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Proceedings Papers

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration

Nathan A. Jensen, Carl A. Nelson
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A019, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22098
https://doi.org/10.1115/DETC2020-22098
View Paper titled, Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration
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Topics: Kinematics, Optimization, Performance evaluation, Robots, Manipulators, Degrees of freedom, Geometry, Jacobian matrices
Proceedings Papers

Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom

Chin-Hsing Kuo, Jian S. Dai
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A028, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22490
https://doi.org/10.1115/DETC2020-22490
View Paper titled, Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom
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Topics: Degrees of freedom, Manipulators, Design, Screws, End effectors
Proceedings Papers

Passive Mechanical Metamaterial Sensor and Actuator

U. Waheed, C. Myant
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A010, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22370
https://doi.org/10.1115/DETC2020-22370
View Paper titled, Passive Mechanical Metamaterial Sensor and Actuator
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Topics: Actuators, Metamaterials, Sensors, Additive manufacturing, Aerospace industry, Anisotropy, Compliant mechanisms, Design, Electronic systems, Engineering systems and industry applications
Proceedings Papers

Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms

Kendall Seymour, Pietro Bilancia, Spencer Magleby, Larry Howell
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A001, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22049
https://doi.org/10.1115/DETC2020-22049
View Paper titled, Hinges and Curved Lamina Emergent Torsional Joints in Cylindrical Developable Mechanisms
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Topics: Hinges, Cylinders, Membranes, Modeling, Nickel titanium alloys
Proceedings Papers

Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme

Vishal Ramadoss, Darwin Lau, Dimiter Zlatanov, Matteo Zoppi
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A029, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22502
https://doi.org/10.1115/DETC2020-22502
View Paper titled, Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme
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Topics: Cables, Robots, Chain, Kinematics, Degrees of freedom, Design, Manipulators, Parallel mechanisms, Statics
Proceedings Papers

Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver

Qiang Yang, Andrew P. Murray, David H. Myszka, Shujun Li
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A020, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22196
https://doi.org/10.1115/DETC2020-22196
View Paper titled, Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver
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Topics: Architecture, Degrees of freedom, Design, Kinematics, Linkages, Manufacturing, Structural design
Proceedings Papers

Design of a Flexure Based Low Frequency Foucault Pendulum

Patrick Fluckiger, Ilan Vardi, Simon Henein
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A002, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22075
https://doi.org/10.1115/DETC2020-22075
View Paper titled, Design of a Flexure Based Low Frequency Foucault Pendulum
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Topics: Bending (Stress), Design, Pendulums, Rotation, Approximation, Construction, Degrees of freedom, Dimensions, Harmonic oscillators, Isotropy
Proceedings Papers

A Novel Compliant Bistable Mechanism Incorporating a Fixed-Guided Flexural Member

James J. Joo, David H. Myszka
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A011, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22420
https://doi.org/10.1115/DETC2020-22420
View Paper titled, A Novel Compliant Bistable Mechanism Incorporating a Fixed-Guided Flexural Member
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Topics: Additive manufacturing, Design, Displacement measurement, Engineering prototypes, Finite element analysis, Geometry, Manufacturing, Modeling, Simulation, Stress
Proceedings Papers

Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects

Nina Robson, Brianda Chavez, Jong-Seob Won
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A021, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22202
https://doi.org/10.1115/DETC2020-22202
View Paper titled, Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects
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Topics: Grasping, Kinematics, Design, Exoskeleton devices, Geometry, Rotation, Shapes, Trajectories (Physics)
Proceedings Papers

Evaluating Plane Curves As Constraints for Locomotion on Uneven Terrain

Chang Liu, Mark Plecnik
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A030, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22666
https://doi.org/10.1115/DETC2020-22666
View Paper titled, Evaluating Plane Curves As Constraints for Locomotion on Uneven Terrain
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Topics: Actuators, Bridges (Structures), Degrees of freedom, Design engineering, Differential equations, Dynamics (Mechanics), Kinematics, Rotation, Topology
Proceedings Papers

