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Proceedings Papers

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

Wei Xu, Jiaming Fu, Dongming Gan

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A010, August 14–17, 2022

Paper No: DETC2022-89856

DOI: https://doi.org/10.1115/DETC2022-89856

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Topics: Design, Grasping, Modeling, Robotics, Stiffness

Proceedings Papers

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction

Jiaming Fu, Han Lin, Wei Xu, Dongming Gan

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A009, August 14–17, 2022

Paper No: DETC2022-89825

DOI: https://doi.org/10.1115/DETC2022-89825

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Topics: Compliant mechanisms, Human-robot interaction, Robotics, Stiffness

Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022

Paper No: DETC2022-91025

DOI: https://doi.org/10.1115/DETC2022-91025

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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws

Journal Articles

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai

J. Mechanisms Robotics. December 2022, 14(6): 060301.

Paper No: JMR-22-1441

DOI: https://doi.org/10.1115/1.4055836

Published Online: October 31, 2022

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Topics: Design, Robots, Robotics

Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar

J. Mechanisms Robotics. February 2023, 15(1): 014502.

Paper No: JMR-21-1281

DOI: https://doi.org/10.1115/1.4053825

Published Online: May 12, 2022

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Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses

Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles

J. Mechanisms Robotics. August 2022, 14(4): 041005.

Paper No: JMR-21-1535

DOI: https://doi.org/10.1115/1.4053821

Published Online: March 24, 2022

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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms

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

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Topics: Modeling, Robotics, Stiffness

Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021

Paper No: DETC2021-70081

DOI: https://doi.org/10.1115/DETC2021-70081

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Topics: Actuators, Mobile robots, Robots, Stability, Wheels

Journal Articles

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Mohammad I. Awad, Irfan Hussain, Shramana Ghosh, Yahya Zweiri, Dongming Gan

J. Mechanisms Robotics. February 2021, 13(1): 011016.

Paper No: JMR-20-1075

DOI: https://doi.org/10.1115/1.4048428

Published Online: November 13, 2020

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Topics: Design, Exoskeleton devices, Kinematics, Optimization, Parallel mechanisms

Proceedings Papers

Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton

Ali M. Soliman, Irfan Hussain, Mohammad I. Awad, Dongming Gan

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A071, August 17–19, 2020

Paper No: DETC2020-22650

DOI: https://doi.org/10.1115/DETC2020-22650

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Topics: Design, Exoskeleton devices, Modeling, Stiffness, Springs

Proceedings Papers

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

Xuheng Chai, Latifah Nurahmi, Jian S. Dai, Dongming Gan

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A088, August 17–19, 2020

Paper No: DETC2020-22169

DOI: https://doi.org/10.1115/DETC2020-22169

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Topics: Calibration, Kinematics, Parallel mechanisms, Optimization, Optimization algorithms, Switches, Trajectories (Physics)

Journal Articles

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Lisha Chen, David T. Branson, Jian S. Dai

J. Mechanisms Robotics. December 2020, 12(6): 061005.

Paper No: JMR-19-1347

DOI: https://doi.org/10.1115/1.4046837

Published Online: May 12, 2020

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Topics: Actuators, Robots, Springs, Shape memory alloys, Displacement, Design

Journal Articles

Energy distribution in Dual-UAV collaborative transportation through load sharing

Abdullah Mohiuddin, Yahya Zweiri, Randa Almadhoun, Tarek Taha, Dongming Gan

J. Mechanisms Robotics.

Paper No: JMR-19-1378

DOI: https://doi.org/10.1115/1.4046912

Published Online: April 14, 2020

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Topics: Stress, Transportation systems, Unmanned aerial vehicles, Energy consumption, Batteries, Computer simulation, Hardware, Robots, Rotors, Simulation

Proceedings Papers

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

Latifah Nurahmi, Dongming Gan

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A064, August 18–21, 2019

Paper No: DETC2019-97851

DOI: https://doi.org/10.1115/DETC2019-97851

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Topics: Dynamic analysis, Parallel mechanisms, Screws, Mechanical admittance, Rotation

Proceedings Papers

A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism

Lingda Meng, Rongjie Kang, Dongming Gan, Guimin Chen, Jian S. Dai

Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A012, August 18–21, 2019

Paper No: DETC2019-97755

DOI: https://doi.org/10.1115/DETC2019-97755

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Topics: Robots, Shape memory alloys, Reciprocating motion, Actuators, Anisotropy, Displacement, Friction, Robotics, Springs, Weight (Mass)

Journal Articles

Reconfiguration of a 3-(rR)PS Metamorphic Parallel Mechanism Based on Complete Workspace and Operation Mode Analysis

Latifah Nurahmi, Dongming Gan

J. Mechanisms Robotics. February 2020, 12(1): 011002.

Paper No: JMR-19-1182

DOI: https://doi.org/10.1115/1.4044844

Published Online: October 10, 2019

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Topics: Parallel mechanisms, Trajectories (Physics), Rotation

Journal Articles

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface

Mohammad I. Awad, Irfan Hussain, Dongming Gan, Ali Az-zu'bi, Cesare Stefanini, Kinda Khalaf, Yahya Zweiri, Tarek Taha, Jorge Dias, Lakmal Seneviratne

J. Mechanisms Robotics. February 2019, 11(1): 011005.

Paper No: JMR-18-1148

DOI: https://doi.org/10.1115/1.4041640

Published Online: November 12, 2018

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Topics: Stiffness, Haptics, Springs, Design

Proceedings Papers

Workspace Transition of 3-rRPS Metamorphic Parallel Mechanism in Hyperboloid Configuration

Latifah Nurahmi, Dongming Gan

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A053, August 26–29, 2018

Paper No: DETC2018-86356

DOI: https://doi.org/10.1115/DETC2018-86356

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Topics: Parallel mechanisms, Algebra, Geometry, Rotation, Shapes, Switches

Proceedings Papers

Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes

Shramana Ghosh, Dongming Gan

Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A042, August 21–24, 2016

Paper No: DETC2016-59821

DOI: https://doi.org/10.1115/DETC2016-59821

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Topics: Design, Exoskeleton devices, Manipulators, Arches, Chain, Kinematics, Manipulator design, Stiffness

Proceedings Papers

Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility

Dongming Gan, Jian S. Dai, Jorge Dias, Lakmal D. Seneviratne

Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A045, August 21–24, 2016

Paper No: DETC2016-59042

DOI: https://doi.org/10.1115/DETC2016-59042

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Topics: Design, Parallel mechanisms, Rotation, Screws, Jacobian matrices, Kinematics, Mechanical admittance, Switches, Tradeoffs

Journal citation

NARROW

Manuscript

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

A Reconfigurable Variable-Stiffness Parallel Beam for Compliant Robotic Mechanisms Towards Safe Human Interaction

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism

A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism

Energy distribution in Dual-UAV collaborative transportation through load sharing

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

A Shape Memory Alloy Driven Crawling Robot Utilizing a Bistable Mechanism

Reconfiguration of a 3-(rR)PS Metamorphic Parallel Mechanism Based on Complete Workspace and Operation Mode Analysis

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface

Workspace Transition of 3-rRPS Metamorphic Parallel Mechanism in Hyperboloid Configuration

Design of Passive 3-PRR Planar Parallel Manipulators for Self-Alignment of Exoskeleton Axes

Optimal Design of a Metamorphic Parallel Mechanism With Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility

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