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Proceedings Papers

Design and System Identification of an Actuation-Coordinated Mobile Parallel Robot with Hybrid Mobile and Manipulation Motion

Han Lin, Jiayu Luo, Xiaotong Huang, Haoguang Yang, Jiaming Fu, Richard M. Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A083, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114992
https://doi.org/10.1115/DETC2023-114992
View Paper titled, Design and System Identification of an Actuation-Coordinated Mobile Parallel Robot with Hybrid Mobile and Manipulation Motion
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Topics: Design, Robots, System identification
Proceedings Papers

Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces

Lei Jin, Boxiang Zhang, Maitha Alqaydi, Xiaoming Wang, Tarek Taha, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A008, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116327
https://doi.org/10.1115/DETC2023-116327
View Paper titled, Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces
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Topics: Cables, Modeling, Optimization, Robots, Tension
Proceedings Papers

Machine Learning Based Deflection Prediction and Inverse Design for Discrete Variable Stiffness Units

Jiaming Fu, Qianyu Guo, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A043, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117322
https://doi.org/10.1115/DETC2023-117322
View Paper titled, Machine Learning Based Deflection Prediction and Inverse Design for Discrete Variable Stiffness Units
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Topics: Compliant mechanisms, Deflection, Design, Machine learning, Modeling, Stiffness
Proceedings Papers

Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator

Ziqing Yu, Jiaming Fu, Bin Yao, George Chiu, Richard Voyles, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A058, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115235
https://doi.org/10.1115/DETC2023-115235
View Paper titled, Dynamic Modeling and Robust Torque Control of a Discrete Variable Stiffness Actuator
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Topics: Actuators, Dynamic modeling, Dynamic models, Gain scheduling, Robust control, Stiffness, Torque control, Control algorithms, Robots, Force control
Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2022

Guangbo Hao, Guimin Chen, Dongming Gan, Abbas Fattah, Carl Nelson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. January 2024, 16(1): 010301.
Paper No: JMR-23-1303
https://doi.org/10.1115/1.4062671
Published Online: July 3, 2023
View Article titled, Special Issue: Selected Papers From IDETC-CIE 2022
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Topics: Design, Robotics, Computers and information in engineering , Computers, Dynamics (Mechanics), Engineering teachers, Kinematics, Robots
Journal Articles

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human–Robot Interaction

Jiaming Fu, Ziqing Yu, Han Lin, Lianxi Zheng, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. January 2024, 16(1): 014501.
Paper No: JMR-22-1505
https://doi.org/10.1115/1.4056957
Published Online: March 8, 2023
View Article titled, A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human–Robot Interaction
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Topics: Stiffness, Finite element analysis
Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91025
https://doi.org/10.1115/DETC2022-91025
View Paper titled, Synthesis of a 3-RPS Parallel Manipulator Based on Axodes
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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws
Proceedings Papers

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

Wei Xu, Jiaming Fu, Dongming Gan
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A010, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89856
https://doi.org/10.1115/DETC2022-89856
View Paper titled, Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping
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Topics: Design, Grasping, Modeling, Robotics, Stiffness
Proceedings Papers

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction

Jiaming Fu, Han Lin, Wei Xu, Dongming Gan
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A009, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89825
https://doi.org/10.1115/DETC2022-89825
View Paper titled, A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction
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Topics: Compliant mechanisms, Human-robot interaction, Robotics, Stiffness
Journal Articles

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2022, 14(6): 060301.
Paper No: JMR-22-1441
https://doi.org/10.1115/1.4055836
Published Online: October 31, 2022
View Article titled, Special Section: Theory and Design of Reconfigurable Mechanisms and Robots
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Topics: Design, Robots, Robotics
Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014502.
Paper No: JMR-21-1281
https://doi.org/10.1115/1.4053825
Published Online: May 12, 2022
View Article titled, Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
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Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses
Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
View Article titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70081
https://doi.org/10.1115/DETC2021-70081
View Paper titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function
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Topics: Actuators, Mobile robots, Robots, Stability, Wheels
Proceedings Papers

A Reconfigurable Variable-Stiffness Parallel Beam for Compliant Robotic Mechanisms Towards Safe Human Interaction

Jiaming Fu, Dongming Gan
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A020, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70226
https://doi.org/10.1115/DETC2021-70226
View Paper titled, A Reconfigurable Variable-Stiffness Parallel Beam for Compliant Robotic Mechanisms Towards Safe Human Interaction
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Topics: Modeling, Robotics, Stiffness
Journal Articles

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Mohammad I. Awad, Irfan Hussain, Shramana Ghosh, Yahya Zweiri, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011016.
Paper No: JMR-20-1075
https://doi.org/10.1115/1.4048428
Published Online: November 13, 2020
View Article titled, A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
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Topics: Design, Exoskeleton devices, Kinematics, Optimization, Parallel mechanisms
Proceedings Papers

Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton

Ali M. Soliman, Irfan Hussain, Mohammad I. Awad, Dongming Gan
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A071, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22650
https://doi.org/10.1115/DETC2020-22650
View Paper titled, Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton
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Topics: Design, Exoskeleton devices, Modeling, Stiffness, Springs
Proceedings Papers

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

Xuheng Chai, Latifah Nurahmi, Jian S. Dai, Dongming Gan
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A088, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22169
https://doi.org/10.1115/DETC2020-22169
View Paper titled, Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism
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Topics: Calibration, Kinematics, Parallel mechanisms, Optimization, Optimization algorithms, Switches, Trajectories (Physics)
Journal Articles

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Lisha Chen, David T. Branson, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061005.
Paper No: JMR-19-1347
https://doi.org/10.1115/1.4046837
Published Online: May 12, 2020
View Article titled, A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism
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Topics: Actuators, Robots, Springs, Shape memory alloys, Displacement, Design
Journal Articles

Energy distribution in Dual-UAV collaborative transportation through load sharing

Accepted Manuscript
Abdullah Mohiuddin, Yahya Zweiri, Randa Almadhoun, Tarek Taha, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-19-1378
https://doi.org/10.1115/1.4046912
Published Online: April 14, 2020
View Article titled, Energy distribution in Dual-UAV collaborative transportation through load sharing
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Topics: Stress, Transportation systems, Unmanned aerial vehicles, Energy consumption, Batteries, Computer simulation, Hardware, Robots, Rotors, Simulation
Proceedings Papers

A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Jian S. Dai
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A012, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97755
https://doi.org/10.1115/DETC2019-97755
View Paper titled, A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism
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Topics: Robots, Shape memory alloys, Reciprocating motion, Actuators, Anisotropy, Displacement, Friction, Robotics, Springs, Weight (Mass)