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Keywords: Kinematics
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Proceedings Papers

Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A081, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114943
... of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series...
Proceedings Papers

Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A017, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116901
... with respect to the vehicle chassis, according to the kinematic characteristics of the double wishbone independent suspension mechanism. Moreover, a suitable mechanism with 18 members and 1 d.o.f. is proposed to generate mechanically or by using any CAD-software, both centrodes, according to the direct...
Proceedings Papers

Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A086, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117072
... user acceptance varies. Little or no consideration is given to kinematics, size, weight or aesthetics. Novel devices reported in the literature rely on mathematical optimization of kinematic parameters to achieve human-like finger trajectories and forces. However, these devices are not open-source...
Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90877
...Proceedings of the ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC-CIE2022 August 14-17, 2022, St. Louis, Missouri DETC2022-90877 A LOCAL CONSTRAINT RESOLUTION APPROACH FOR DYNAMICS MODELING OF PARALLEL KINEMATIC...
Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A032, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89968
... parallel robot kinematics modeling simulation robotic assisted SILS Abstract Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act...
Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A060, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-88680
... Abstract While many classical origami tessellations possess important kinematic properties, including flat-foldability and rigid-foldability, these patterns only possess one DOF. Stacking sheets of these origami tessellations is a fabrication technique to construct foldable meta-materials...
Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71814
... motion planning manipulation kinematics task-space planning redundancy resolution Abstract Despite the increasing number of collaborative robots in human-centered manufacturing, currently, industrial robots are still largely preprogrammed with very little autonomous features...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 315-326, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8671
... robots kinematics software library object-oriented architecture Abstract Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper...
Proceedings Papers

Proc. ASME. DETC99, Volume 2: 19th Computers and Information in Engineering Conference, 1037-1044, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/CIE-9067
...Proceedings of the 1999 ASME Design Engineering Technical Conferences: September 12-15,1999, Las Vegas, Nevada DETC99/CIE-9067 TEACHING GLOBAL AND MODULAR KINEMATICS WITH A HYPERMEDIA SUPPORT Carlo Galletti DIMEC - University of Genoa Via Opera Pia 15-A 16145 Genova, ITALY Email: carlo...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1427-1438, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8650
... Engineering Purdue University 1288 Mechanical Engineering Building West Lafayette, Indiana 47907-1288 [email protected] Keywords: Kinematics, Planar Mechanisms, Circuits, Assembly Configurations, Single-Degree-of-Freedom, Multi- Degree-of-Freedom, Automatic Method An SID ABSTRACT This paper examines...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 681-688, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14124
... Abstract The gait transition models of a quadruped are studied based on gait kinematics and CMAC neural networks are applied to learn and generalize these gait transition models. Three gait transition cases are studied: from wave gait to continuous follow-the-leader gait, from walk to trot...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 689-694, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14130
.... Since closed form inverse kinematics solutions are not available for the multiple degree-of-freedom spatial mechanism in question, symbolic and numerical computation techniques are used extensively for kinematics analysis, dimension design, and optimization. In addition, mechanical design and simulation...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 147-156, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14065
[email protected] Keywords: kinematics, cables, pulleys, tendon-driven manipulators, cable-suspended robots, cable-suspended haptic interfaces ABSTRACT In this paper a systematic way of representing complex cable-pulley mechanism configurations and a method to analyze and synthesize the motion of these cable-pulley...
Topics: Cables, Pulleys
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 119-124, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14061
...Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences Baltimore, Maryland, September 10-13, 2000 DETC2000/MECH-14061 KINEMATICS OF 3-DOF PYRAMID MANIPULATOR BY PRINCIPAL SCREWS Zhen Huang Jing Wang Robotics Research Center, Yanshan University, Robotics Research Center, Yanshan...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 15-25, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14050
... variations in which an R joint is replaced with a P or H joint, or an S joint is replaced with an E joint. A numerical method is given to find the ACs, and is illustrated with several examples. Keywords: Kinematics, Spatial Mechanisms, Circuits, Assembly Configurations 1. INTRODUCTION An assembly...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 177-184, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14068
... parameters. Only two of the six roots of the polynomial are real and they correspond to two different robot manipulators that can reach the desired end-effector poses. KEYWORDS Robot Manipulators, Geometric Design, Kinematics 1. INTRODUCTION Designers of robotic systems are often caught in a dilemma whether...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 27-38, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14051
... examples. Keywords: Kinematics, Spatial Mechanisms, Circuits, Assembly Configurations INTRODUCTION An assembly configuration (AC), or a circuit, of a mechanism is a set of contiguous positions that the mechanism can assume without disassembly. If one must disassemble the mechanism to get from one position...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 39-48, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14052
...Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences and Computers and Information in Engineering Conference Baltimore, Maryland, September 10-13,2000 DETC2000/MECH-14052 ASSEMBLY CONFIGURATIONS OF PLANAR MULTI-LOOP MECHANISMS WITH KINEMATIC LIMITATIONS David E. Foster...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A063, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22053
... four-cable pseudostatics positive cable tensions kinematics singularities stiffness CABLE SUSPENDED ROBOT FOR ALGAE HARVESTING Robert L. Williams II, Ph.D. Mechanical Engineering Department Ohio University Athens, Ohio, USA [email protected] Jesus Pagan, Ph.D. Engineering Technology Department...
Proceedings Papers

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1439-1448, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70642
... Humanoid biped robots are typically complex in design, having numerous degrees-of-freedom (DOF) due to the ambitious goal of mimicking the human gait. This paper presents the forward kinematics and dynamics of a new sixteen DOF humanoid biped robot. The synthesis of the kinematic chains is based...