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Proceedings Papers

Forty-Two Watt I Indirect Cognates of a Four-Bar via Angular-Velocity Graph Coloring

Craig Lusk
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A029, August 14–17, 2022
Paper No: DETC2022-91339
DOI: https://doi.org/10.1115/DETC2022-91339
View Paper titled, Forty-Two Watt I Indirect Cognates of a Four-Bar via Angular-Velocity Graph Coloring
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Topics: Chain, Design, Geometry, Linkages, Optimization, Parallel mechanisms
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022
Paper No: DETC2022-89714
DOI: https://doi.org/10.1115/DETC2022-89714
View Paper titled, Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures
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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms
Proceedings Papers

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

Zhujin Jiang, Chen Liu, Ketao Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022
Paper No: DETC2022-91176
DOI: https://doi.org/10.1115/DETC2022-91176
View Paper titled, A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics
Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021
Paper No: DETC2021-69957
DOI: https://doi.org/10.1115/DETC2021-69957
View Paper titled, Trajectory Planning for a 3-S P S-U Tensegrity Mechanism
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Proceedings Papers

Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A051, August 17–19, 2021
Paper No: DETC2021-70059
DOI: https://doi.org/10.1115/DETC2021-70059
View Paper titled, Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms
Proceedings Papers

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A033, August 17–19, 2021
Paper No: DETC2021-70378
DOI: https://doi.org/10.1115/DETC2021-70378
View Paper titled, Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots
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Topics: Design, Kinematic analysis, Machining, Robots, Stiffness, Kinematics, Manipulators, Degrees of freedom, Hard materials, Milling
Proceedings Papers

A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms

Lingyu Kong, Genliang Chen, Guanyu Huang, Sumian Song, Anhuan Xie, Dan Zhang
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A034, August 17–19, 2021
Paper No: DETC2021-70723
DOI: https://doi.org/10.1115/DETC2021-70723
View Paper titled, A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms
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Topics: Kinematics, Parallel mechanisms, Errors, Calibration, Manipulators, Modeling, Topology
Proceedings Papers

Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm

C. Innocenti, V. Parenti-Castelli
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 545-552, September 13–16, 1992
Paper No: DETC1992-0257
DOI: https://doi.org/10.1115/DETC1992-0257
View Paper titled, Forward Kinematics of the General 6-6 Fully Parallel Mechanism: An Exhaustive Numerical Approach via a Mono-Dimensional-Search Algorithm
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Topics: Algorithms, Kinematics, Parallel mechanisms, Geometry, Numerical analysis
Proceedings Papers

Geometry and Position Analysis of a Novel Class of Hybrid Manipulators

Change-de Zhang, Shin-Min Song
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 1-9, September 11–14, 1994
Paper No: DETC1994-0300
DOI: https://doi.org/10.1115/DETC1994-0300
View Paper titled, Geometry and Position Analysis of a Novel Class of Hybrid Manipulators
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Topics: Geometry, Manipulators, Polynomials, Degrees of freedom, End effectors, Parallel mechanisms, Stiffness, Stress
Proceedings Papers

A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties

Clement M. Gosselin, Rémi Ricard, Meyer A. Nahon
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 951-958, September 17–20, 1995
Paper No: DETC1995-0125
DOI: https://doi.org/10.1115/DETC1995-0125
View Paper titled, A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties
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Topics: Architecture, Kinematics, Parallel mechanisms, Manipulators, Optimization, Computer-aided design, Design, Kinematic analysis, Stiffness
Proceedings Papers

Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications

J. A. Carretero, M. Nahon, B. Buckham, C. M. Gosselin
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A008, September 14–17, 1997
Paper No: DETC97/DAC-3981
DOI: https://doi.org/10.1115/DETC97/DAC-3981
View Paper titled, Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications
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Topics: Kinematic analysis, Parallel mechanisms, Telescopes, Jacobian matrices, Kinematics, Construction, Degrees of freedom, Mirrors, Stiffness
Proceedings Papers

Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators

Jiegao Wang, Clément M. Gosselin
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A019, September 13–16, 1998
Paper No: DETC98/MECH-5961
DOI: https://doi.org/10.1115/DETC98/MECH-5961
View Paper titled, Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators
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Topics: Actuators, Parallel mechanisms, Potential energy, Center of mass, Manipulators, Springs, Design
Proceedings Papers

Static Balancing of Spatial and Planar Parallel Manipulators With Prismatic Actuators

