Volumes | International Design Engineering Technical Conferences and Computers and Information in Engineering Conference | American Society of Mechanical Engineers Digital Collection

Topics: Design , Displacement , Topology , Hinges , Actuators , Bending (Stress) , Corners (Structural elements) , Finite element analysis , Piezoelectric actuators

A Robotic “Jack Spring”™ for Ankle Gait Assistance

Kevin W. Hollander, Thomas G. Sugar, Donald E. Herring

IDETC-CIE 2005; 25-34doi:https://doi.org/10.1115/DETC2005-84492

Abstract

View Article

PDF

Topics: Jacks (Lifting equipment) , Robotics , Springs , Actuators , Engines , Joules , Motors , Tendons , Engineering prototypes , Weight (Mass)

Wide Curve Based Geometric Optimization of Compliant Mechanisms

Hong Zhou, Kwun-Lon Ting

IDETC-CIE 2005; 35-41doi:https://doi.org/10.1115/DETC2005-84605

Abstract

View Article

PDF

Topics: Compliant mechanisms , Optimization , Topology , Algorithms , Matlab , Nonlinear programming , Shapes

Spanning Tree Based Topological Optimization of Compliant Mechanisms

Hong Zhou, Kwun-Lon Ting

IDETC-CIE 2005; 43-50doi:https://doi.org/10.1115/DETC2005-84608

Abstract

View Article

PDF

Topics: Compliant mechanisms , Optimization , Deformation , Displacement , Genetic algorithms , Performance evaluation , Stress , Topology

Optimal Synthesis of Compliant Mechanisms Using a Connectivity Preserving Level Set Method

Shikui Chen, Michael Yu Wang, Shengyin Wang, Qi Xia

IDETC-CIE 2005; 51-60doi:https://doi.org/10.1115/DETC2005-84748

Abstract

View Article

PDF

Topics: Compliant mechanisms , Design , Optimization , Topology

Synthesis of Compliant Mechanisms With Specified Equilibrium Positions

Hai-Jun Su, J. Michael McCarthy

IDETC-CIE 2005; 61-69doi:https://doi.org/10.1115/DETC2005-85085

Abstract

View Article

PDF

Topics: Compliant mechanisms , Equilibrium (Physics) , Design , Bending (Stress) , Design methodology , Linkages , Modeling , Polynomials

Dynamic Modeling and Controller Design of a Planar Parallel 3-RRR Compliant Micromanipulator

Jingjun Yu, Dong Zhao, Shusheng Bi, Guanghua Zong

IDETC-CIE 2005; 71-78doi:https://doi.org/10.1115/DETC2005-85241

Abstract

View Article

PDF

Topics: Control equipment , Design , Dynamic modeling , Dynamics (Mechanics)

Multivariate Parameter Sets for Optimal Synthesis of Compliant Mechanisms

Alexander Shibakov, Stephen L. Canfield, Patrick V. Hull

IDETC-CIE 2005; 79-87doi:https://doi.org/10.1115/DETC2005-85379

Abstract

View Article

PDF

Topics: Compliant mechanisms , Design , Shapes , Tiles , Topology

Design of Parallel Kinematic XY Flexure Mechanisms

Shorya Awtar, Alexander H. Slocum

IDETC-CIE 2005; 89-99doi:https://doi.org/10.1115/DETC2005-85413

Abstract

View Article

PDF

Topics: Design , Flexure mechanisms , Kinematics , Bending (Stress) , Tradeoffs , Displacement , Errors , Finite element analysis

Closed-Form Nonlinear Analysis of Beam-Based Flexure Modules

Shorya Awtar, Alexander H. Slocum

IDETC-CIE 2005; 101-110doi:https://doi.org/10.1115/DETC2005-85440

Abstract

View Article

PDF

Topics: Bending (Stress) , Flexure mechanisms , Approximation , Stiffness , Computational methods , Displacement , Equilibrium (Physics) , Errors , Finite element analysis , Geometry

Damping Flexure Mechanisms Using Low-Density, Low-Wave-Speed Media

Kripa K. Varanasi, Samir A. Nayfeh, Alexander H. Slocum

IDETC-CIE 2005; 111-119doi:https://doi.org/10.1115/DETC2005-85448

Abstract

View Article

PDF

Topics: Damping , Density , Flexure mechanisms , Waves , Bending (Stress) , Constraint systems , Foams (Chemistry) , Frequency response , Poles (Building) , Resonance

Compliant Bistable Dielectric Elastomer Actuators for Binary Mechatronic Systems

Jean-Se´bastien Plante, Matthew Santer, Steven Dubowsky, Sergio Pellegrino

IDETC-CIE 2005; 121-126doi:https://doi.org/10.1115/DETC2005-85576

Abstract

View Article

PDF

Topics: Actuators , Elastomers , Dimensions , Engineering prototypes , Polymers , Switches , Trusses (Building)

Dynamics of Machines

CMAC Neural Network Control for High Precision Motion of Hybrid Actuator

Zhang Ke, Wang Shengze

IDETC-CIE 2005; 127-131doi:https://doi.org/10.1115/DETC2005-84204

Abstract

View Article

PDF

Topics: Actuators , Artificial neural networks , Algorithms , Control algorithms , Friction , Robots , Servomechanisms , Simulation results

