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Proceedings Papers

A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments

Ching-Wei Chuang, Harry H. Cheng
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A047, August 17–19, 2021
Paper No: DETC2021-66902
DOI: https://doi.org/10.1115/DETC2021-66902
View Paper titled, A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments
Click here to open pdf in another window PDF for A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments
Topics: Multi-robot systems, Robots
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

On the Structural Constraint and Motion of 3-PRS Parallel Kinematic Machines

Hassen Nigatu, Yun Ho Choi, Doik Kim
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A032, August 17–19, 2021
Paper No: DETC2021-70160
DOI: https://doi.org/10.1115/DETC2021-70160
View Paper titled, On the Structural Constraint and Motion of 3-PRS Parallel Kinematic Machines
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Topics: Kinematics, Machinery, Manipulators, Computer simulation, Constraint equations, Dimensions, Equations of motion, Jacobian matrices
Proceedings Papers

Constant Force Compliant Mechanisms Without Preloading

Premkumar Pujali, Hong Zhou
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A018, August 17–19, 2021
Paper No: DETC2021-69958
DOI: https://doi.org/10.1115/DETC2021-69958
View Paper titled, Constant Force Compliant Mechanisms Without Preloading
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Topics: Compliant mechanisms, Splines
Proceedings Papers

A Family of Novel Compliant Linear-Motion Mechanisms Based on Compliant Rolling-Contact Element Pivot

Tonglong Huo, Jingjun Yu, Hongzhe Zhao, Xian Wei
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A017, August 17–19, 2021
Paper No: DETC2021-69887
DOI: https://doi.org/10.1115/DETC2021-69887
View Paper titled, A Family of Novel Compliant Linear-Motion Mechanisms Based on Compliant Rolling-Contact Element Pivot
Click here to open pdf in another window PDF for A Family of Novel Compliant Linear-Motion Mechanisms Based on Compliant Rolling-Contact Element Pivot
Topics: Load bearing capacity, Rolling contact, Stress, Design, Machinery, Bearings, Blocks (Building materials), Design engineering, Engineering simulation, Kinematics
Proceedings Papers

A Flexure-Based Displacement Reducer Capable of Achieving Very Large Reduction Ratio

Houqi Wu, Guimin Chen
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A013, August 17–19, 2021
Paper No: DETC2021-69340
DOI: https://doi.org/10.1115/DETC2021-69340
View Paper titled, A Flexure-Based Displacement Reducer Capable of Achieving Very Large Reduction Ratio
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Topics: Bending (Stress), Displacement, Bridges (Structures), Resolution (Optics), Actuators, Flexure mechanisms, Finite element model, Magnetostrictive devices, Piezoelectric actuators
Proceedings Papers

Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots

Shiyao Li, Guangbo Hao, Yingyue Chen, Jiaxiang Zhu, Giovanni Berselli
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A011, August 17–19, 2021
Paper No: DETC2021-69028
DOI: https://doi.org/10.1115/DETC2021-69028
View Paper titled, Nonlinear Analysis of a Class of Inversion-Based Compliant Cross-Spring Pivots
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Topics: Springs, Stress
Proceedings Papers

Design and Analysis of Flexible Continuum Robot Based on Origami and Mortise-Tenon Structure (FCRBOM)

Yue Yu, Lifang Qiu, Decheng Wang, Jing Zou
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A005, August 17–19, 2021
Paper No: DETC2021-68169
DOI: https://doi.org/10.1115/DETC2021-68169
View Paper titled, Design and Analysis of Flexible Continuum Robot Based on Origami and Mortise-Tenon Structure (FCRBOM)
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Topics: Design, Robots
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
Paper No: DETC2021-70226
DOI: 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
Proceedings Papers

A Novel Micro-Positioning Stage With Large-Stroke and Adjustable Stiffness

Zhijun Yang, Bingyu Cai, Ruiqi Li, Hao Peng, Youdun Bai
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A019, August 17–19, 2021
Paper No: DETC2021-70068
DOI: https://doi.org/10.1115/DETC2021-70068
View Paper titled, A Novel Micro-Positioning Stage With Large-Stroke and Adjustable Stiffness
Click here to open pdf in another window PDF for A Novel Micro-Positioning Stage With Large-Stroke and Adjustable Stiffness
Topics: Bending (Stress), Hinges, Stiffness
Proceedings Papers

Delta Based Non-Anthropomorphic Hand

Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A013, August 17–19, 2021
Paper No: DETC2021-67349
DOI: https://doi.org/10.1115/DETC2021-67349
View Paper titled, Delta Based Non-Anthropomorphic Hand
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Topics: Actuators, Design, End effectors, Feedback, Oscillations, Robotics, Robots, Springs
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

Energy Absorption Characteristics of Passenger Car With Origami Structure

Yang Yang, Xilu Zhao, Ichiro Hagiwara
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A041, August 17–19, 2021
Paper No: DETC2021-69870
DOI: https://doi.org/10.1115/DETC2021-69870
View Paper titled, Energy Absorption Characteristics of Passenger Car With Origami Structure
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Topics: Absorption, Automobiles, Heating, Molding, Torsion, Vehicles, Collisions (Physics), Manufacturing, Peak load, Simulation
Proceedings Papers

Finite Element Analysis and Thick-Panel Clash Behaviour of Steel Fold-Lines

Quan Shi, Joseph M. Gattas
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A040, August 17–19, 2021
Paper No: DETC2021-69513
DOI: https://doi.org/10.1115/DETC2021-69513
View Paper titled, Finite Element Analysis and Thick-Panel Clash Behaviour of Steel Fold-Lines
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Topics: Finite element analysis, Steel, Hinges, Mechanical behavior, Modeling, Origami-inspired design, Rotation
Proceedings Papers

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

Brian J. Slaboch, Peter Holtzen, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A026, August 17–19, 2021
Paper No: DETC2021-71189
DOI: https://doi.org/10.1115/DETC2021-71189
View Paper titled, Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology
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Topics: Kinematics, Modeling, Topology, Actuators, Manipulators, Weight (Mass)
Proceedings Papers

Orientation Control of Self-Righting Tensegrity Landers

Alan Zhang, Douglas Hutchings, Mayank Gupta, Alice Agogino
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A025, August 17–19, 2021
Paper No: DETC2021-70989
DOI: https://doi.org/10.1115/DETC2021-70989
View Paper titled, Orientation Control of Self-Righting Tensegrity Landers
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Topics: Robots, Tensegrity
Proceedings Papers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A017, August 17–19, 2021
Paper No: DETC2021-68143
DOI: https://doi.org/10.1115/DETC2021-68143
View Paper titled, AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment
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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots
Proceedings Papers

Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box

Jiefeng Jiang, Fengfeng (Jeff) Xi, Jingjing You, Qunxing Xue
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A016, August 17–19, 2021
Paper No: DETC2021-68098
DOI: https://doi.org/10.1115/DETC2021-68098
View Paper titled, Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box
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Topics: Design engineering, Humanoid robots, Shapes, Wings
Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021
Paper No: DETC2021-72009
DOI: https://doi.org/10.1115/DETC2021-72009
View Paper titled, Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
Click here to open pdf in another window PDF for Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)
Proceedings Papers

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021
Paper No: DETC2021-71602
DOI: https://doi.org/10.1115/DETC2021-71602
View Paper titled, Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)