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Proceedings Papers

A Novel Sandwich Flexure Blade With Improved Out-of-Plane Stiffness

Moeen Radgolchin, Siddharth Rath, Shorya Awtar
Proc. ASME. IDETC-CIE2024, Volume 2A: 44th Computers and Information in Engineering Conference (CIE), V02AT02A001, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-139454
https://doi.org/10.1115/DETC2024-139454
View Paper titled, A Novel Sandwich Flexure Blade With Improved Out-of-Plane Stiffness
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Topics: Bending (Stress), Blades, Stiffness
Proceedings Papers

Nonlinear Static Modeling of a Large Range XY-Nanopositioning System

Hamid Moeenfard, Siddharth Rath, Shorya Awtar
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A014, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143611
https://doi.org/10.1115/DETC2024-143611
View Paper titled, Nonlinear Static Modeling of a Large Range XY-Nanopositioning System
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Topics: Bending (Stress), Computer simulation, Control equipment, Design, Displacement, Dynamic analysis, Equilibrium (Physics), Finite element analysis, Flexure mechanisms, Modeling
Proceedings Papers

A Preliminary Investigation of Input Shaping to Reduce the Residual Vibration of a Wafer-Handling Robot

Yung-Chun Lin, Chen Qian, Shorya Awtar, Chinedum E. Okwudire
Proc. ASME. MSEC2024, Volume 2: Manufacturing Equipment and Automation; Manufacturing Processes; Manufacturing Systems; Nano/Micro/Meso Manufacturing; Quality & Reliability, V002T05A006, June 17–21, 2024
Publisher: American Society of Mechanical Engineers
Paper No: MSEC2024-125193
https://doi.org/10.1115/MSEC2024-125193
View Paper titled, A Preliminary Investigation of Input Shaping to Reduce the Residual Vibration of a Wafer-Handling Robot
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Topics: Integrated circuit fabrication, Robots, Semiconductor wafers, Vibration
Journal Articles

Improving the Step Response of Flexible Systems in the Presence of Real Nonminimum Phase Zeros

Siddharth Rath, Moeen Radgolchin, Shorya Awtar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2024, 4(3): 031006.
Paper No: ALDSC-24-1002
https://doi.org/10.1115/1.4065830
Published Online: July 25, 2024
View Article titled, Improving the Step Response of Flexible Systems in the Presence of Real Nonminimum Phase Zeros
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Topics: Damping, Design, Flexible systems, Feedback
Journal Articles

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035003.
Paper No: JMR-20-1450
https://doi.org/10.1115/1.4050103
Published Online: April 9, 2021
View Article titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Robots, Actuators, Patient rehabilitation, Sensors
Journal Articles

On the Zeros of an Undamped Three Degrees-of-Freedom Flexible System

Siddharth Rath, Leqing Cui, Shorya Awtar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2021, 1(4): 041010.
Paper No: ALDSC-20-1073
https://doi.org/10.1115/1.4050339
Published Online: April 2, 2021
View Article titled, On the Zeros of an Undamped Three Degrees-of-Freedom Flexible System
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Topics: Degrees of freedom, Dynamics (Mechanics), Flexible systems
Journal Articles

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035001.
Paper No: JMR-20-1393
https://doi.org/10.1115/1.4049947
Published Online: March 12, 2021
View Article titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Chain, Kinematics, Space, Stress, Yaw, End effectors, Rotation, Bearings, Arches
Proceedings Papers

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A032, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22704
https://doi.org/10.1115/DETC2020-22704
View Paper titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Kinematics, Stress, Tradeoffs, Bearings, Degrees of freedom, Design, Rotation
Proceedings Papers

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A048, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22573
https://doi.org/10.1115/DETC2020-22573
View Paper titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Patient rehabilitation, Robots, Rotation, Degrees of freedom
Journal Articles

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Shorya Awtar, Jason Quint, John Ustick
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2021, 13(1): 015001.
Paper No: JMR-20-1056
https://doi.org/10.1115/1.4048259
Published Online: October 7, 2020
View Article titled, Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism
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Topics: Actuators, Design, Errors, Flexure mechanisms, Kinematics, Manufacturing, Sensors, Stiffness, Finite element analysis, Bending (Stress)
Journal Articles

Modeling Complex Nonminimum Phase Zeros in Flexure Mechanisms

Leqing Cui, Chinedum Okwudire, Shorya Awtar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2017, 139(10): 101001.
Paper No: DS-16-1343
https://doi.org/10.1115/1.4036032
Published Online: June 5, 2017
View Article titled, Modeling Complex Nonminimum Phase Zeros in Flexure Mechanisms
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Topics: Bending (Stress), Displacement, Flexure mechanisms, Modeling, Design, Kinematics, Transfer functions
Journal Articles