Design of a Compliant Hinge Based on Closed Form Pressure Balancing

Robin F. P. Gomes, Joep P. A. Nijssen, Ron A. J. van Ostayen
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A003, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22100
https://doi.org/10.1115/DETC2020-22100
View Paper titled, Design of a Compliant Hinge Based on Closed Form Pressure Balancing
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Topics: Compliant mechanisms, Design, Hinges, Pressure, Stiffness
Proceedings Papers

Designing Conformal Ferromagnetic Soft Actuators Using Extended Level Set Methods (X-LSM)

Jiawei Tian, Xuanhe Zhao, Xianfeng David Gu, Shikui Chen
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A012, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22438
https://doi.org/10.1115/DETC2020-22438
View Paper titled, Designing Conformal Ferromagnetic Soft Actuators Using Extended Level Set Methods (X-LSM)
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Topics: Actuators, Design, Optimization, Robots, Shapes, Topology, Adaptive structures, Architects, Bionics, Elastomers
Proceedings Papers

An Optimization Method for the Static Balancing of Manipulators Using Springs

Jieyu Wang, Xianwen Kong
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A022, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22217
https://doi.org/10.1115/DETC2020-22217
View Paper titled, An Optimization Method for the Static Balancing of Manipulators Using Springs
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Topics: Manipulators, Matlab, Optimization, Springs
Proceedings Papers

An Image-Based Approach to Variational Path Synthesis of Linkages

Shrinath Deshpande, Anurag Purwar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A031, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22679
https://doi.org/10.1115/DETC2020-22679
View Paper titled, An Image-Based Approach to Variational Path Synthesis of Linkages
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Topics: Linkages, Machine learning, Uncertainty
Proceedings Papers

Analysis and Study of Variable Stiffness Joints Based on Bi-Material Nested Elastomers

Wei Sun, Jingjun Yu, Yueri Cai
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A004, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22160
https://doi.org/10.1115/DETC2020-22160
View Paper titled, Analysis and Study of Variable Stiffness Joints Based on Bi-Material Nested Elastomers
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Topics: Elastomers, Fluids, Rheology, Stiffness, Stress
Proceedings Papers

Designing Developable Mechanisms From Flat Patterns

Lance P. Hyatt, Amanda Lytle, Spencer P. Magleby, Larry L. Howell
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A013, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22445
https://doi.org/10.1115/DETC2020-22445
View Paper titled, Designing Developable Mechanisms From Flat Patterns
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Topics: Design, Dimensions
Proceedings Papers

Complete, Minimal and Continuous Kinematic Error Models of Perfect Multi-DOF Joints for Parallel Manipulators

Lingyu Kong, Genliang Chen, Zhuang Zhang, Anhuan Xie, Hao Wang, Dan Zhang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A023, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22328
https://doi.org/10.1115/DETC2020-22328
View Paper titled, Complete, Minimal and Continuous Kinematic Error Models of Perfect Multi-DOF Joints for Parallel Manipulators
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Topics: Errors, Kinematics, Manipulators, Calibration, Manufacturing, Ceramic matrix composites, Chain, Computer simulation, Cylinders, Degrees of freedom
Proceedings Papers

Six-Bar Linkages With Compliant Mechanisms for an Adaptive Robot

Michael Pieber, Johannes Gerstmayr
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A014, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22546
https://doi.org/10.1115/DETC2020-22546
View Paper titled, Six-Bar Linkages With Compliant Mechanisms for an Adaptive Robot
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Topics: Compliant mechanisms, Linkages, Robots, Stiffness, Actuators, Bearings, Friction, Geometry, Multibody systems
Proceedings Papers

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A032, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22704
https://doi.org/10.1115/DETC2020-22704
View Paper titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Kinematics, Stress, Tradeoffs, Bearings, Degrees of freedom, Design, Rotation
Proceedings Papers

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A005, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22192
https://doi.org/10.1115/DETC2020-22192
View Paper titled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
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Topics: Actuators, Cables, Design, Stiffness