Dynamics Analysis of a Controllable Mechanism

Zhang Ke, Wang Shengze

IDETC-CIE 2005; 133-140doi:https://doi.org/10.1115/DETC2005-84207

Abstract

View Article

PDF

Topics: Dynamics (Mechanics) , Kinematics , Computation , Computers , Reliability

Tooth Profile Modifications for Optimum Dynamic Load in Spur Gears Based on Pseudo-Interference Stiffness Estimation Method

Monsak Pimsarn, Kazem Kazerounian

IDETC-CIE 2005; 141-150doi:https://doi.org/10.1115/DETC2005-84562

Abstract

View Article

PDF

Topics: Spur gears , Stiffness , Stress , Gears , Design , Durability , Fatigue , Temperature , Dynamic response , Dynamics (Mechanics)

Characteristics Analysis of Hydraulic Servo-Valve Torque Motor Using Magnetic Fluid

Songjing Li, Dan Jiang, Wen Bao

IDETC-CIE 2005; 151-158doi:https://doi.org/10.1115/DETC2005-84704

Abstract

View Article

PDF

Topics: Finite element analysis , Magnetic fluids , Servomechanisms , Torque motors , Valves

Micro-Macro or Link-Integrated Micro-Actuator Manipulation: A Kinematics and Dynamics Perspective

J. Zhang, J. Rastegar

IDETC-CIE 2005; 159-166doi:https://doi.org/10.1115/DETC2005-84706

Abstract

View Article

PDF

Topics: Dynamics (Mechanics) , Kinematics , Microactuators , Manipulators , Chain , Actuators , End effectors , Dynamic response , Vibration , Robots

Integrated Design and Control of a Biped Robot

James P. Schmiedeler, Eric R. Westervelt, Adam R. Dunki-Jacobs

IDETC-CIE 2005; 167-173doi:https://doi.org/10.1115/DETC2005-84848

Abstract

View Article

PDF

Topics: Design , Robots , Control equipment , Construction , Control systems , Design engineering , Dynamics (Mechanics) , Engineering prototypes , Performance , Stability

Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

M. Necip Sahinkaya, Yanzhi Li

IDETC-CIE 2005; 175-181doi:https://doi.org/10.1115/DETC2005-85252

Abstract

View Article

PDF

Topics: Dynamic analysis , Parallel mechanisms , Dynamics (Mechanics) , Control equipment , Degrees of freedom , Electric motors , Engineering simulation , Errors , Simulation , System dynamics

Mechanism Synthesis, Components, and Applications

The Duality Between Planar Kinematics and Statics

Offer Shai, Gordon R. Pennock

IDETC-CIE 2005; 183-194doi:https://doi.org/10.1115/DETC2005-84002

Abstract

View Article

PDF

Topics: Kinematics , Statics , Theorems (Mathematics)

Motion Synthesis of a Chopstick-Type Gripping Mechanism

Jyh-Jone Lee, Sheng-Lun Hu

IDETC-CIE 2005; 195-200doi:https://doi.org/10.1115/DETC2005-84258

Abstract

View Article

PDF

Topics: Design , Kinematics , Optimization

The Novel Characteristic Representations of Kinematic Chains and Their Applications

Z. Huang, H. F. Ding, Y. Cao

IDETC-CIE 2005; 201-210doi:https://doi.org/10.1115/DETC2005-84282

Abstract

View Article

PDF

Topics: Kinematic chains , Databases , Computer programming languages , Computer software

A New Appraoch to Shape Optimization for Closed Path Synthesis of Planar Mechanisms

Ahmad Smaili, Nadim Diab

IDETC-CIE 2005; 211-218doi:https://doi.org/10.1115/DETC2005-84301

Abstract

View Article

PDF

Topics: Computer-aided design , Shape optimization

A New Approach for Exact/Approximate Point Synthesis of Planar Mechanisms

Ahmad Smaili, Nadim Diab

IDETC-CIE 2005; 219-226doi:https://doi.org/10.1115/DETC2005-84339

Abstract

View Article

PDF

Topics: Algorithms , Errors , Optimization

Supension System Vehicle Design Using a Local Optimization Procedure

Ramon Sancibrian, Pablo Garcia, Fernando Viadero, Alfonso Fernandez

IDETC-CIE 2005; 227-236doi:https://doi.org/10.1115/DETC2005-84441

Abstract

View Article

PDF

Topics: Automotive design , Optimization , Suspension systems , Design , Kinematics , Multibody systems

Design of Lead Screw Actuators for Wearable Robotic Applications

Kevin W. Hollander, Thomas G. Sugar

IDETC-CIE 2005; 237-246doi:https://doi.org/10.1115/DETC2005-84595

Abstract

View Article

PDF

Topics: Actuators , Design , Robotics , Screws , Weight (Mass) , Mechanical efficiency , Engines , Motors , Muscle , Robots

