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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
https://doi.org/10.1115/DETC2021-69688
View Paper titled, Design and Actuation of a Skeleton for a Robotic Fish
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Topics: Design, Robotics, Trusses (Building), Actuators, Degrees of freedom, Kinematics, Manufacturing, Pressure, Testing
Proceedings Papers

Design of the Spatial 4 C Mechanism for Rigid Body Guidance

Pierre Larochelle, J. Michael McCarthy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 135-142, September 11–14, 1994
Paper No: DETC1994-0187
https://doi.org/10.1115/DETC1994-0187
View Paper titled, Design of the Spatial 4 C Mechanism for Rigid Body Guidance
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Topics: Algebra, Design, Manifolds
Proceedings Papers

Five Position Synthesis of Spatial CC Dyads

Andrew P. Murray, J. Michael McCarthy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 143-152, September 11–14, 1994
Paper No: DETC1994-0188
https://doi.org/10.1115/DETC1994-0188
View Paper titled, Five Position Synthesis of Spatial CC Dyads
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Topics: Displacement, Kinematic chains, Screws
Proceedings Papers

Designing Planar Mechanisms Using a Bi-Invariant Metric in the Image Space of SO (3)

Pierre Larochelle, J. Michael McCarthy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 221-228, September 11–14, 1994
Paper No: DETC1994-0198
https://doi.org/10.1115/DETC1994-0198
View Paper titled, Designing Planar Mechanisms Using a Bi-Invariant Metric in the Image Space of SO (3)
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Topics: Design, Errors, Approximation, Linkages
Proceedings Papers

A Linkage Type Map for Spherical 4 Position Synthesis

Andrew P. Murray, J. Michael McCarthy
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 833-838, September 17–20, 1995
Paper No: DETC1995-0109
https://doi.org/10.1115/DETC1995-0109
View Paper titled, A Linkage Type Map for Spherical 4 Position Synthesis
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Topics: Linkages
Proceedings Papers

Spatial Motion Interpolation in an Image Space of SO(4)

Karl R. Etzel, J. Michael McCarthy
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A015, August 18–22, 1996
Paper No: 96-DETC/MECH-1164
https://doi.org/10.1115/96-DETC/MECH-1164
View Paper titled, Spatial Motion Interpolation in an Image Space of SO(4)
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Topics: Interpolation, Rotation, Design, Displacement, Robotics
Proceedings Papers

SphinxPC: An Implementation of Four Position Synthesis for Planar and Spherical 4R Linkages

D. Alan Ruth, J. Michael McCarthy
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A016, September 14–17, 1997
Paper No: DETC97/DAC-3860
https://doi.org/10.1115/DETC97/DAC-3860
View Paper titled, SphinxPC: An Implementation of Four Position Synthesis for Planar and Spherical 4R Linkages
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Topics: Linkages, Design, Design theory
Proceedings Papers

Classification of Designs for RRSS Linkages

Haijun Su, J. Michael McCarthy
Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 867-874, September 9–12, 2001
Paper No: DETC2001/DAC-21104
https://doi.org/10.1115/DETC2001/DAC-21104
View Paper titled, Classification of Designs for RRSS Linkages
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Topics: Linkages, Polynomials, Chain, Computer-aided design
Proceedings Papers

Design Elements Inflatable Origami-Based Forceps

Dina Joy K. Abulon, J. Michael McCarthy
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A086, August 17–19, 2020
Paper No: DETC2020-22733
https://doi.org/10.1115/DETC2020-22733
View Paper titled, Design Elements Inflatable Origami-Based Forceps
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Topics: Design, Air-supported structures, Engineering prototypes, Grasping, Shapes, Stiffness, Textiles
Journal Articles

Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage

Xueao Liu, J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061013.
Paper No: JMR-19-1505
https://doi.org/10.1115/1.4047439
Published Online: July 17, 2020
View Article titled, Design of a Continuum Mechanism That Matches the Movement of an Eight-Bar Linkage
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Topics: Design, Linkages, Bending (Stress), Finite element analysis, Kinematics, Compliant mechanisms
Journal Articles

Numerical Continuation on a Graphical Processing Unit for Kinematic Synthesis

Jeffrey Glabe, J. Michael McCarthy
Journal: Journal of Computing and Information Science in Engineering
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. December 2020, 20(6): 061009.
Paper No: JCISE-19-1271
https://doi.org/10.1115/1.4047240
Published Online: June 12, 2020
View Article titled, Numerical Continuation on a Graphical Processing Unit for Kinematic Synthesis
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Topics: Algorithms, Computation, Graphics processing units, Kinematics, Linkages, Polynomials, Thread
Journal Articles

