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Proceedings Papers

On an Adaptive Mask Overlay Topology Synthesis Method

Anupam Saxena
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 675-684, August 15–18, 2010
Paper No: DETC2010-29113
https://doi.org/10.1115/DETC2010-29113
View Paper titled, On an Adaptive Mask Overlay Topology Synthesis Method
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Topics: Overlays (Materials engineering), Topology, Design, Compliant mechanisms, Deformation, Honeycomb structures, Manufacturing, Optimization, Shapes
Proceedings Papers

Kinematic Convexity of Rigid Body Displacements

Anurag Purwar, Jeff Ge
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1761-1772, August 15–18, 2010
Paper No: DETC2010-29064
https://doi.org/10.1115/DETC2010-29064
View Paper titled, Kinematic Convexity of Rigid Body Displacements
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Topics: Kinematics, Geometry, Algorithms, Collisions (Physics), Separation (Technology)
Proceedings Papers

Kinematic Design of a Thumb Metacarpal for an Anthropomorphic Robotic Hand

Louis-Alexis Allen Demers, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 115-123, August 15–18, 2010
Paper No: DETC2010-28710
https://doi.org/10.1115/DETC2010-28710
View Paper titled, Kinematic Design of a Thumb Metacarpal for an Anthropomorphic Robotic Hand
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Topics: Design, End effectors, Kinematics, Pulleys, Cables, Engineering prototypes, Tendons, Trajectories (Physics)
Proceedings Papers

Providing Real-World Mechanism Design Experience Through the Early Intervention and Mechanical Engineering (EIME) Project

Stephen L. Canfield, Lindsay Smith, Andrew Bryant
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1003-1009, August 15–18, 2010
Paper No: DETC2010-29019
https://doi.org/10.1115/DETC2010-29019
View Paper titled, Providing Real-World Mechanism Design Experience Through the Early Intervention and Mechanical Engineering (EIME) Project
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Topics: Design, Mechanical engineering, Machinery, Students, Collaboration, Engineering design, Engineering students, Mechanical admittance, Motion control, Performance
Proceedings Papers

A Cable-Actuated Robotic Lumbar Spine for Palpatory Training of Medical Students

Ernur Karadogan, Robert L. Williams, II
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 309-318, August 15–18, 2010
Paper No: DETC2010-28863
https://doi.org/10.1115/DETC2010-28863
View Paper titled, A Cable-Actuated Robotic Lumbar Spine for Palpatory Training of Medical Students
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Topics: Biomedicine, Cables, Lumbar spine, Robotics, Robots, Students
Proceedings Papers

Automated Type and Modular Dimensional Synthesis of Planar Linkages

Marti´n A. Pucheta, Alberto Cardona
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 839-850, August 15–18, 2010
Paper No: DETC2010-28540
https://doi.org/10.1115/DETC2010-28540
View Paper titled, Automated Type and Modular Dimensional Synthesis of Planar Linkages
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Topics: Linkages, Chain, Computers, Design, Dimensions, Genetic algorithms, Kinematics, Topology
Proceedings Papers

A Numerical Method for Position Analysis of Compliant Mechanisms With More Degrees of Freedom Than Inputs

Quentin T. Aten, Shannon A. Zirbel, Brian D. Jensen, Larry L. Howell
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 491-502, August 15–18, 2010
Paper No: DETC2010-28474
https://doi.org/10.1115/DETC2010-28474
View Paper titled, A Numerical Method for Position Analysis of Compliant Mechanisms With More Degrees of Freedom Than Inputs
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Topics: Compliant mechanisms, Degrees of freedom, Numerical analysis, Equilibrium (Physics), Potential energy, Deflection, Displacement, Energy storage, Finite element analysis, Optimization
Proceedings Papers

Kinematic-, Static- and Workspace Analysis of a 6- P -U-S Parallel Manipulator

Madusudanan Sathia Narayanan, Sourish Chakravarty, Hrishi Shah, Venkat N. Krovi
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1456-1456.8, August 15–18, 2010
Paper No: DETC2010-28978
https://doi.org/10.1115/DETC2010-28978
View Paper titled, Kinematic-, Static- and Workspace Analysis of a 6- P -U-S Parallel Manipulator
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Topics: Kinematics, Manipulators, Absorption, Actuators, Engines, Modeling, Motors, Structural design, Weight (Mass)
Proceedings Papers

An Analysis on Sliding of Biped Robots

C. H. Liu, Chi-Hwa Wu, Yin-Tien Wang
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1299-1308, August 15–18, 2010
Paper No: DETC2010-28305
https://doi.org/10.1115/DETC2010-28305
View Paper titled, An Analysis on Sliding of Biped Robots
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Topics: Robots, Shear stress, Kinematics, Stress, Stress concentration
Proceedings Papers

Control of an Underwater Biomimetic Vehicle Using Floquet Theory

Nicolas Plamondon, Meyer Nahon
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1609-1617, August 15–18, 2010
Paper No: DETC2010-28867
https://doi.org/10.1115/DETC2010-28867
View Paper titled, Control of an Underwater Biomimetic Vehicle Using Floquet Theory
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Topics: Biomimetics, Vehicles, Control equipment, Errors, Propulsion, Seas, Thrust
Proceedings Papers