Laplace and Extended Adjacency Matrices for Isomorphism Detection of Kinematic Chains Using the Characteristic Polynomial Approach

Rajesh Pavan Sunkari, Linda C. Schmidt

IDETC-CIE 2005; 247-254doi:https://doi.org/10.1115/DETC2005-84609

Abstract

View Article

PDF

Topics: Kinematic chains , Polynomials , Reliability , Algebra , Algorithms , Chain , Eigenvalues

Critical Review of Existing Degeneracy Testing and Mobility Type Identification Algorithms for Kinematic Chains

Rajesh Pavan Sunkari, Linda C. Schmidt

IDETC-CIE 2005; 255-263doi:https://doi.org/10.1115/DETC2005-84626

Abstract

View Article

PDF

Topics: Algorithms , Kinematic chains , Mechanical admittance , Testing , Errors , Chain

Static Balancing of Tensegrity Mechanisms

Marc Arsenault, Cle´ment M. Gosselin

IDETC-CIE 2005; 265-273doi:https://doi.org/10.1115/DETC2005-84649

Abstract

View Article

PDF

Topics: Tensegrity mechanisms , Architecture , Computation , Equilibrium (Physics) , Stress

Patterned Bootstrap: A New Method Which Gives Efficiency for Precision Position Synthesis of Planar Linkages

Zhenjun Luo, Jian S. Dai

IDETC-CIE 2005; 275-283doi:https://doi.org/10.1115/DETC2005-84658

Abstract

View Article

PDF

Topics: Linkages , Polynomials , Algorithms , Nonlinear equations , Tunnel construction

On the Design of a Novel Controllable Mechanical Metal Forming Press Based on 2-DOF Planar Mechanism

Zhenlin Jin, Kai He, R. Du

IDETC-CIE 2005; 285-290doi:https://doi.org/10.1115/DETC2005-84713

Abstract

View Article

PDF

Topics: Design , Metalworking , Power presses , Kinematics , Servomotors , Stress , Blanking (Metalworking) , Computer programming , Engineering prototypes , Engines

Research of Valve-Less Pumps With Changeable Cone Angle Nozzle/Diffuser Elements

Jie Kou, Jianhui Zhang, Dehua Lai, Yuhao Yang

IDETC-CIE 2005; 291-295doi:https://doi.org/10.1115/DETC2005-84750

Abstract

View Article

PDF

Topics: Diffusers , Nozzles , Pumps , Valves , Flow (Dynamics) , Manufacturing

Dimension Synthesis for Higher-Order Kinematic Parameters and Self-Adjustability Design of Planar Linkage Mechanisms

Jun Lin, Maolin Huang

IDETC-CIE 2005; 297-305doi:https://doi.org/10.1115/DETC2005-84762

Abstract

View Article

PDF

Topics: Design , Dimensions , Generators , Impulse (Physics) , Kinematics , Linkages

Some Special Cases of the Burmester Problem for Four and Five Poses

Jorge Angeles, Shaoping Bai

IDETC-CIE 2005; 307-314doi:https://doi.org/10.1115/DETC2005-84871

Abstract

View Article

PDF

Topics: Displacement , Linkages

Robustness Study of Generic and Non-Generic 3R Positioning Manipulators

Stephane Caro, Philippe Wenger, Fouad Bennis

IDETC-CIE 2005; 315-324doi:https://doi.org/10.1115/DETC2005-84903

Abstract

View Article

PDF

Topics: Manipulators , Robustness

A Matrix Based Mobility Criterion for Parallel Platforms

Jose´ M. Rico, Luis D. Aguilera, Jaime Gallardo, Ramo´n Rodriguez, Horacio Orozco, Juan Manuel Barrera

IDETC-CIE 2005; 325-342doi:https://doi.org/10.1115/DETC2005-84937

Abstract

View Article

PDF

Topics: Mechanical admittance , Screws , Algebra , Degrees of freedom , Jacobian matrices , Lie algebras , Linear algebra , Manipulators

Identifying and Counting the Number of Mechanisms From Kinematic Chains Subject to Design Constraints

Hong-Sen Yan, Chih-Ching Hung

IDETC-CIE 2005; 343-350doi:https://doi.org/10.1115/DETC2005-84978

Abstract

View Article

PDF

Topics: Design , Kinematic chains

Enumeration of Circuit Breaker Mechanisms Through Boolean Functions

Hrishikesh V. Deo, C. Amarnath

IDETC-CIE 2005; 351-357doi:https://doi.org/10.1115/DETC2005-85120

Abstract

View Article

PDF

Topics: Circuit breakers

The Variable Rocker-Arm Mechanism

Madhusudan Raghavan

IDETC-CIE 2005; 359-366doi:https://doi.org/10.1115/DETC2005-85150

Abstract

View Article

PDF

Topics: Camshafts , Construction , Cylinders , Dynamic analysis , Engines , Friction , Rolling contact , Valves

Analysis for Stiffness of Large-Deformation Flexure Hinge and Its Application

Ming Jia, Jingjun Yu, Shusheng Bi, Yicun Xu

IDETC-CIE 2005; 367-373doi:https://doi.org/10.1115/DETC2005-85169

Abstract

View Article

PDF

Topics: Bending (Stress) , Deformation , Hinges , Stiffness

Curve Representation Using Principal Component Analysis for Shape Optimization of Path Generating Mechanisms

