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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

A Geometric Approach for Error Space Estimation of Planar Linkage

Jianzhong Ding, Chunjie Wang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A047, August 17–19, 2021

Paper No: DETC2021-66869

DOI: https://doi.org/10.1115/DETC2021-66869

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Topics: Errors, Linkages, End effectors, Actuators, Evaluation methods, Geometry, Mechanical admittance, Modeling

Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021

Paper No: DETC2021-70233

DOI: https://doi.org/10.1115/DETC2021-70233

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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes

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

Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021

Paper No: DETC2021-67821

DOI: https://doi.org/10.1115/DETC2021-67821

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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics

Proceedings Papers

Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control

Sheng Zheng, Yiming Cheng, Liangyao Yu

Proc. ASME. IDETC-CIE2021, Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT), V001T01A005, August 17–19, 2021

Paper No: DETC2021-69915

DOI: https://doi.org/10.1115/DETC2021-69915

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Topics: Vehicle dynamics, Wheels, Vehicles, Actuators, Dynamics (Mechanics), Control equipment, Safety, Control systems, Design, Equilibrium (Physics)

Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Simone Asci, Ketao Zhang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021

Paper No: DETC2021-70642

DOI: https://doi.org/10.1115/DETC2021-70642

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Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)

Proceedings Papers

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

Veysel Erel, Alexandra R. Lindsay, Inderjeet Singh, Muthu B. J. Wijesundara

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A007, August 17–19, 2021

Paper No: DETC2021-71544

DOI: https://doi.org/10.1115/DETC2021-71544

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Topics: Actuators, Diaphragms (Mechanical devices), Diaphragms (Structural), Exoskeleton devices, Robotics

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

Delta Based Non-Anthropomorphic Hand

Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A013, August 17–19, 2021

Paper No: DETC2021-67349

DOI: https://doi.org/10.1115/DETC2021-67349

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Topics: Actuators, Design, End effectors, Feedback, Oscillations, Robotics, Robots, Springs

Proceedings Papers

Teleoperation Interface for sAFAM, a Solid Articulated Four Axes Microrobot

Moath Alqatamin, Brooke Ritz, Andriy Sherehiy, Douglas Jackson, Ruoshi Zhang, Sri S. Chowdhury, Danming Wei, Dan O. Popa

Proc. ASME. IDETC-CIE2021, Volume 11: 15th International Conference on Micro- and Nanosystems (MNS), V011T11A017, August 17–19, 2021

Paper No: DETC2021-71552

DOI: https://doi.org/10.1115/DETC2021-71552

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Topics: Actuators, Computer software, Degrees of freedom, Design, Graphical user interfaces, Hardware, Magnification, Microelectromechanical systems, Microscopes, Resolution (Optics)

Proceedings Papers

Model Predictive Control of Fixed Wing Aircraft Using a Disturbance Observer Approach

Vinayak Deshpande, Youmin Zhang

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A052, August 17–19, 2021

Paper No: DETC2021-70022

DOI: https://doi.org/10.1115/DETC2021-70022

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Topics: Aircraft, Predictive control, Wings, Quadratic programming, Actuators, Algorithms, Computer simulation, Simulation, Steady state, Stress

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

A Flexure-Based Displacement Reducer Capable of Achieving Very Large Reduction Ratio

Houqi Wu, Guimin Chen

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A013, August 17–19, 2021

Paper No: DETC2021-69340

DOI: https://doi.org/10.1115/DETC2021-69340

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Topics: Bending (Stress), Displacement, Bridges (Structures), Resolution (Optics), Actuators, Flexure mechanisms, Finite element model, Magnetostrictive devices, Piezoelectric actuators

Proceedings Papers

A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Shuwen Yu, Xianwen Kong

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A012, August 17–19, 2021

Paper No: DETC2021-69032

DOI: https://doi.org/10.1115/DETC2021-69032

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Topics: Manipulators, Mirrors, Stiffness, Symmetry (Physics), Design, Finite element analysis, Rotation, Actuators, Compliant mechanisms, Performance characterization

Proceedings Papers

Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review

Ali Nasr, Brokoslaw Laschowski, John McPhee

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A043, August 17–19, 2021

Paper No: DETC2021-69203

DOI: https://doi.org/10.1115/DETC2021-69203

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Topics: Exoskeleton devices, Prostheses, Robotics, Electromyography, Actuators, Algorithms, Control equipment, Control systems, Signals, Adaptive control

Proceedings Papers

Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements

Veysel Erel, Inderjeet Singh, Alexandra R. Lindsay, W. Y. Shi, Muthu B. J. Wijesundara

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A046, August 17–19, 2021

Paper No: DETC2021-71549

DOI: https://doi.org/10.1115/DETC2021-71549

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Topics: Actuators, Exoskeleton devices, Robotics

Proceedings Papers

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Etienne, Philippe Cardou, Marceau Métillon, Stéphane Caro

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A038, August 17–19, 2021

Paper No: DETC2021-71778

DOI: https://doi.org/10.1115/DETC2021-71778

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Topics: Cables, Cranes, Design, Robots, Actuators, Dynamics (Mechanics), Engines, Inertia (Mechanics), Modeling, Motors

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 Pareto Front Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage

David H. Myszka, James J. Joo, Andrew P. Murray

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A028, August 17–19, 2021

Paper No: DETC2021-69202

DOI: https://doi.org/10.1115/DETC2021-69202

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Topics: Aircraft, Biomimetics, Optimization, Actuators, Rotation, Degrees of freedom, Design, Drag (Fluid dynamics), Flight, Inertia (Mechanics)

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NARROW

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

A Geometric Approach for Error Space Estimation of Planar Linkage

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

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

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

Model-Based Design and Optimization of Passive Shoulder Exoskeletons

Delta Based Non-Anthropomorphic Hand

Teleoperation Interface for sAFAM, a Solid Articulated Four Axes Microrobot

Model Predictive Control of Fixed Wing Aircraft Using a Disturbance Observer Approach

Design and Actuation of a Skeleton for a Robotic Fish

A Flexure-Based Displacement Reducer Capable of Achieving Very Large Reduction Ratio

A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

Myoelectric Control of Robotic Leg Prostheses and Exoskeletons: A Review

Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance

A Pareto Front Mechanism Optimization for Controlling an Aircraft Using a Bio-Inspired Rotating Empennage

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