On the Criteria for Choice of the Best Solution From a Generated Set of Partially Compliant Linkages

Sujitkumar V. Naik, Anupam Saxena, Ashok Kumar Rai
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 685-694, August 15–18, 2010
Paper No: DETC2010-29137
https://doi.org/10.1115/DETC2010-29137
View Paper titled, On the Criteria for Choice of the Best Solution From a Generated Set of Partially Compliant Linkages
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Topics: Linkages, Design, Displacement, Grippers, Kinematics
Proceedings Papers

Spatial Generalizations of Planar Point-Angle and Path Generation Problems

Chintien Huang, Ching-Lung Lai
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1773-1779, August 15–18, 2010
Paper No: DETC2010-29099
https://doi.org/10.1115/DETC2010-29099
View Paper titled, Spatial Generalizations of Planar Point-Angle and Path Generation Problems
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Topics: Design, Laser beams, Linkages, Screws
Proceedings Papers

A Unified Approach for Multi-Point Cartesian Compliance Control of Serial Manipulators

Phongsaen Pitakwatchara
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1457-1464, August 15–18, 2010
Paper No: DETC2010-28094
https://doi.org/10.1115/DETC2010-28094
View Paper titled, A Unified Approach for Multi-Point Cartesian Compliance Control of Serial Manipulators
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Topics: Manipulators, Algorithms, Chain, Control equipment, Control systems, Linkages, Sensors
Proceedings Papers

Design and Application of Chattering-Free Sliding Mode Controller to Cable-Driven Parallel Robot Manipulator: Theory and Experiment

Meysar Zeinali, Amir Khajepour
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 319-327, August 15–18, 2010
Paper No: DETC2010-29153
https://doi.org/10.1115/DETC2010-29153
View Paper titled, Design and Application of Chattering-Free Sliding Mode Controller to Cable-Driven Parallel Robot Manipulator: Theory and Experiment
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Topics: Cables, Control equipment, Design, Manipulators
Proceedings Papers

Dynamic Modelling of a Cubic Flying Robot

David St-Onge, Cle´ment Gosselin, Nicolas Reeves
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1157-1165, August 15–18, 2010
Paper No: DETC2010-28811
https://doi.org/10.1115/DETC2010-28811
View Paper titled, Dynamic Modelling of a Cubic Flying Robot
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Topics: Dynamic modeling, Robots, Dynamic models, Aerodynamics, Buoyancy, Dynamics (Mechanics), Gravity (Force), Optimization
Proceedings Papers

Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion

Omer Orki, Offer Shai, Itay Tehori, Michael Slavutin, Uri Ben-Hanan
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 101-106, August 15–18, 2010
Paper No: DETC2010-28687
https://doi.org/10.1115/DETC2010-28687
View Paper titled, Employing Assur Tensegrity Structures Methods for Simulating a Caterpillar Locomotion
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Topics: Tensegrity structures, Cables, Actuators, Fault tolerance, Robots, Algorithms, Control algorithms, Motion control, Surface roughness, Tensegrity
Proceedings Papers

Redundancy Parameterization for Flexible Motion Control

B. Moore, E. Oztop
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1309-1316, August 15–18, 2010
Paper No: DETC2010-28387
https://doi.org/10.1115/DETC2010-28387
View Paper titled, Redundancy Parameterization for Flexible Motion Control
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Topics: Kinematics, Manipulators, Motion control, Redundancy (Engineering), End effectors, Algorithms, Computation, Grasping, Humanoid robots, Manifolds
Proceedings Papers

Realizing Orthogonal Motions With Wire Flexures Connected in Parallel

Hai-Jun Su, Hafez Tari
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 503-512, August 15–18, 2010
Paper No: DETC2010-28517
https://doi.org/10.1115/DETC2010-28517
View Paper titled, Realizing Orthogonal Motions With Wire Flexures Connected in Parallel
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Topics: Wire, Screws, Space, Bending (Stress), Mechanical admittance
Proceedings Papers

Expanded Workspaces of Manipulation Devices Using Friction and Dynamics

Tyson L. Ringold, Raymond J. Cipra
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1619-1626, August 15–18, 2010
Paper No: DETC2010-28996
https://doi.org/10.1115/DETC2010-28996
View Paper titled, Expanded Workspaces of Manipulation Devices Using Friction and Dynamics
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Topics: Design, Dimensions, Dynamics (Mechanics), Equations of motion, Fixturing, Friction, Hardware, Kinematics, Manipulators, Robotics
Proceedings Papers

Kinematic Families of Non-Fractionated Geared Kinematic Chains With up to Three-DOF Eight-Link Based on Mobility Degeneration

Win-Bin Shieh, Dar-Zen Chen, Tzung-Shiun Liu
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 851-860, August 15–18, 2010
Paper No: DETC2010-28627
https://doi.org/10.1115/DETC2010-28627
View Paper titled, Kinematic Families of Non-Fractionated Geared Kinematic Chains With up to Three-DOF Eight-Link Based on Mobility Degeneration
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Topics: Kinematic chains, Kinematics, Mechanical admittance