Nassim Khaled, Ahmad Smaili

IDETC-CIE 2005; 375-382doi:https://doi.org/10.1115/DETC2005-85247

Abstract

View Article

PDF

Topics: Principal component analysis , Shape optimization , Image processing , Optimization , Rotation , Shapes , Simulated annealing

An Investigation Into the Use of Springs and Wing Motions to Minimize the Power Expended by a Mechanical Pigeon for Steady Flight

K. Kurien Issac, Sunil K. Agrawal

IDETC-CIE 2005; 383-392doi:https://doi.org/10.1115/DETC2005-85288

Abstract

View Article

PDF

Topics: Flight , Springs , Wings , Actuators , Aerodynamics , Design , Fluid-dynamic forces , Inertia (Mechanics)

Planar Motion Generation Incorporating a 6-Link Mechanism and Non-Circular Elements

Javier Rolda´n-Mckinley, David B. Dooner, Carl Crane, III, Jean-Francois Kammath

IDETC-CIE 2005; 393-403doi:https://doi.org/10.1115/DETC2005-85315

Abstract

View Article

PDF

Topics: Degrees of freedom , Gears , Geometry

Grasping Mechanisms With Self-Centering and Force-Balancing Characteristics

Scott H. Brooks, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2005; 405-414doi:https://doi.org/10.1115/DETC2005-85478

Abstract

View Article

PDF

Topics: Grasping , Automotive brakes , Compliant mechanisms , Degrees of freedom , Design

Optimal Design of the Coring Bit Cutting Edge in Percussive/Vibratory Drilling

Yinghui Liu, Constantinos Mavroidis, Yoseph Bar-Cohen, Zensheu Chang

IDETC-CIE 2005; 415-423doi:https://doi.org/10.1115/DETC2005-85510

Abstract

View Article

PDF

Topics: Cutting , Design , Drilling , Drills (Tools) , Optimization , Brittleness , Rocks , Shapes , Wedges , Annulus

The Synthesis of Planar 4R Linkages With Three Task Positions and Two Specified Velocities

Nina P. Robson, J. Michael McCarthy

IDETC-CIE 2005; 425-432doi:https://doi.org/10.1115/DETC2005-85516

Abstract

View Article

PDF

Topics: Linkages , Design , Chain , Algebra , Kinematics

Medical Devices and Their Applications in Rehabilitation, Surgery

A Robotized Needle Insertion Device for Percutaneous Procedures

Olivier Piccin, Pierre Renaud, Laurent Barbe´, Bernard Bayle, Benjamin Maurin, Michel de Mathelin

IDETC-CIE 2005; 433-440doi:https://doi.org/10.1115/DETC2005-84577

Abstract

View Article

PDF

Topics: Needles , Computerized tomography , Design , Biomedicine , Computers , Haptics , Patient treatment , Robotics , Safety , Sterilization

Method for Optimization of a Nonlinear Static Balance Mechanism With Application to Ophthalmic Surgical Forceps

Katherine M. Powell, Mary I. Frecker

IDETC-CIE 2005; 441-447doi:https://doi.org/10.1115/DETC2005-84759

Abstract

View Article

PDF

Topics: Compliant mechanisms , Optimization , Springs , Surgery

Systematic Sensitivity Analysis of Spatial One-DOF Models of Diarthrodial Joints

R. Di Gregorio, V. Parenti-Castelli

IDETC-CIE 2005; 449-457doi:https://doi.org/10.1115/DETC2005-84939

Abstract

View Article

PDF

Topics: Bone , Degrees of freedom , Geometry , Sensitivity analysis

Gait Rehabilitation With an Active Leg Orthosis

Sai K. Banala, Sunil K. Agrawal

IDETC-CIE 2005; 459-465doi:https://doi.org/10.1115/DETC2005-85071

Abstract

View Article

PDF

Topics: Orthotics , Control equipment , Torque , Actuators , Design , Engineering simulation , Gravity (Force) , Rehabilitation devices , Simulation

Design for Improved Trans-Tibial Prosthetic Devices Using Four Bar Mechanisms

Joseph G. Wells, Jr., Philip A. Voglewede, David N. Rocheleau

IDETC-CIE 2005; 467-473doi:https://doi.org/10.1115/DETC2005-85083

Abstract

View Article

PDF

Topics: Design , Prostheses , Knee , Mechanical admittance , Optimization

Design and Modelling of a Micro Fluid Filter for Separating Spermatogenic Cells

Xianghong Ma, Mark Prince, Mike Ward, Peter Docker

IDETC-CIE 2005; 475-480doi:https://doi.org/10.1115/DETC2005-85357

Abstract

View Article

PDF

Topics: Biomedicine , Design , Filters , Fluids , Microelectromechanical systems , Modeling , Biological tissues , Biomedical engineering , Computational fluid dynamics , Design methodology

