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Proceedings Papers

Operational Space Formulation Under Joint Constraints

Juan D. Muñoz Osorio, Mario D. Fiore, Felix Allmendinger
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A022, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86058
https://doi.org/10.1115/DETC2018-86058
View Paper titled, Operational Space Formulation Under Joint Constraints
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Topics: Algorithms, Kinetic energy, Manipulators, Robots, Simulation, Torque, Trajectories (Physics)
Proceedings Papers

Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots

Marc Fabritius, Christoph Martin, Andreas Pott
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A046, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85961
https://doi.org/10.1115/DETC2018-85961
View Paper titled, Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots
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Topics: Cables, Collisions (Physics), Printing, Robots, Shapes, Cross section (Physics), Additive manufacturing, Design, Manipulators, Risk
Proceedings Papers

Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators

Mark Charlet, Élodie Marcellini, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A014, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85395
https://doi.org/10.1115/DETC2018-85395
View Paper titled, Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators
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Topics: Manipulators, Projectiles, Trajectories (Physics), Robots, Interpolation, Polynomials
Proceedings Papers

Dynamic Stability of Parallel Manipulator at its Singularities Corresponding to Kinematic Parameters of Dynamic Systems

Li Yu-Tong, Wang Yu-Xin
Proc. ASME. IDETC-CIE2018, Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A009, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85076
https://doi.org/10.1115/DETC2018-85076
View Paper titled, Dynamic Stability of Parallel Manipulator at its Singularities Corresponding to Kinematic Parameters of Dynamic Systems
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Topics: Dynamic stability, Dynamic systems, Kinematics, Manipulators, Stability, Eigenvalues, Parallel mechanisms, Dynamics (Mechanics), Particulate matter, Redundancy (Engineering)
Proceedings Papers

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

Wei Chen, Lipu Wei, Xiuping Yang, Jinjin Guo, Xizheng Zhang, Xuping Zhang
Proc. ASME. IDETC-CIE2018, Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A069, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85835
https://doi.org/10.1115/DETC2018-85835
View Paper titled, Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm
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Topics: Dynamic modeling, Robots, Manipulators, Design, Mobile robots, Computer simulation, Dynamic analysis, Dynamic models, Trajectories (Physics)
Proceedings Papers

Preliminary Simulation Study Combining Operational Modal Analysis and a Two Step Parameter Identification Method on 6-S P S Parallel Manipulator for Machining Purposes

Kasper Ringgaard, Ole Balling
Proc. ASME. IDETC-CIE2018, Volume 8: 30th Conference on Mechanical Vibration and Noise, V008T10A038, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85336
https://doi.org/10.1115/DETC2018-85336
View Paper titled, Preliminary Simulation Study Combining Operational Modal Analysis and a Two Step Parameter Identification Method on 6-S P S Parallel Manipulator for Machining Purposes
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Topics: Machining, Manipulators, Modal analysis, Simulation, Damping, Dynamic response, Kinematics, Machinery, Optimization, Computer numerical control machine tools
Proceedings Papers

Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist

Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, Stephen L. Canfield
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A048, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86093
https://doi.org/10.1115/DETC2018-86093
View Paper titled, Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist
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Topics: Kinematics, Manipulators, Artificial neural networks, Errors, Density, End effectors, Matlab, Robots, Testing, Trains
Proceedings Papers

The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame

Jan J. de Jong, J. P. Meijaard, Volkert van der Wijk
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A026, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86189
https://doi.org/10.1115/DETC2018-86189
View Paper titled, The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame
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Topics: Manipulators, Robots, End effectors, Stress, Computer simulation, Design, Vibration
Proceedings Papers

Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism

Dongsheng Zhang, Yundou Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A035, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85280
https://doi.org/10.1115/DETC2018-85280
View Paper titled, Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism
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Topics: Design engineering, Parallel mechanisms, Manipulators, Torque, Degrees of freedom
Proceedings Papers

Analysis and Dimensional Synthesis of a Robotic Hand Based on the Stewart-Gough Platform

Connor M. McCann, Aaron M. Dollar
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A048, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86149
https://doi.org/10.1115/DETC2018-86149
View Paper titled, Analysis and Dimensional Synthesis of a Robotic Hand Based on the Stewart-Gough Platform
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Topics: End effectors, Kinematics, Design, Manipulators, Robotics, Stability, Weight (Mass)
Proceedings Papers

The Workspace Analysis of Quadruped Robot Regarded As a Parallel Manipulator Under Different Configurations

