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Proceedings Papers

A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes

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Abhilash Nayak, Haiyang Li, Guangbo Hao, Stéphane Caro
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A007, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67441
https://doi.org/10.1115/DETC2017-67441
View Paper titled, A Reconfigurable Compliant Four-Bar Mechanism With Multiple Operation Modes
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Topics: Additive manufacturing, Compliant mechanisms, Design, Engineering prototypes, Kinematics, Linkages, Rigid-body mechanisms, Simulation
Proceedings Papers

Decoupling Stiffness From Position in Joint Mechanisms: Applied to Powered Ankle Prosthesis

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Robert Holgate, Thomas Sugar
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A019, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68113
https://doi.org/10.1115/DETC2017-68113
View Paper titled, Decoupling Stiffness From Position in Joint Mechanisms: Applied to Powered Ankle Prosthesis
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Topics: Prostheses, Stiffness, Actuators
Proceedings Papers

Relative Navigation of Non-Cooperative Space Target Based on Multiple Cooperative Space Robots

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Yao Hong, Dan Simon
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A025, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67130
https://doi.org/10.1115/DETC2017-67130
View Paper titled, Relative Navigation of Non-Cooperative Space Target Based on Multiple Cooperative Space Robots
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Topics: Navigation, Robots, State estimation, Computer simulation, Filters
Proceedings Papers

Element Based Force Analysis of a Single Input-Multiple Output Linkage System

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Cong Zhu (John) Sun, Fengfeng (Jeff) Xi, Amin Moosavian, Daniel J. Inman
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A043, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67468
https://doi.org/10.1115/DETC2017-67468
View Paper titled, Element Based Force Analysis of a Single Input-Multiple Output Linkage System
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Topics: Linkages, Actuators, Airfoils, Engineering simulation, Finite element methods, Finite element model, Simulation, Torque
Proceedings Papers

Design of a Spherical Robot With Cable-Actuated Driving Mechanism

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Ernur Karadoğan, Brian P. DeJong
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A037, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68540
https://doi.org/10.1115/DETC2017-68540
View Paper titled, Design of a Spherical Robot With Cable-Actuated Driving Mechanism
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Topics: Cables, Design, Robots, Center of mass, Dynamics (Mechanics), Electronics, Engineering simulation, Equations of motion, Kinematics, Motors
Proceedings Papers

The Design and Manufacture of a Gear-Coupled Serial Chain to Trace the Butterfly Curve

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Yang Liu, Peter Lee-Shien Wang, J. Michael McCarthy
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A055, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68388
https://doi.org/10.1115/DETC2017-68388
View Paper titled, The Design and Manufacture of a Gear-Coupled Serial Chain to Trace the Butterfly Curve
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Topics: Chain, Design, Gears, Dimensions, Engineering prototypes, Manufacturing
Proceedings Papers

Biomechanical Design of a Novel Six DOF Compliant Prosthetic Ankle-Foot 2.0 for Rehabilitation of Amputee

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Tan Thang Nguyen, Thanh-Phong Dao, Shyh-Chour Huang
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A013, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67700
https://doi.org/10.1115/DETC2017-67700
View Paper titled, Biomechanical Design of a Novel Six DOF Compliant Prosthetic Ankle-Foot 2.0 for Rehabilitation of Amputee
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Topics: Artificial limbs, Biomechanics, Design, Glass reinforced plastics, Composite materials, Deformation, Evolutionary algorithms, Finite element analysis, Stress, Taguchi methods
Proceedings Papers

A Computational Method for Formulation and Solution of Dynamical Equations for Complex Mechanisms and Multibody Systems

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Kristopher Wehage, Bahram Ravani
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A031, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67766
https://doi.org/10.1115/DETC2017-67766
View Paper titled, A Computational Method for Formulation and Solution of Dynamical Equations for Complex Mechanisms and Multibody Systems
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Topics: Computational methods, Multibody systems, Equations of motion, Kinematics, Bifurcation, Linkages, Simulation
Proceedings Papers

Rigidly Foldable Quadrilateral Meshes From Angle Arrays

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Robert J. Lang, Larry Howell
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A001, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67440
https://doi.org/10.1115/DETC2017-67440
View Paper titled, Rigidly Foldable Quadrilateral Meshes From Angle Arrays
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Topics: Degrees of freedom, Design, Engineering design processes, Linear programming
Proceedings Papers

Synthesis of Spatial 3R Chains With Configuration-Specific Twist System

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Neda Hassanzadeh, Mason Wegert, M. Alba Perez-Gracia
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A050, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67905
https://doi.org/10.1115/DETC2017-67905
View Paper titled, Synthesis of Spatial 3R Chains With Configuration-Specific Twist System
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Topics: Chain, End effectors, Linkages, Trajectories (Physics)
Proceedings Papers