A Remote Needle Guidance System for Percutaneous Biopsies

Steven R. H. Barrett, Nevan Hanumara, Conor J. Walsh, Alexander H. Slocum, Rajiv Gupta, Jo-Anne O. Shepard

IDETC-CIE 2005; 481-489doi:https://doi.org/10.1115/DETC2005-85387

Abstract

View Article

PDF

Topics: Needles , Computerized tomography , Design , Engineering prototypes , Feedback , Motors , Oscillations , Phantoms , Robotics , Testing

Design of an Adjustable Compensation Mechanism for Use in a Passive Arm Support

Pieter Lucieer, Just L. Herder

IDETC-CIE 2005; 491-500doi:https://doi.org/10.1115/DETC2005-85442

Abstract

View Article

PDF

Topics: Design , Diseases , Errors , Friction , Gravity (Force) , Muscle , Springs , Stress , Weight (Mass)

Smart Portable Rehabilitation Devices

C. Mavroidis, J. Nikitczuk, B. Weinberg, R. Arango, G. Danaher, K. Jensen, M. Leahey, R. Pavone, P. Pelletier, A. Provo, J. Prugnarola, R. Stuart, D. Yasevac

IDETC-CIE 2005; 501-510doi:https://doi.org/10.1115/DETC2005-85517

Abstract

View Article

PDF

Topics: Rehabilitation devices , Knee , Computer control , Computers , Electrorheological fluids , Mechatronics , Robotics

Micro and Nano-Scale Electromechanical Systems

Modeling and Alleviating Instability in a MEMS Vertical Comb Drive Using a Progressive Linkage

Jessica R. Bronson, Gloria J. Wiens, James J. Allen

IDETC-CIE 2005; 511-517doi:https://doi.org/10.1115/DETC2005-84217

Abstract

View Article

PDF

Topics: Linkages , Microelectromechanical systems , Modeling , Mirrors , Design , Actuators , Capacitance , Delays , Finite element analysis , Micromachining

Residue Level Inverse Kinematics of Peptide Chains in the Presence of Observation Inaccuracies and Bond Length Changes

Raghavendran Subramanian, Kazem Kazerounian

IDETC-CIE 2005; 519-528doi:https://doi.org/10.1115/DETC2005-84352

Abstract

View Article

PDF

Topics: Chain , Kinematics , Atoms , Errors , Proteins , Modeling , Uncertainty

Components, Building Blocks, and Demonstrations of Spherical Mechanisms in Microelectromechanical Systems

Craig P. Lusk, Larry L. Howell

IDETC-CIE 2005; 529-535doi:https://doi.org/10.1115/DETC2005-84672

Abstract

View Article

PDF

Topics: Blocks (Building materials) , Microelectromechanical systems , Design , Micromechanical devices , Kinematics , Manufacturing

Double-Tensural Bistable Mechanisms (DTBM) With On-Chip Actuation and Spring-Like Post-Bistable Behavior

Daniel L. Wilcox, Larry L. Howell

IDETC-CIE 2005; 537-546doi:https://doi.org/10.1115/DETC2005-84697

Abstract

View Article

PDF

Topics: Springs , Finite element analysis , Displacement , Microelectromechanical systems , Switches , Compliant mechanisms , Design , Microactuators , Micromachining , Micromechanical devices

Instabilities in a Class of Dual-Axis MEMS Gyroscopes

Tianfu Wang, Samuel F. Asokanthan

IDETC-CIE 2005; 547-554doi:https://doi.org/10.1115/DETC2005-85380

Abstract

View Article

PDF

Topics: Excitation , Microelectromechanical systems , Stability

Robotics: Applications

Robotic Material Handling of Flexible Fuel Cell Membranes

Stephen J. Derby, John Lippiatt

IDETC-CIE 2005; 555-563doi:https://doi.org/10.1115/DETC2005-84174

Abstract

View Article

PDF

Topics: Fuel cells , Materials handling , Membranes , Robotics , Manufacturing , Food products , High temperature , Plastic films , Textiles

Optimization of Biped Gait Synthesis Using Fuzzy Neural Network Controller

Arbnor Pajaziti, Ismajl Gojani, Ahmet Shala, Peter Kopacek

IDETC-CIE 2005; 565-572doi:https://doi.org/10.1115/DETC2005-84191

Abstract

View Article

PDF

Topics: Control equipment , Fuzzy neural nets , Genetic algorithms , Optimization , Path planning , Robots

Research and Design of a Pre-Stressed Six-Component Force/Torque Sensor Based on the Stewart Platform

Yong-Sheng Zhao, Yu-Lei Hou, Zhi-Wei Yan, Hui-Ling Yuan, Jin Gao

IDETC-CIE 2005; 573-581doi:https://doi.org/10.1115/DETC2005-84227

Abstract

View Article

PDF

Topics: Design , Sensors , Torque , Calibration , Engineering prototypes , Dimensions , Isotropy , Kinematics , Screws , Theoretical analysis

