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Proceedings Papers

Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator

Xuexuan Li, Yijie Liu, Zhen Zhang
Proc. ASME. IDETC-CIE2023, Volume 7: 19th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A016, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116451
https://doi.org/10.1115/DETC2023-116451
View Paper titled, Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator
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Topics: Actuators, Design, Manipulators, Tracking control, Control equipment, Errors, Closed loop systems, Compliant mechanisms, Density, Engines
Proceedings Papers

A Force- and Stress-Deflection Model of Serpentine Flexures for Use in a Compliant Bone Plate

Connor Huxman, Jared Butler
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A032, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115051
https://doi.org/10.1115/DETC2023-115051
View Paper titled, A Force- and Stress-Deflection Model of Serpentine Flexures for Use in a Compliant Bone Plate
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Topics: Bone, Deflection, Stress, Design, Bending (Stress), Boundary-value problems, Errors, Finite element analysis, Fracture (Materials), Fracture (Process)
Proceedings Papers

A Variable-Stiffness Link for Safe Robot Interactions

Carl A. Nelson, Nick Swerczek, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A082, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114980
https://doi.org/10.1115/DETC2023-114980
View Paper titled, A Variable-Stiffness Link for Safe Robot Interactions
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Topics: Actuators, Robots, Stiffness
Proceedings Papers

DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints

Alberto Parmiggiani, Emilio Ottonello, Seyyed Masoud Kargar, Mario Baggetta, Guangbo Hao, Giovanni Berselli
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A031, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114914
https://doi.org/10.1115/DETC2023-114914
View Paper titled, DeltaFlex: An Additively Manufactured Monolithic Delta Robot With Compliant Joints
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Topics: Additive manufacturing, Robots, Design, Architecture, Stiffness, Accuracy and precision, Cycles, Engineering prototypes, Engineering simulation, Finite element methods
Proceedings Papers

Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges

Zhujin Jiang, Ketao Zhang
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A047, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115262
https://doi.org/10.1115/DETC2023-115262
View Paper titled, Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
Open the PDF for Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges in another window
Topics: Bending (Stress), Hinges, Origami-inspired design, Parallel mechanisms, Robots, Stiffness
Proceedings Papers

Folding-Wall Kirigami, Design and Compressive Performance

Tom Corrigan, Abhishek Srivastava, Di Xie, Cory Arthur, Nathan Brownell
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A046, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114915
https://doi.org/10.1115/DETC2023-114915
View Paper titled, Folding-Wall Kirigami, Design and Compressive Performance
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Topics: Design, Honeycomb structures, Tension, Stiffness, Cutting, Kraft papers, Metamaterials, Shapes, Simulation, Stress
Proceedings Papers

Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design

Loïc Tissot-Daguette, Etienne Thalmann, Florent Cosandier, Simon Henein
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A026, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109120
https://doi.org/10.1115/DETC2023-109120
View Paper titled, Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design
Open the PDF for Zero Parasitic Shift Pivoting Kinematic Structures Based on Coupled n-RRR Planar Parallel Mechanisms for Flexure Pivot Design in another window
Topics: Bending (Stress), Design, Kinematics, Parallel mechanisms, Stiffness
Proceedings Papers

Towards High Dynamic Operations With Parallel-Serial Hybrid Robots

Keerthi Sagar, Vishal Ramadoss, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A064, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116954
https://doi.org/10.1115/DETC2023-116954
View Paper titled, Towards High Dynamic Operations With Parallel-Serial Hybrid Robots
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Topics: Robots, Kinematics, Manipulators, Linkages, Control modeling, Design, High speed machining, Kinematic chains, Manufacturing, Modeling
Proceedings Papers

A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers

Sanchit Jhunjhunwala, Manoj Kumar R, Chandrashekhara K. L., Sanjay Patil, Kiran J., Ahmad Shaikh, G. K. Ananthasuresh
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A042, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117037
https://doi.org/10.1115/DETC2023-117037
View Paper titled, A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers
Open the PDF for A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers in another window
Topics: Bistability, Compliant mechanisms, Degrees of freedom, Electromyography, Hinges, Linkages, Sensors, Shells, Springs, Stiffness
Proceedings Papers

SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators

Nick Swerczek, Carl A. Nelson, John Cerny, Amber Tannehill
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A091, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116769
https://doi.org/10.1115/DETC2023-116769
View Paper titled, SEA-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators
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Topics: Actuators, Mechanical admittance, Robotics, Seas, Stiffness, Wheels
Proceedings Papers

A Hybrid Continuation Framework for Analyzing Nonlinear Normal Modes of Piecewise-Linear Systems