Kinematic Design and Evaluation of a Six-Bar Knee-Ankle-Foot Orthosis

Shramana Ghosh, Nina P. Robson, J. Michael McCarthy
Journal: Journal of Engineering and Science in Medical Diagnostics and Therapy
Article Type: Research-Article
ASME J of Medical Diagnostics. May 2020, 3(2): 021111.
Paper No: JESMDT-19-1042
https://doi.org/10.1115/1.4046474
Published Online: March 27, 2020
View Article titled, Kinematic Design and Evaluation of a Six-Bar Knee-Ankle-Foot Orthosis
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Topics: Design, Engineering prototypes, Kinematics, Knee, Linkages, Optimization, Orthotics, Trajectories (Physics), End effectors
Proceedings Papers

Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement

Xueao Liu, Jeffrey Glabe, Hongyu Wu, Chunjie Wang, J. Michael McCarthy
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A031, August 18–21, 2019
Paper No: DETC2019-98389
https://doi.org/10.1115/DETC2019-98389
View Paper titled, Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement
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Topics: Design, Linkages, Algorithms, Chain, Degrees of freedom, Rotation
Proceedings Papers

Efficient Development of Continuum/Compliant Planar Linkage Mechanisms

Woo Rib Suh, J. Michael McCarthy, Edwin A. Peraza Hernandez
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A003, August 18–21, 2019
Paper No: DETC2019-97299
https://doi.org/10.1115/DETC2019-97299
View Paper titled, Efficient Development of Continuum/Compliant Planar Linkage Mechanisms
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Topics: Linkages, Compliant mechanisms, Optimization, Shapes, Stress, Design, Finite element analysis, Topology
Proceedings Papers

Kinematic Modeling of Origami-Based Forcep Designs

Dina Joy K. Abulon, J. Michael McCarthy
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A052, August 18–21, 2019
Paper No: DETC2019-98214
https://doi.org/10.1115/DETC2019-98214
View Paper titled, Kinematic Modeling of Origami-Based Forcep Designs
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Topics: Air-supported structures, Design, Engineering prototypes, Grasping, Grippers, Kinematics, Manufacturing, Modeling, Origami-inspired design, Weight (Mass)
Journal Articles

Design of a Spatial RPR-2SS Valve Mechanism

Peter L. Wang, Ulrich Rhem, J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044504.
Paper No: JMR-17-1376
https://doi.org/10.1115/1.4040027
Published Online: May 31, 2018
View Article titled, Design of a Spatial RPR-2SS Valve Mechanism
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Topics: Chain, Design, Valves, Soil
Journal Articles

Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch

Peter L. Wang, J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025003.
Paper No: JMR-17-1316
https://doi.org/10.1115/1.4038979
Published Online: January 29, 2018
View Article titled, Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch
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Topics: Wings, Design, Linkages
Journal Articles

Synthesis of a Flapping Wing Mechanism Using a Constrained Spatial RRR Serial Chain

Peter L. Wang, Haithem E. Taha, J. Michael McCarthy
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011005.
Paper No: JMR-17-1159
https://doi.org/10.1115/1.4038529
Published Online: December 20, 2017
View Article titled, Synthesis of a Flapping Wing Mechanism Using a Constrained Spatial RRR Serial Chain
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Topics: Chain, Design, Wings, Vehicles
Proceedings Papers

Design of a Spatial Six-Bar Flapping Wing Mechanism for Combined Control of Swing and Pitch

Peter L. Wang, J. Michael McCarthy
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A027, August 6–9, 2017
Paper No: DETC2017-68266
https://doi.org/10.1115/DETC2017-68266
View Paper titled, Design of a Spatial Six-Bar Flapping Wing Mechanism for Combined Control of Swing and Pitch
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Topics: Design, Wings, Chain, Linkages, Actuators, Vehicles
Proceedings Papers

The Design and Manufacture of a Gear-Coupled Serial Chain to Trace the Butterfly Curve

Yang Liu, Peter Lee-Shien Wang, J. Michael McCarthy
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A055, August 6–9, 2017
Paper No: DETC2017-68388
https://doi.org/10.1115/DETC2017-68388
View Paper titled, The Design and Manufacture of a Gear-Coupled Serial Chain to Trace the Butterfly Curve
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Topics: Chain, Design, Gears, Dimensions, Engineering prototypes, Manufacturing