perkins, Michael L. Turner, Andrew P. Murray
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 519-526, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35359
https://doi.org/10.1115/DETC2007-35359
View Paper titled, Static Analysis of Torque and Coupler Driven Spherical Four-Bar Mechanisms With an Applied Load
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Topics: Stress, Torque, Chain, Linkages, Statics
Proceedings Papers

Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions

Chao-Chieh Lan, Yung-Jen Cheng
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 3-11, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34191
https://doi.org/10.1115/DETC2007-34191
View Paper titled, Distributed Shape Optimization of Compliant Mechanisms Using Intrinsic Functions
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Topics: Compliant mechanisms, Shape optimization
Proceedings Papers

Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories

Stephen L. Canfield, Daniel L. Chlarson, Alexander Shibakov, Joseph D. Richardson, Anupam Saxena
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 179-190, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35618
https://doi.org/10.1115/DETC2007-35618
View Paper titled, Multi-Objective Optimization of Compliant Mechanisms Including Failure Theories
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Topics: Compliant mechanisms, Failure, Pareto optimization, Design, Engines
Proceedings Papers

Contribution to the Mechanical Behavior Improvement of the Robotic Navigation Device Surgiscope ®

Se´bastien Briot, Ce´dric Baradat, Sylvain Gue´gan, Vigen Arakelian
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 653-661, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35067
https://doi.org/10.1115/DETC2007-35067
View Paper titled, Contribution to the Mechanical Behavior Improvement of the Robotic Navigation Device Surgiscope ®
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Topics: Collaboration, Computer simulation, Engineering prototypes, Errors, Mechanical behavior, Medical devices, Optimization, Robot navigation, Robots, Surgical tools
Proceedings Papers

On the Design of PAMINSA: A New Class of Parallel Manipulators With High-Load Carrying Capacity

Se´bastien Briot, Sylvain Gue´gan, Eric Courteille, Vigen Arakelian
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 763-772, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35068
https://doi.org/10.1115/DETC2007-35068
View Paper titled, On the Design of PAMINSA: A New Class of Parallel Manipulators With High-Load Carrying Capacity
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Topics: Design, Manipulators, Stress, Actuators, Computer simulation, Conceptual design, Degrees of freedom, Linkages
Proceedings Papers

Hybrid Approach to Modeling a Flexible Parallel Robot for Vibration Damping

Jens Kroneis, Steven Liu
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 297-306, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34743
https://doi.org/10.1115/DETC2007-34743
View Paper titled, Hybrid Approach to Modeling a Flexible Parallel Robot for Vibration Damping
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Topics: Damping, Modeling, Robots, Vibration
Proceedings Papers

Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials

Joe Chalfoun, Catherine Bidard, Delphine Keller, Yann Perrot
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 887-896, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35221
https://doi.org/10.1115/DETC2007-35221
View Paper titled, Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials
Open the PDF for Long Reach Articulated Carrier: Geometric and Elastic Error Calibration of the Flexible Model Followed by Nonlinear Generalized Error Calibration With Ordinary Polynomials in another window
Topics: Calibration, Errors, Polynomials, Manipulators, Robots, Deformation, Robotics, Actuators, Degrees of freedom, End effectors
Proceedings Papers

Optimum Synthesis of Rigid Mechanisms Using Real Coded Quantum-Inspired Evolution Algorithm (RQIEA) With Neighborhood Search

Ahmad Smaili, Mazen Hassanieh, Bachir Chaaya, Fawzan Al Fares
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 409-416, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34427
https://doi.org/10.1115/DETC2007-34427
View Paper titled, Optimum Synthesis of Rigid Mechanisms Using Real Coded Quantum-Inspired Evolution Algorithm (RQIEA) With Neighborhood Search
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Topics: Evolutionary algorithms, Rigid-body mechanisms, Algorithms, Optimization, Engines, Optimization algorithms
Proceedings Papers

Kinematic Analysis and Singularity Representation of 5-R P RRR Parallel Mechanisms

Mehdi Tale Masouleh, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1125-1132, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35281
https://doi.org/10.1115/DETC2007-35281
View Paper titled, Kinematic Analysis and Singularity Representation of 5-R P RRR Parallel Mechanisms
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Topics: Kinematic analysis, Parallel mechanisms, Kinematics, Geometry, Algebra, Domes (Structural elements), Optimization
Proceedings Papers

Mobility of Single Loop Linkages: A Final Word?

Jose´ Mari´a Rico, J. Jesu´s Cervantes, Juan Rocha, Jaime Gallardo, Luis Daniel Aguilera, Gerardo Israel Pe´rez, Alejandro Tadeo
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1265-1273, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34936
https://doi.org/10.1115/DETC2007-34936
View Paper titled, Mobility of Single Loop Linkages: A Final Word?
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Topics: Linkages, Mechanical admittance, Kinematic chains, Kinematics
Proceedings Papers

An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators

Scott B. Nokleby, Flavio Firmani, Alp Zibil, Ron P. Podhorodeski
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1013-1020, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34496
https://doi.org/10.1115/DETC2007-34496
View Paper titled, An Analysis of the Force-Moment Capabilities of Branch-Redundant Planar-Parallel Manipulators
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Topics: Manipulators, Architecture, Design
Proceedings Papers

Software for Investigating the Kinematics, Statics and Dynamics of Coupler-Driven Four-Bars for Two Position Synthesis

Michael L. Turner, Eric M. Grimm, Daniel Debrosse, Kevin Kosmac, Andrew P. Murray
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 527-535, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35368
https://doi.org/10.1115/DETC2007-35368
View Paper titled, Software for Investigating the Kinematics, Statics and Dynamics of Coupler-Driven Four-Bars for Two Position Synthesis
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Topics: Computer software, Dynamics (Mechanics), Kinematics, Statics, Chain, Linkages, Torque
Proceedings Papers

A Compliant Rotating Joint for Deployable Wings on Small UAVs

Steven D. Landon, Spencer P. Magleby, Brian D. Jensen
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 191-197, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35821
https://doi.org/10.1115/DETC2007-35821
View Paper titled, A Compliant Rotating Joint for Deployable Wings on Small UAVs
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Topics: Linkages, Unmanned aerial vehicles, Wings, Flight, Compliant mechanisms, Kinematics, Manufacturing, Storage