Shih-Chun Huang, Meng-Hsuan Tien
Proc. ASME. IDETC-CIE2023, Volume 10: 19th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V010T10A007, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115105
https://doi.org/10.1115/DETC2023-115105
View Paper titled, A Hybrid Continuation Framework for Analyzing Nonlinear Normal Modes of Piecewise-Linear Systems
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Topics: Modal analysis, Nonlinear systems, Numerical analysis, Resonance, Springs, Stiffness
Proceedings Papers

Computational Analysis of Buckling-Based Stiffness Programming of Liquid Crystal Elastomer Beams

Nathan Hertlein, Beijun Shen, Sung Hoon Kang, Philip R. Buskohl
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A040, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116617
https://doi.org/10.1115/DETC2023-116617
View Paper titled, Computational Analysis of Buckling-Based Stiffness Programming of Liquid Crystal Elastomer Beams
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Topics: Buckling, Computer programming, Elastomers, Liquid crystals, Stiffness, Geometry, Mechanical properties, Absorption, Anisotropy, Deformation
Proceedings Papers

Kirigami Corrugations: Strong, Modular, and Programmable Plate Lattices

Alfonso Parra Rubio, Klara Mundilova, David Preiss, Erik D. Demaine, Neil Gershenfeld
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A049, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116481
https://doi.org/10.1115/DETC2023-116481
View Paper titled, Kirigami Corrugations: Strong, Modular, and Programmable Plate Lattices
Open the PDF for Kirigami Corrugations: Strong, Modular, and Programmable Plate Lattices in another window
Topics: Blocks (Building materials), Density, Design, Equipment performance, Geometry, Lightweight structures, Manufacturing, Robotics, Robots, Sandwich panels
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
Proceedings Papers

SPIRA Coils: Soft Self-Sensing Pneumatic Integrated Retractable Actuator Coils

Jacob R. Greenwood, Wyatt Felt
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A076, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109473
https://doi.org/10.1115/DETC2023-109473
View Paper titled, SPIRA Coils: Soft Self-Sensing Pneumatic Integrated Retractable Actuator Coils
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Topics: Actuators, Circuits, Design, Electrical resistance, Pneumatic actuators, Pressure, Sensors, Shapes, Springs, Stiffness
Proceedings Papers

Numerical Analysis of Phase Nonreciprocity in a Linear Spatiotemporally Modulated System

Jiuda Wu, Behrooz Yousefzadeh
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A001, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110347
https://doi.org/10.1115/DETC2023-110347
View Paper titled, Numerical Analysis of Phase Nonreciprocity in a Linear Spatiotemporally Modulated System
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Topics: Degrees of freedom, Metamaterials, Numerical analysis, Phase shift, Spatiotemporal phenomena, Steady state, Stiffness, Vibration
Proceedings Papers

Ocean Wave Energy Conversion With a Spar-Floater System Using a Nonlinear Inerter Pendulum Vibration Absorber

Aakash Gupta, Wei-Che Tai
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A007, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117069
https://doi.org/10.1115/DETC2023-117069
View Paper titled, Ocean Wave Energy Conversion With a Spar-Floater System Using a Nonlinear Inerter Pendulum Vibration Absorber
Open the PDF for Ocean Wave Energy Conversion With a Spar-Floater System Using a Nonlinear Inerter Pendulum Vibration Absorber in another window
Topics: Pendulums, Spar platforms, Vibration absorbers, Wave energy, Wing spars, Energy transformation, Resonance, Boundary element methods, Damping, Energy conversion
Proceedings Papers

Comparisons of Dynamic Models of a Stacked Miura-Origami Structure Based on Different Modeling Techniques

Haiping Wu, Zuolin Liu, Hongbin Fang
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A008, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115277
https://doi.org/10.1115/DETC2023-115277
View Paper titled, Comparisons of Dynamic Models of a Stacked Miura-Origami Structure Based on Different Modeling Techniques
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Topics: Dynamic modeling, Dynamic models, Modeling, Excitation, Kinematics, Displacement, Dynamic response, Dynamics (Mechanics), Equilibrium (Physics), Origami-inspired design
Proceedings Papers

Generative Design of Statistically Self-Similar Mechanical Structures

Noah Hill, Matthew Ebert, Mena Maurice, Vinayak Krishnamurthy
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A027, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117063
https://doi.org/10.1115/DETC2023-117063
View Paper titled, Generative Design of Statistically Self-Similar Mechanical Structures
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Topics: Chaos, Fractals, Generative design, Mechanical structures, Mechanical behavior, Design, Geometry, Iterative methods, Modal analysis, Stiffness