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Proceedings Papers

Mechanism Singularities Revisited From an Algebraic Viewpoint

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Zijia Li, Andreas Mueller
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A065, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97742
https://doi.org/10.1115/DETC2019-97742
View Paper titled, Mechanism Singularities Revisited From an Algebraic Viewpoint
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Topics: Algebra, Kinematics
Proceedings Papers

Classification of a Class of 3-RER Parallel Manipulators Using Gröbner Cover and Primary Decomposition of Ideals

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Xianwen Kong
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A066, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98057
https://doi.org/10.1115/DETC2019-98057
View Paper titled, Classification of a Class of 3-RER Parallel Manipulators Using Gröbner Cover and Primary Decomposition of Ideals
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Topics: Manipulators, Degrees of freedom, Design, Kinematic chains, Polynomials
Proceedings Papers

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

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Marcos B. Oliveira, Alexander Lurie, David Ewen, Philip Long, Taskin Padir, Samuel M. Felton
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A015, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97842
https://doi.org/10.1115/DETC2019-97842
View Paper titled, Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing
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Topics: Actuators, Additive manufacturing, Casting, Manufacturing, Cutting, Damage, Deflection, Design, Exoskeleton devices, Grippers
Proceedings Papers

Kalman Filter Based Sensor Fusion for a Mobile Manipulator

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Barnaba Ubezio, Shashank Sharma, Guglielmo Van der Meer, Michele Taragna
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A043, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97241
https://doi.org/10.1115/DETC2019-97241
View Paper titled, Kalman Filter Based Sensor Fusion for a Mobile Manipulator
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Topics: Kalman filters, Manipulators, Sensors, Algorithms, End effectors, Calibration, Filters, Microelectromechanical systems, Noise (Sound), Robots
Proceedings Papers

Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method

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Sonia C. García, Juan A. Gallego-Sanchez
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A001, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97091
https://doi.org/10.1115/DETC2019-97091
View Paper titled, Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method
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Topics: Design, Finite element analysis, Displacement, Rigid-body mechanisms
Proceedings Papers

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

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Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A057, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97306
https://doi.org/10.1115/DETC2019-97306
View Paper titled, Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
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Topics: Design, Simulation, Robots, Shapes, Adhesion, Errors, Friction
Proceedings Papers

Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

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Shuaishuai Lu, Peng Yan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A008, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97690
https://doi.org/10.1115/DETC2019-97690
View Paper titled, Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect
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Topics: Modeling, Springs, Temperature effects, Stress, Temperature, Finite element analysis, Bending (Stress), Compliant mechanisms, Mechanical properties, Motion control
Proceedings Papers

Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

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Shrinath Deshpande, Anurag Purwar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A029, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98193
https://doi.org/10.1115/DETC2019-98193
View Paper titled, Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models
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Topics: Creativity, Linkages, Machine learning, Kinematics, Computational methods, Design, Statistical distributions, Algorithms, Artificial neural networks, Bridges (Structures)
Proceedings Papers

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

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Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A022, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97007
https://doi.org/10.1115/DETC2019-97007
View Paper titled, Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations
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Topics: Algorithms, Mechanical admittance, Parallel mechanisms, Computer software, Computer-aided engineering, Design, Dimensions, Kinematics, Optimization
Proceedings Papers

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

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Latifah Nurahmi, Dongming Gan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A064, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97851
https://doi.org/10.1115/DETC2019-97851
View Paper titled, Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis
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Topics: Dynamic analysis, Parallel mechanisms, Screws, Mechanical admittance, Rotation
Proceedings Papers

Robotics Simulator for Development and Verification of Swarm Behaviors

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Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. McDonald, Michael A. Neumann, Christopher A. Kitts
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A050, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97622
https://doi.org/10.1115/DETC2019-97622
View Paper titled, Robotics Simulator for Development and Verification of Swarm Behaviors
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Topics: Robotics, Simulation, Composite materials, Dynamics (Mechanics), Navigation, Robots
Proceedings Papers

An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

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Bo-Rong Yang, Yu-Cheng Zhang, Hee-Hyol Lee, Eiichiro Tanaka
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A036, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97796
https://doi.org/10.1115/DETC2019-97796
View Paper titled, An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely
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Topics: Stairs, Trajectories (Physics), Ultrasonic transducers, Roads, Safety, Simulation
Proceedings Papers

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

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Duanling Li, Kaijie Dong, Xingze Wang, Biao Li, Zhou Su
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A016, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97845
https://doi.org/10.1115/DETC2019-97845
View Paper titled, Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism
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Topics: Design, Cables, Stiffness, Deformation, Friction, Theoretical analysis
Proceedings Papers

The Design of Robust Phase Oscillator for Wearable Robotic Systems

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Juan De La Fuente, Susheelkumar C. Subramanian, Prudhvi Tej Chinimilli, Sangram Redkar, Thomas Sugar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A058, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97453
https://doi.org/10.1115/DETC2019-97453
View Paper titled, The Design of Robust Phase Oscillator for Wearable Robotic Systems
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Topics: Design, Robotics, Robots, Control equipment, Damping, Exoskeleton devices, Limit cycles, Noise (Sound), Pendulums, Robustness
Proceedings Papers

On the Geometry of Stiffness and Compliance Under Concatenation

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Charles J. Kim
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A002, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97161
https://doi.org/10.1115/DETC2019-97161
View Paper titled, On the Geometry of Stiffness and Compliance Under Concatenation
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Topics: Geometry, Stiffness, Blocks (Building materials), Compliant mechanisms, Design, Kinematics
Proceedings Papers

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

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Benjamin Abruzzo, David Cappelleri, Philippos Mordohai
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A044, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97377
https://doi.org/10.1115/DETC2019-97377
View Paper titled, A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives
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Topics: Robotics, Teams, Robots, Errors, Kalman filters, Mobile robots, Sensors, Simulation, Uncertainty, Unmanned aerial vehicles
Proceedings Papers

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

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Nianfeng Wang, Fan Yue, Canran Li, Xianmin Zhang
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A009, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97758
https://doi.org/10.1115/DETC2019-97758
View Paper titled, Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints
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Topics: Bending (Stress), Optimization, Stress, Displacement, Stiffness, Design
Proceedings Papers

Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

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Shashank Sharma, Anurag Purwar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A030, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98194
https://doi.org/10.1115/DETC2019-98194
View Paper titled, Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms
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Topics: Simulation
Proceedings Papers

Computing Robust Inverse Kinematics Under Uncertainty

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Anirban Sinha, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A065, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97945
https://doi.org/10.1115/DETC2019-97945
View Paper titled, Computing Robust Inverse Kinematics Under Uncertainty
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Topics: Kinematics, Uncertainty, Errors, Redundant manipulators, Robots, End effectors, Probability, Robot motion, Robotics, Simulation
Proceedings Papers

Determining the Number of Distinct Solutions in Planar Mechanism Design

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Lawrence Funke, Jonathan Raney, Cyler Caldwell
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A023, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97360
https://doi.org/10.1115/DETC2019-97360
View Paper titled, Determining the Number of Distinct Solutions in Planar Mechanism Design
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Topics: Design, Modal assurance criterion, Artificial neural networks, Self-organization