Variational Analysis of a Two Link Slider-Crank Mechanism Using Polynomial Chaos Theory

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Paul S. Ryan, Sarah C. Baxter, Philip A. Voglewede
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A026, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67328
https://doi.org/10.1115/DETC2017-67328
View Paper titled, Variational Analysis of a Two Link Slider-Crank Mechanism Using Polynomial Chaos Theory
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Topics: Chaos theory, Polynomials, Simulation, Design, Differential algebraic equations, Differential equations, Geometry, Uncertainty
Proceedings Papers

Modeling Length Effects of Braided Pneumatic Actuators

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Alexander J. Hunt, Alexander Graber-Tilton, Roger D. Quinn
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A008, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67458
https://doi.org/10.1115/DETC2017-67458
View Paper titled, Modeling Length Effects of Braided Pneumatic Actuators
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Topics: Modeling, Pneumatic actuators, Actuators, Pressure, Muscle, Robots, Robotics, Control equipment, Control systems, Durability
Proceedings Papers

Bimaterial Micro-Structured Annulus With Zero Thermal Expansion Coefficient

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Yan Xie, Dengfeng Lu, Jingjun Yu
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A020, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68142
https://doi.org/10.1115/DETC2017-68142
View Paper titled, Bimaterial Micro-Structured Annulus With Zero Thermal Expansion Coefficient
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Topics: Annulus, Thermal expansion, Bearings, Design, Deformation, Fasteners, Finite element analysis, Heat, Materials properties, Screws
Proceedings Papers

Design and Analysis of a Shell Mechanism Based Two-Fold Force Controlled Scoliosis Brace

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Joep P. A. Nijssen, Giuseppe Radaelli, Just L. Herder, Charles J. Kim, J. B. Ring
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A014, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67812
https://doi.org/10.1115/DETC2017-67812
View Paper titled, Design and Analysis of a Shell Mechanism Based Two-Fold Force Controlled Scoliosis Brace
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Topics: Bracing (Construction), Design, Scoliosis, Shells, Stiffness, Biomechanics, Deflection, Generators, Human spine, Kinematics
Proceedings Papers

A Passive Ankle-Foot Prosthesis With Energy Return to Mimic Able-Bodied Gait

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Robert Holgate, Thomas Sugar, Audrey Nash, Jasper Kianpour, Craig Trevor Johnson, Edwin Santos
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A056, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67192
https://doi.org/10.1115/DETC2017-67192
View Paper titled, A Passive Ankle-Foot Prosthesis With Energy Return to Mimic Able-Bodied Gait
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Topics: Prostheses, Safety, Testing
Proceedings Papers

A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem

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Shrinath Deshpande, Anurag Purwar
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A044, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67469
https://doi.org/10.1115/DETC2017-67469
View Paper titled, A Task-Driven Approach to Optimal Synthesis of Planar Four-Bar Linkages for Extended Burmester Problem
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Topics: Linkages, Manifolds, Dimensions, Fittings, Algebra, Algorithms, Design, Errors, Kinematics, Machinery
Proceedings Papers

Kinematics of a Particular 3T1R Parallel Manipulator of Type 2 P R P U

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Henrique Simas, Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A038, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67174
https://doi.org/10.1115/DETC2017-67174
View Paper titled, Kinematics of a Particular 3T1R Parallel Manipulator of Type 2 P R P U
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Topics: Kinematics, Manipulators, End effectors, Actuators, Design, Displacement, Generators, Robots, Rotation
Proceedings Papers

Qualitative Analysis and Design of Mechanical Metamaterials

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Sreekalyan Patiballa, Girish Krishnan
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A002, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67992
https://doi.org/10.1115/DETC2017-67992
View Paper titled, Qualitative Analysis and Design of Mechanical Metamaterials
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Topics: Design, Metamaterials, Flow (Dynamics), Geometry, Poisson ratio, Bulk modulus, Compliant mechanisms, Conceptual design, Shear modulus, Stress
Proceedings Papers

Pseudo-Rigid-Body Models for Dynamics of Compliant Robotic Links

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Yu She, Deshan Meng, Hai-Jun Su
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A032, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67949
https://doi.org/10.1115/DETC2017-67949
View Paper titled, Pseudo-Rigid-Body Models for Dynamics of Compliant Robotic Links
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Topics: Dynamics (Mechanics), Robotics, Cantilever beams, Kinematics, Statics, Compliant mechanisms, Deformation, Dynamic analysis, Errors, Modeling
Proceedings Papers

Velocity/Force Capacities of a Six-Legged Walking Machine

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Yuan Tian, Feng Gao, Jimu Liu
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A027, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67543
https://doi.org/10.1115/DETC2017-67543
View Paper titled, Velocity/Force Capacities of a Six-Legged Walking Machine
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Topics: Machinery, Robots, Redundancy (Engineering), Computation, Locomotives, Performance evaluation