Actuating Input Selection of 5-UPS/PRPU Parallel Machine Tool

Jian-She Gao, Ren-Cheng Zheng, Yong-Sheng Zhao

IDETC-CIE 2005; 583-587doi:https://doi.org/10.1115/DETC2005-84251

Abstract

View Article

PDF

Topics: Kinematics , Machine tools , Parallel mechanisms , Screws , Simulation , Torque

A Concept for Rapidly-Deployable Cable Robot Search and Rescue Systems

Paul Bosscher, Robert L. Williams, II, Melissa Tummino

IDETC-CIE 2005; 589-598doi:https://doi.org/10.1115/DETC2005-84324

Abstract

View Article

PDF

Topics: Cables , Calibration , Robots

An Adaptive Evolutionary Switching Control for Robot Manipulators

P. R. Ouyang, W. J. Zhang, Madan M. Gupta

IDETC-CIE 2005; 599-608doi:https://doi.org/10.1115/DETC2005-84333

Abstract

View Article

PDF

Topics: Feedback , Manipulators , Trajectories (Physics)

Kinematic Analysis of a Novel Rimless Wheel With Independently Actuated Spokes

Doug Laney, Dennis Hong

IDETC-CIE 2005; 609-614doi:https://doi.org/10.1115/DETC2005-84596

Abstract

View Article

PDF

Topics: Kinematic analysis , Wheels , Robots , Locomotives , Mechanical admittance , Mobile robots , Static stability

Model-Based Sliding Mode Control for a Robot With SMA Actuators

Hashem Ashrafiuon, Jala Vijay Reddy

IDETC-CIE 2005; 615-621doi:https://doi.org/10.1115/DETC2005-84868

Abstract

View Article

PDF

Topics: Actuators , Robots , Sliding mode control , Wire , Constitutive equations , Convection , Engineering simulation , Equations of motion , Phase transitions , Pulleys

Kinematics of a H-Type Pure Translational Parallel Manipulator

Chung-Ching Lee, Jeng-Hong Chiu, Hung-Hui Wu

IDETC-CIE 2005; 623-632doi:https://doi.org/10.1115/DETC2005-84992

Abstract

View Article

PDF

Topics: Kinematics , Manipulators , Jacobian matrices , Displacement , Kinematic analysis , Manufacturing , Matrix algebra , Mechanical admittance , Mechanical properties

Path Planning for Manipulator Robots in Cluttered Environments

Samir Lahouar, Said Zeghloul, Lotfi Romdhane

IDETC-CIE 2005; 633-639doi:https://doi.org/10.1115/DETC2005-84993

Abstract

View Article

PDF

Topics: Manipulators , Path planning , Robots

An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase

Abhishek Agrawal, Sunil K. Agrawal

IDETC-CIE 2005; 641-649doi:https://doi.org/10.1115/DETC2005-85069

Abstract

View Article

PDF

Topics: Actuators , Degrees of freedom , Design , Design methodology , Energy efficiency , Gravity (Force) , Inertia (Mechanics) , Machinery , Manipulator design , Manipulators

Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot

So-Ryeok Oh, Ji-Chul Ryu, Sunil K. Agrawal

IDETC-CIE 2005; 651-660doi:https://doi.org/10.1115/DETC2005-85131

Abstract

View Article

PDF

Topics: Cables , Dynamics (Mechanics) , Robots , Control equipment , Simulation results

A Triad-Based Two-DOF Robomech: Architecture and Optimum Synthesis

Ahmad Smaili, Bachir Chaaya

IDETC-CIE 2005; 661-666doi:https://doi.org/10.1115/DETC2005-85200

Abstract

View Article

PDF

Topics: End effectors , Genetic algorithms , Kinematic chains , Kinematics , Optimization , Wings

A Collision-Free Path Planning Method for an Articulated Mobile Robot in a Free Environment

Patricia Quintero-Alvarez, Gabriel Ramirez, Sai¨d Zeghloul

IDETC-CIE 2005; 667-675doi:https://doi.org/10.1115/DETC2005-85217

Abstract

View Article

PDF

Topics: Collisions (Physics) , Mobile robots , Path planning

Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms

Mark Ingram, Dennis Hong

IDETC-CIE 2005; 677-682doi:https://doi.org/10.1115/DETC2005-85419

Abstract

View Article

PDF

Topics: Skin , Robots , Mobile robots , Ceilings , Endoscopes , Membranes , Robotics , Space , Traction

Robotics: Theory

Fault Tolerant Motion Planning With Avoidance of the Sudden Change of Joint Velocity for Two Coordinating Redundant Manipulators

Jing Zhao, Kailiang Zhang, Xuebin Yao

IDETC-CIE 2005; 683-689doi:https://doi.org/10.1115/DETC2005-84031

Abstract

View Article

PDF

Topics: Path planning , Redundant manipulators , Manipulators , Algorithms , Failure , Simulation , Simulation results , Stability