Nan Ma, Jingjun Yu
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A052, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86353
https://doi.org/10.1115/DETC2018-86353
View Paper titled, The Workspace Analysis of Quadruped Robot Regarded As a Parallel Manipulator Under Different Configurations
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Topics: Manipulators, Robots, Equations of motion, Stability
Proceedings Papers

Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

Huiping Shen, Chengqi Wu, Damien Chablat, Guanglei Wu, Ting-li Yang
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A038, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85709
https://doi.org/10.1115/DETC2018-85709
View Paper titled, Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling
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Topics: Design, Parallel mechanisms, Degrees of freedom, Design theory, Kinematic chains, Kinematics, Manipulators, Topology
Proceedings Papers

Extension of Motion/Force Transmission Index to Parallel Manipulators With Double Platforms: Case Study on the Par4 Manipulator

Qizhi Meng, Fugui Xie, Xin-Jun Liu, Yukio Takeda
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A039, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85739
https://doi.org/10.1115/DETC2018-85739
View Paper titled, Extension of Motion/Force Transmission Index to Parallel Manipulators With Double Platforms: Case Study on the Par4 Manipulator
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Topics: Manipulators, Kinematics, Screws, End effectors, Parallel mechanisms, Performance evaluation, Pressure
Proceedings Papers

Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method

Leila Notash, Derek McColl
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A071, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85300
https://doi.org/10.1115/DETC2018-85300
View Paper titled, Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method
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Topics: Cables, Robots, Elasticity, Manipulators, Tension, Density, Gravity (Force), Manipulator design, Theorems (Mathematics)
Proceedings Papers

Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms

Jianzhong Ding, Shengnan Lu, Ting Da, Chunjie Wang, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A080, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85849
https://doi.org/10.1115/DETC2018-85849
View Paper titled, Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms
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Topics: Errors, Parallel mechanisms, Manipulators, Algebra, Clearances (Engineering), Computation, Error analysis, Kinematics, Mechanical admittance, Modeling
Proceedings Papers

Singularities of the Typical Collaborative Robot Arm

Mohammad H. FarzanehKaloorazi, Ilian A. Bonev
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A086, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86305
https://doi.org/10.1115/DETC2018-86305
View Paper titled, Singularities of the Typical Collaborative Robot Arm
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Topics: Robots, Manipulators, End effectors, Jacobian matrices
Proceedings Papers

Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell

Mohammad H. FarzanehKaloorazi, Ilian A. Bonev, Lionel Birglen
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A087, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86336
https://doi.org/10.1115/DETC2018-86336
View Paper titled, Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell
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Topics: Optimization, Robotics, Manipulators, Redundancy (Engineering), Reactor protection systems
Proceedings Papers

Pedal Actuator of Driver Robot Based on Flexible Manipulator

Liangyao Yu, Sheng Zheng, Jinghu Chang, Xiaoxue Liu
Proc. ASME. IDETC-CIE2017, Volume 3: 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices, V003T01A004, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68100
https://doi.org/10.1115/DETC2017-68100
View Paper titled, Pedal Actuator of Driver Robot Based on Flexible Manipulator
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Topics: Actuators, Flexible manipulators, Robots, Kinematics, Testing, End effectors, Manipulators, Prisms (Optics), Shells, Universal joints
Proceedings Papers

An Exploration Study for Augmented and Virtual Reality Enhancing Situation Awareness for Plant Teleanalysis

Doris Aschenbrenner, Nicolas Maltry, Klaus Schilling, Jouke Verlinden
Proc. ASME. IDETC-CIE2017, Volume 1: 37th Computers and Information in Engineering Conference, V001T02A065, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67790
https://doi.org/10.1115/DETC2017-67790
View Paper titled, An Exploration Study for Augmented and Virtual Reality Enhancing Situation Awareness for Plant Teleanalysis
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Topics: Industrial plants, Machinery, Manipulators, Molding, Optimization, Students, Virtual reality, Visualization
Proceedings Papers

Development of an Automated Flexible Micro-Soldering Station

Vinoth Venkatesan, David J. Cappelleri
Proc. ASME. IDETC-CIE2017, Volume 4: 22nd Design for Manufacturing and the Life Cycle Conference; 11th International Conference on Micro- and Nanosystems, V004T09A023, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68107
https://doi.org/10.1115/DETC2017-68107
View Paper titled, Development of an Automated Flexible Micro-Soldering Station
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Topics: Soldering, Solders, Manipulators, Wire, Calibration, Hardware, Manufacturing, Microscale devices, Printed circuit boards