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43rd Mechanisms and Robotics Conference
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Proceedings Papers

Mechanism Singularities Revisited From an Algebraic Viewpoint

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

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

Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes

P. C. López-Custodio, J. S. Dai, R. Fu, Y. Jin
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A025, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97423
https://doi.org/10.1115/DETC2019-97423
View Paper titled, Kinematic Analysis of the Exechon Robot Accounting Offsets in the Joint Axes
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Topics: Accounting, Kinematic analysis, Robots, Kinematics, Constraint systems
Proceedings Papers

Characteristics of Self-Deployment in Origami-Based Systems

Mary E. Wilson, Spencer P. Magleby, Larry L. Howell, Anton E. Bowden
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A049, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98126
https://doi.org/10.1115/DETC2019-98126
View Paper titled, Characteristics of Self-Deployment in Origami-Based Systems
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Topics: Compliant mechanisms, Deformation, Design, Surgery
Proceedings Papers

Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso

Wankun Sirichotiyakul, Aykut C. Satici, Eric S. Sanchez, Pranav A. Bhounsule
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A067, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97955
https://doi.org/10.1115/DETC2019-97955
View Paper titled, Energetically-Optimal Discrete and Continuous Stabilization of the Rimless Wheel With Torso
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Topics: Wheels, Control equipment, Closed loop systems, Dynamics (Mechanics), Energy dissipation, Modeling, Poincaré maps, Simulation, Steady state
Proceedings Papers

Simulating Compliant Crease Origami With a Bar and Hinge Model

Yi Zhu, Evgueni T. Filipov
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A025, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97119
https://doi.org/10.1115/DETC2019-97119
View Paper titled, Simulating Compliant Crease Origami With a Bar and Hinge Model
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Topics: Hinges, Stiffness, Deformation, Geometry, Springs, Engineering simulation, Finite element analysis, Mechanical behavior, Modeling, Origami-inspired design
Proceedings Papers

Upper Limb Rehabilitation and Mobility Assistance Using Robotic Devices: A Review

AmirHossein MajidiRad, Yimesker S. Yihun
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A039, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98063
https://doi.org/10.1115/DETC2019-98063
View Paper titled, Upper Limb Rehabilitation and Mobility Assistance Using Robotic Devices: A Review
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Topics: Biomedicine, Electroencephalography, Electromyography, Feedback, Haptics, Human-robot interaction, Mechanical admittance, Patient treatment, Performance, Physiology
Proceedings Papers

Topology Design and Analysis of a Novel 3-Translational Parallel Mechanism With Analytical Direct Position Solutions and Partial Motion Decoupling

Huiping Shen, Damien Chablat, Boxiong Zeng, Ting-li Yang
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A001, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97077
https://doi.org/10.1115/DETC2019-97077
View Paper titled, Topology Design and Analysis of a Novel 3-Translational Parallel Mechanism With Analytical Direct Position Solutions and Partial Motion Decoupling
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Topics: Design, Parallel mechanisms, Topology, Kinematics, Degrees of freedom, Design theory, Modeling
Proceedings Papers

Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study

Kristian Mauser, Jan Friese, Alexander Hasse
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A012, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97799
https://doi.org/10.1115/DETC2019-97799
View Paper titled, Analyzing the Effect of Prestressing Forces on Selective Compliant Mechanisms: A Case Study
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Topics: Compliant mechanisms, Stiffness
Proceedings Papers

Dynamic Transformation of an Origami String Using a Stacked-Miura Cell

Chang Liu, Zwe Min Htet Aung, Samuel M. Felton
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A031, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97435
https://doi.org/10.1115/DETC2019-97435
View Paper titled, Dynamic Transformation of an Origami String Using a Stacked-Miura Cell
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Topics: String, Gravity (Force), Kinematics, Machinery
Proceedings Papers

Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking

Shubhdildeep S. Sohal, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A047, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97530
https://doi.org/10.1115/DETC2019-97530
View Paper titled, Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking
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Topics: Mobile robots, Robots, Manufacturing, Design, Failure, Image processing, Trajectories (Physics), Uncertainty
Proceedings Papers

Lightweight Long-Reach 5-DOF Robot Arm for Farm Application

QianWei Zhang, Reza Fotouhi, Joshua Cote, Majid Khak Pour
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A019, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98366
https://doi.org/10.1115/DETC2019-98366
View Paper titled, Lightweight Long-Reach 5-DOF Robot Arm for Farm Application
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Topics: Robots, Dynamics (Mechanics), Engineering simulation, Iterative methods, Kinematics, Manipulators, Matlab, Simulation, Vehicles
Proceedings Papers

Stiffness Based Stability Enhancement in Human-Robot Collaboration

Sri Sadhan Jujjavarapu, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A019, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98506
https://doi.org/10.1115/DETC2019-98506
View Paper titled, Stiffness Based Stability Enhancement in Human-Robot Collaboration
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Topics: Collaboration, Robots, Stability, Stiffness, Muscle, Mechanical admittance
Proceedings Papers

Characteristics of Truss Core Created by Origami Forming Method

Aya Abe, Kosuke Terada, Haruki Yashiro, Ichiro Hagiwara
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A038, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97740
https://doi.org/10.1115/DETC2019-97740
View Paper titled, Characteristics of Truss Core Created by Origami Forming Method
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Topics: Trusses (Building), Acoustical materials, Cushioning materials, Honeycomb structures, Metals
Proceedings Papers

Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms

Hylke Kooistra, Charles J. Kim, Werner W. P. J. van de Sande, Just L. Herder
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A005, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97450
https://doi.org/10.1115/DETC2019-97450
View Paper titled, Shape Optimization Framework for the Path of the Primary Compliance Vector in Compliant Mechanisms
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Topics: Compliant mechanisms, Shape optimization, Design, Optimization, Shapes, Deformation, Degrees of freedom, Displacement, Kinematics, Stiffness
Proceedings Papers

Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A008, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97537
https://doi.org/10.1115/DETC2019-97537
View Paper titled, Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-Link Robotic Tail
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Topics: Design, Optimization, Robotics, Cables, Rigid-body mechanisms, Frequency response, Hardware, Kinematics, Manipulators, Modeling
Proceedings Papers

Bi-Material Re-Entrant Triangle Structures Incorporating Tailorable Thermal Expansion and Tunable Poisson’s Ratio

He Xiaobing, Xie Yan, Yu Jingjun
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A033, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97686
https://doi.org/10.1115/DETC2019-97686
View Paper titled, Bi-Material Re-Entrant Triangle Structures Incorporating Tailorable Thermal Expansion and Tunable Poisson’s Ratio
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Topics: Poisson ratio, Thermal expansion
Proceedings Papers

Dynamics Analysis of the Deployment of Miura-Origami Sheets

Yutong Xia, Kon-Well Wang
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A026, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97136
https://doi.org/10.1115/DETC2019-97136
View Paper titled, Dynamics Analysis of the Deployment of Miura-Origami Sheets
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Topics: Dynamics (Mechanics)
Proceedings Papers

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Swaminath Venkateswaran, Matthieu Furet, Damien Chablat, Philippe Wenger
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A026, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97544
https://doi.org/10.1115/DETC2019-97544
View Paper titled, Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot
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Topics: Biomimetics, Design, Robots, Tensegrity mechanisms, Cables, Pipes, Inspection, End effectors, Junctions, Pipe bends
Proceedings Papers

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

Carl A. Nelson, Cole A. Dempsey, Ethan R. Brush, M. Amine Laribi
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A014, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97981
https://doi.org/10.1115/DETC2019-97981
View Paper titled, Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint
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Topics: Design, Robots, Rolling contact, Surgery, Bevel gears, Collisions (Physics), Human-robot interaction, Safety, Surgical tools