Instantaneous Kinematic Characteristics of a Special 3-UPU Parallel Manipulator

Shihua Li, Zhen Huang

IDETC-CIE 2005; 691-697doi:https://doi.org/10.1115/DETC2005-84098

Abstract

View Article

PDF

Topics: Kinematics , Manipulators , Screws , Degrees of freedom

A Novel Three-DOF 3-RRRRR Parallel Platform Mechanism and Its Position Analysis

Shihua Li, Zhen Huang, Jianguang Wu

IDETC-CIE 2005; 699-704doi:https://doi.org/10.1115/DETC2005-84099

Abstract

View Article

PDF

Topics: Degrees of freedom , Kinematics , Manipulators , Parallel mechanisms

Resolution of Singular Configuration Space of 3/6-SPS Parallel Manipulator Using an Equivalent SC Simulation Mechanism

Yi Lu, Zhen Huang

IDETC-CIE 2005; 705-710doi:https://doi.org/10.1115/DETC2005-84112

Abstract

View Article

PDF

Topics: Manipulators , Resolution (Optics) , Simulation , Geometry , Computer-aided engineering , Dimensions , Jacobian matrices , Robots

Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy

Yue-Qing Yu, Ji-Yun Yang

IDETC-CIE 2005; 711-715doi:https://doi.org/10.1115/DETC2005-84160

Abstract

View Article

PDF

Topics: Dynamics (Mechanics) , Flexible manipulators , Kinematics , Motion control , Redundancy (Engineering) , Manipulators , Robots , Computer programming , End effectors , Redundant manipulators

Workspace Analysis and Visualization of Mechanical Manipulators With Non-Unilateral Constraints

Jingzhou Yang, Karim Abdel-Malek

IDETC-CIE 2005; 717-726doi:https://doi.org/10.1115/DETC2005-84180

Abstract

View Article

PDF

Topics: Manipulators , Visualization , Degrees of freedom , Kinematic chains

Application of Taguchi Method on the Tolerance Design of a Four-Bar Function Generation Mechanism

Fu-Chen Chen, Hsing-Hui Huang

IDETC-CIE 2005; 727-733doi:https://doi.org/10.1115/DETC2005-84199

Abstract

View Article

PDF

Topics: Design , Taguchi methods , Errors , Generators , Clearances (Engineering) , Manufacturing

Obstacle Avoidance Influence Coefficients for Manipulator Motion Planning

Troy Harden, Chetan Kapoor, Delbert Tesar

IDETC-CIE 2005; 735-747doi:https://doi.org/10.1115/DETC2005-84223

Abstract

View Article

PDF

Topics: Manipulators , Path planning , Approximation , Geometry , Modeling , Robotics , Robots

A Generalized Transmission Index for Spatial Linkages

Chao Chen, Jorge Angeles

IDETC-CIE 2005; 749-756doi:https://doi.org/10.1115/DETC2005-84291

Abstract

View Article

PDF

Topics: Linkages , Screws

Fully-Isotropic T1R2-Type Parallel Robots With Three Degrees of Freedom

Grigore Gogu

IDETC-CIE 2005; 757-764doi:https://doi.org/10.1115/DETC2005-84313

Abstract

View Article

PDF

Topics: Degrees of freedom , Robots , Jacobian matrices , Manipulators , Space

Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion

Ofelia Alba-Gomez, Philippe Wenger, Alfonso Pamanes

IDETC-CIE 2005; 765-774doi:https://doi.org/10.1115/DETC2005-84326

Abstract

View Article

PDF

Topics: Kinematics , Manipulators , Jacobian matrices , Redundancy (Engineering)

Hybrid Target Tracking Manipulation Theories for Combined Force and Position Control in Open and Closed Loop Manipulators

David J. Giblin, Zongliang Mu, ZhongXue Gan, Kazem Kazerounian

IDETC-CIE 2005; 775-784doi:https://doi.org/10.1115/DETC2005-84349

Abstract

View Article

PDF

Topics: Manipulators , Position control , Kinematics , Errors , Feedback , Force feedback , Hybrid control , Simulation experiments

On the Different Actuation’s Ways of the Spherically Actuated Platform Manipulator

Mohammad Vakil, Hodjat Pendar, Hassan Zohoor

IDETC-CIE 2005; 785-792doi:https://doi.org/10.1115/DETC2005-84551

Abstract

View Article

PDF

Topics: Kinematics , Manipulators , Kinematic analysis , Actuators , Algebra , Degrees of freedom , Nonlinear equations , Parallel mechanisms , Simulation

Kinematics and Force Optimization for Efficient Self-Reconfiguration of Chain-Type Modular Robots

Carl A. Nelson, Raymond J. Cipra

IDETC-CIE 2005; 793-801doi:https://doi.org/10.1115/DETC2005-84612

Abstract

View Article

PDF

Topics: Chain , Kinematics , Optimization , Robots

Static and Dynamic Analysis of the PAMINSA (Parallel Manipulator of the I.N.S.A.)

