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Proceedings Papers

Design and Actuation of a Skeleton for a Robotic Fish

Dina Joy K. Abulon, Jiaji Li, J. Michael McCarthy
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A014, August 17–19, 2021
Paper No: DETC2021-69688
DOI: https://doi.org/10.1115/DETC2021-69688
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Topics: Design, Robotics, Trusses (Building), Actuators, Degrees of freedom, Kinematics, Manufacturing, Pressure, Testing
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
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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
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Topics: Kinematics, Machinery, Manipulators, Computer simulation, Constraint equations, Dimensions, Equations of motion, Jacobian matrices
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
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Topics: Load bearing capacity, Rolling contact, Stress, Design, Machinery, Bearings, Blocks (Building materials), Design engineering, Engineering simulation, Kinematics
Proceedings Papers

Informed Latent Space Exploration for Image-Based Path Synthesis of Linkages

Shrinath Deshpande, Zhijie Lyu, Anurag Purwar
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A037, August 17–19, 2021
Paper No: DETC2021-71629
DOI: https://doi.org/10.1115/DETC2021-71629
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Topics: Linkages, Machine learning, Kinematics, Artificial neural networks, Design, Errors, Machine design, Optimization, Pipelines, Statistical distributions
Proceedings Papers

Kinematic Design of Deployable Structures With Low Actuation Requirements Based on Pop-Up Folding

Eduardo E. Montano, Edwin A. Peraza Hernandez
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A031, August 17–19, 2021
Paper No: DETC2021-70026
DOI: https://doi.org/10.1115/DETC2021-70026
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Topics: Design, Kinematics, Algorithms, Degrees of freedom, Shapes, Aerospace industry, Microelectromechanical systems, Modeling, Topology
Proceedings Papers

Kinematic Synthesis of Gait Correction for a Rehabilitation Machine

Zvonimir Pusnik, Carl A. Nelson, Judith M. Burnfield, Thad W. Buster
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A041, August 17–19, 2021
Paper No: DETC2021-68538
DOI: https://doi.org/10.1115/DETC2021-68538
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Topics: Kinematics, Machinery
Proceedings Papers

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance

Chong Liu, Rand Hidayah, Sunil Agrawal
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A040, August 17–19, 2021
Paper No: DETC2021-67808
DOI: https://doi.org/10.1115/DETC2021-67808
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Topics: Actuators, Cables, Design, Fourier analysis, Exoskeleton devices, Motors, Degrees of freedom, Engineering prototypes, Curve fitting, Feedback
Proceedings Papers

A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms

Lingyu Kong, Genliang Chen, Guanyu Huang, Sumian Song, Anhuan Xie, Dan Zhang
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A034, August 17–19, 2021
Paper No: DETC2021-70723
DOI: https://doi.org/10.1115/DETC2021-70723
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Topics: Kinematics, Parallel mechanisms, Errors, Calibration, Manipulators, Modeling, Topology
Proceedings Papers

Structures With Multiple Rigid Configurations Due to Prestress and Unilateral Contacts

Charles Dorn, Yang Li, Sergio Pellegrino
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A044, August 17–19, 2021
Paper No: DETC2021-70397
DOI: https://doi.org/10.1115/DETC2021-70397
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Topics: Degrees of freedom, Design, Equilibrium (Physics), Kinematics, Linkages, Springs, Stability, Stiffness
Proceedings Papers

Model-Based Design and Optimization of Passive Shoulder Exoskeletons

Ali Nasr, Spencer Ferguson, John McPhee
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A029, August 17–19, 2021
Paper No: DETC2021-69437
DOI: https://doi.org/10.1115/DETC2021-69437
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Topics: Design, Exoskeleton devices, Optimization, Torque, Actuators, Algebra, Engines, Kinematics, Modeling, Motors
Proceedings Papers

Learning of a Basketball Free Throw With a Flexible Link Robot

Jannik Timke, Merlin Morlock, Daniel A. Duecker, Robert Seifried
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A033, August 17–19, 2021
Paper No: DETC2021-71660
DOI: https://doi.org/10.1115/DETC2021-71660
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Topics: Robots, Algorithms, Control equipment, Engineering simulation, Engines, Errors, Finite element methods, Iterative learning control, Kinematics, Motors
Proceedings Papers

An Improved Dynamic Model of the Mecanum Wheel for Multibody Simulations

Peter Manzl, Johannes Gerstmayr
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A031, August 17–19, 2021
Paper No: DETC2021-70281
DOI: https://doi.org/10.1115/DETC2021-70281
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Topics: Dynamic models, Engineering simulation, Simulation, Wheels, Rollers, Kinematics, Friction, Geometry, Mobile robots, Robotics
Proceedings Papers

Dwelling on the Connection Between SO(3) and Rotation Matrices in Rigid Multibody Dynamics – Part 1: Description of an Index-3 DAE Solution Approach

Jay Taves, Alexandra Kissel, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A020, August 17–19, 2021
Paper No: DETC2021-72057
DOI: https://doi.org/10.1115/DETC2021-72057
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Topics: Multibody dynamics, Rotation, Kinematics, Constraint equations, Dynamics (Mechanics), Newton's method, Differential algebraic equations, Doors, Linear systems, Simulation
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
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Proceedings Papers

Finite Element/Contact Mechanics Analysis of Spur Gear Pairs With Tooth Root Cracks

Yaosen Wang, Adrian A. Hood, Christopher G. Cooley
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A024, August 17–19, 2021
Paper No: DETC2021-71896
DOI: https://doi.org/10.1115/DETC2021-71896
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Topics: Contact mechanics, Finite element analysis, Fracture (Materials), Spur gears, Errors, Damage, Deformation, Dynamic response, Gear teeth, Frequency response
Proceedings Papers

Potential Energy Surfaces for Conceptual Design and Analysis of Mechanical Systems

Charles A. Manion, Mark Fuge
Proc. ASME. IDETC-CIE2021, Volume 3A: 47th Design Automation Conference (DAC), V03AT03A006, August 17–19, 2021
Paper No: DETC2021-70921
DOI: https://doi.org/10.1115/DETC2021-70921
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Topics: Conceptual design, Potential energy, Kinematics, Modeling, Simulation, Space, Clocks, Design, Dynamics (Mechanics), Lenses (Optics)
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
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Topics: Kinematics, Modeling, Topology, Actuators, Manipulators, Weight (Mass)
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
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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)
Proceedings Papers

Auxetic Structures Based on Rhombic Tiling

Kanata Warisaya, Hiroaki Hamanaka, Asao Tokolo, Tomohiro Tachi
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A031, August 17–19, 2021
Paper No: DETC2021-67141
DOI: https://doi.org/10.1115/DETC2021-67141
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Topics: Compliant mechanisms, Corners (Structural elements), Design, Kinematics, Mathematics, Poisson ratio, Tiles, Topology