Marc Leblond, Clément M. Gosselin
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A021, September 13–16, 1998
Paper No: DETC98/MECH-5963
DOI: https://doi.org/10.1115/DETC98/MECH-5963
View Paper titled, Static Balancing of Spatial and Planar Parallel Manipulators With Prismatic Actuators
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Topics: Actuators, Manipulators, Design, Kinematics, Optimization, Parallel mechanisms, Torque, Weight (Mass)
Proceedings Papers

Architecture Optmization of a 3-DOF Parallel Mechanism

J. A. Carretero, R. P. Podhorodeski, M. Nahon
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A035, September 13–16, 1998
Paper No: DETC98/MECH-5973
DOI: https://doi.org/10.1115/DETC98/MECH-5973
View Paper titled, Architecture Optmization of a 3-DOF Parallel Mechanism
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Topics: Parallel mechanisms, Jacobian matrices, Construction, Degrees of freedom, Design, Kinematics, Mirrors, Optimization, Telescopes
Proceedings Papers

A Parallely Actuated Work Support Module for Reconfigurable Machining Systems

Venkat Gopalakrishnan, Sridhar Kota
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A053, September 13–16, 1998
Paper No: DETC98/MECH-5959
DOI: https://doi.org/10.1115/DETC98/MECH-5959
View Paper titled, A Parallely Actuated Work Support Module for Reconfigurable Machining Systems
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Topics: Machining, Machine tools, Machinery, Design, Stiffness, Control systems, Cylinders, Degrees of freedom, Design engineering, Engineering prototypes
Proceedings Papers

XYZ-Stage for Scanning Probe Microscope by Using Parallel Mechanism

Koshiro Yamakawa, Katsushi Furutani, Naotake Mohri
Proc. ASME. DETC99, Volume 6: International Symposium on Motion and Vibration Control, 37-42, September 12–16, 1999
Paper No: DETC99/MOVIC-8425
DOI: https://doi.org/10.1115/DETC99/MOVIC-8425
View Paper titled, XYZ-Stage for Scanning Probe Microscope by Using Parallel Mechanism
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Topics: Atomic force microscopy, Feedback, Parallel mechanisms, Scanning probe microscopy, Engineering prototypes, Displacement, Degrees of freedom, Diffraction gratings, Errors, Resonance
Proceedings Papers

Development of a Pipe Positioning System Using a 5-DOF Suspension Mechanism

Masaki Hayatsu, Shizuo Imaoka, Yasutaka Tagawa
Proc. ASME. DETC99, Volume 6: International Symposium on Motion and Vibration Control, 9-15, September 12–16, 1999
Paper No: DETC99/MOVIC-8407
DOI: https://doi.org/10.1115/DETC99/MOVIC-8407
View Paper titled, Development of a Pipe Positioning System Using a 5-DOF Suspension Mechanism
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Topics: Pipes, Jacobian matrices, Center of mass, Chain, Control systems, Plant construction, Actuators, Construction, Control equipment, Design
Proceedings Papers

A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint

Raffaele Di Gregorio, Vincenzo Parenti-Castelli
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 963-971, September 10–13, 2000
Paper No: DETC2000/MECH-14156
DOI: https://doi.org/10.1115/DETC2000/MECH-14156
View Paper titled, A Spatial Mechanism With Higher Pairs for Modelling the Human Knee Joint
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Topics: Knee, Modeling, Parallel mechanisms
Proceedings Papers

Kinematic Analysis and Design of Planar Parallel Mechanisms Actuated With Cables

Guillaume Barrette, Clément M. Gosselin
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 391-399, September 10–13, 2000
Paper No: DETC2000/MECH-14091
DOI: https://doi.org/10.1115/DETC2000/MECH-14091
View Paper titled, Kinematic Analysis and Design of Planar Parallel Mechanisms Actuated With Cables
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Topics: Cables, Design, Kinematic analysis, Parallel mechanisms, Equilibrium (Physics), End effectors, Quadratic programming, Shapes, Springs, Virtual work principle
Proceedings Papers

Dynamic Modeling and Simulation of Parallel Mechanisms Using the Virtual Spring Approach

Jiegao Wang, Clément M. Gosselin, Li Cheng
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 523-532, September 10–13, 2000
Paper No: DETC2000/MECH-14107
DOI: https://doi.org/10.1115/DETC2000/MECH-14107
View Paper titled, Dynamic Modeling and Simulation of Parallel Mechanisms Using the Virtual Spring Approach
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Topics: Dynamic modeling, Parallel mechanisms, Simulation, Springs, Algebra, Dampers, Linkages, Manipulators, Simulation results