Vigen Arakelian, Sylvain Gue´gan, Se´bastien Briot

IDETC-CIE 2005; 803-809doi:https://doi.org/10.1115/DETC2005-84679

Abstract

View Article

PDF

Topics: Dynamic analysis , Dynamic modeling , Manipulators , Computer software , Degrees of freedom , Optimization , Simulation , Stress

Collision Detection of Cylindrical Rigid Bodies Using Line Geometry

John S. Ketchel, Pierre M. Larochelle

IDETC-CIE 2005; 811-825doi:https://doi.org/10.1115/DETC2005-84699

Abstract

View Article

PDF

Topics: Collisions (Physics) , Geometry , Algorithms , Cylinders , Dimensions , Algebra , Biomedicine , Computers , Design , Drilling

Geometric Characterization of the Configuration Space of Rigid Body Mechanisms in Regular and Singular Points

Andreas Mu¨ller

IDETC-CIE 2005; 827-840doi:https://doi.org/10.1115/DETC2005-84712

Abstract

View Article

PDF

Topics: Algebra , Degrees of freedom , Geometry , Kinematics , Rigid-body mechanisms , Topology , Algorithms , Construction , Screws , Space

Bifurcation Characteristics of Six-Bar Linkages

Yu-Xin Wang, Rui-Qin Guo

IDETC-CIE 2005; 841-846doi:https://doi.org/10.1115/DETC2005-84865

Abstract

View Article

PDF

Topics: Bifurcation , Linkages , Design , Robotics , Trajectories (Physics)

Dynamic Modeling and Coupling of Underactuated Flexible Robots

Wei Chen, Yue-Qing Yu, Xu-Ping Zhang

IDETC-CIE 2005; 847-853doi:https://doi.org/10.1115/DETC2005-84919

Abstract

View Article

PDF

Topics: Dynamic modeling , Robots , Deformation , Design , Actuators , Degrees of freedom , Dynamic models , Finite element methods , Flexible manipulators , Simulation results

A Recursive Approach for Analysis of Snake Robots Using Kane’s Equations

Hadi Tavakoli Nia, Hossein Nejat Pishkenari, Ali Meghdari

IDETC-CIE 2005; 855-861doi:https://doi.org/10.1115/DETC2005-84987

Abstract

View Article

PDF

Topics: Robots , Kinematics , Algorithms , Equations of motion , Errors

Conception and Dynamic Modeling of an Assisted Passive Snake-Like Robot Using Gibbs-Appell Method

Golamreza Vossoughi, Hodjat Pendar, Zoya Heidari, Saman Mohammadi

IDETC-CIE 2005; 863-870doi:https://doi.org/10.1115/DETC2005-85008

Abstract

View Article

PDF

Topics: Dynamic modeling , Robots

Modeling and Simulation of Flapping Wing Micro Air Vehicles

Zaeem A. Khan, Sunil K. Agrawal

IDETC-CIE 2005; 871-879doi:https://doi.org/10.1115/DETC2005-85237

Abstract

View Article

PDF

Topics: Modeling , Simulation , Vehicles , Wings , Simulation results , Aerodynamics , Design , Flight , Geometry

Modeling and Experimental Design for the On-Orbit Inertial Parameter Identification of Free-Flying Space Robots

Roberto Lampariello, Gerhard Hirzinger

IDETC-CIE 2005; 881-890doi:https://doi.org/10.1115/DETC2005-85242

Abstract

View Article

PDF

Topics: Experimental design , Modeling , Robots , Accelerometers , End effectors , Energy consumption , Path planning , Satellites , Stress

A New Approach to Sonar Based Indoor Mapping Localization

A. Meghdari, K. Kobravi, H. Safyallah, M. Moeeni, Y. Khatami, H. Khasteh

IDETC-CIE 2005; 891-901doi:https://doi.org/10.1115/DETC2005-85269

Abstract

View Article

PDF

Topics: Algorithms , Failure , Lasers , Navigation , Robot navigation , Vehicles

Rough Terrain Rovers Dynamics Analysis and Optimization

Hadi Tavakoli Nia, Seyed Hamidreza Alemohammad, Saeed Bagheri, Reza Hajiaghaee Khiabani, Ali Meghdari

IDETC-CIE 2005; 903-909doi:https://doi.org/10.1115/DETC2005-85304

Abstract

View Article

PDF

Topics: Dynamics (Mechanics) , Optimization , Surface roughness , Traction , Wheels , Computer software , Genetic algorithms , Mechanical admittance , Modeling

Mobility Analysis of Parallel Mechanisms Based on Screw Theory and the Concept of Equivalent Serial Kinematic Chain

Xianwen Kong, Cle´ment M. Gosselin

IDETC-CIE 2005; 911-920doi:https://doi.org/10.1115/DETC2005-85337

Abstract

View Article

PDF

Topics: Kinematic chains , Mechanical admittance , Parallel mechanisms , Screws

A Note on Denavit-Hartenberg Notation in Robotics

Harvey Lipkin

IDETC-CIE 2005; 921-926doi:https://doi.org/10.1115/DETC2005-85460

Abstract

View Article

PDF

Topics: Chain , Manipulators , Robotics , Robots , Transparency

Effective Teaching of Computer Integrated Mechanism Analysis and Design

Harry H. Cheng, Matt Campbell

IDETC-CIE 2005; 927-938doi:https://doi.org/10.1115/DETC2005-85565

Abstract

View Article

PDF

Topics: Computers , Design , Teaching , Computer programming , Students , Complex systems , Computer-aided design , Computer-aided engineering , Undergraduate students