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

Marijn Nijenhuis, J. P. Meijaard, Dhanushkodi Mariappan, Just L. Herder, Dannis M. Brouwer, Shorya Awtar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. May 2017, 139(5): 051401.
Paper No: MD-16-1478
https://doi.org/10.1115/1.4035861
Published Online: March 20, 2017
View Article titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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Topics: Bending (Stress), Deformation, Displacement, Flexure mechanisms, Kinematics, Stiffness, Stress, Strips, Torsion, Interpolation
Proceedings Papers

Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module Based Flexure Mechanisms

Leqing Cui, Chinedum Okwudire, Shorya Awtar
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T17A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9658
https://doi.org/10.1115/DSCC2016-9658
View Paper titled, Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module Based Flexure Mechanisms
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Topics: Bending (Stress), Dynamics (Mechanics), Flexure mechanisms, Displacement, Design, Eigenvalues, Blocks (Building materials), Frequency response, Kinematics, Manufacturing
Proceedings Papers

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

Marijn Nijenhuis, J. P. Meijaard, Just L. Herder, Shorya Awtar, Dannis M. Brouwer
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A008, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46591
https://doi.org/10.1115/DETC2015-46591
View Paper titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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Topics: Bending (Stress), Stiffness, Strips, Deformation, Flexure mechanisms, Warping, Computer software, Degrees of freedom, Displacement, Errors
Journal Articles

Automatic Instrument Tracking Endo-Illuminator for Intra-Ocular Surgeries

Ke Cao, Ramiro Pinon, Ira Schachar, Thiran Jayasundera, Shorya Awtar
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2014, 8(3): 030932.
Paper No: MED-14-1083
https://doi.org/10.1115/1.4027077
Published Online: July 21, 2014
View Article titled, Automatic Instrument Tracking Endo-Illuminator for Intra-Ocular Surgeries
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Topics: Instrumentation, Surgery
Journal Articles

Modeling Geometric Nonlinearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass

Hamid Moeenfard, Shorya Awtar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. April 2014, 136(4): 044502.
Paper No: MD-12-1432
https://doi.org/10.1115/1.4026147
Published Online: February 26, 2014
View Article titled, Modeling Geometric Nonlinearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass
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Topics: Bending (Stress), Displacement, Dynamics (Mechanics), Free vibrations, Modeling, Resonance, Vibration, Flexure mechanisms, Design, Approximation
Proceedings Papers

Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms

Justin Beroz, Shorya Awtar, A. John Hart
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A029, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12582
https://doi.org/10.1115/DETC2013-12582
View Paper titled, Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms
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Topics: Compliant mechanisms, Kinematics, Trajectories (Physics), Stress, Polynomials, Topology, Design, Errors, Deformation, Finite element analysis
Proceedings Papers

MEMS Based XY Stage With Large Displacement

Mohammad Olfatnia, Leqing Cui, Pankaj Chopra, Shorya Awtar
Proc. ASME. IDETC-CIE2013, Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems, V001T09A021, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13038
https://doi.org/10.1115/DETC2013-13038
View Paper titled, MEMS Based XY Stage With Large Displacement
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Topics: Displacement, Microelectromechanical systems, Bending (Stress), Stiffness, Actuators, Degrees of freedom, Bearings, Delays, Design, Finite element analysis
Journal Articles

Extensible-Link Kinematic Model for Characterizing and Optimizing Compliant Mechanism Motion

Justin Beroz, Shorya Awtar, A. John Hart
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. March 2014, 136(3): 031008.
Paper No: MD-13-1115
https://doi.org/10.1115/1.4026269
Published Online: January 10, 2014
View Article titled, Extensible-Link Kinematic Model for Characterizing and Optimizing Compliant Mechanism Motion
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Topics: Compliant mechanisms, Deformation, Design, Errors, Kinematics, Topology, Trajectories (Physics), Stress, Shapes
Journal Articles

Nonlinear Strain Energy Formulation of a Generalized Bisymmetric Spatial Beam for Flexure Mechanism Analysis

Shiladitya Sen, Shorya Awtar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. February 2014, 136(2): 021002.
Paper No: MD-12-1499
https://doi.org/10.1115/1.4025705
Published Online: November 26, 2013
View Article titled, Nonlinear Strain Energy Formulation of a Generalized Bisymmetric Spatial Beam for Flexure Mechanism Analysis
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Topics: Bending (Stress), Displacement, Flexure mechanisms, Stress, Shapes, Finite element analysis, Stiffness, Rotation