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Proceedings Papers

Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas

Erik Pearson, Paul Szenher, Christine Huang, Brendan Englot
Proc. ASME. IDETC-CIE2023, Volume 1: 25th International Conference on Advanced Vehicle Technologies (AVT), V001T01A014, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-111245
https://doi.org/10.1115/DETC2023-111245
View Paper titled, Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas
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Topics: Clearances (Engineering), Inspection, Vehicles, Manipulators, Hardware, Navigation, Robots, Computer software, Degrees of freedom, End effectors
Proceedings Papers

Bow Snap-Through Necessary Condition in Electrostatically Actuated Initially Curved and Latched Micro-Beams

Lior Medina
Proc. ASME. IDETC-CIE2023, Volume 9: 17th International Conference on Micro- and Nanosystems (MNS), V009T09A002, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109332
https://doi.org/10.1115/DETC2023-109332
View Paper titled, Bow Snap-Through Necessary Condition in Electrostatically Actuated Initially Curved and Latched Micro-Beams
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Topics: Microbeams, Electrodes, Stress, Damping, Degrees of freedom, Design, Equilibrium (Physics), Geometry
Proceedings Papers

Cutting and Folding Thick-Panel Miura-Ori With One DoF

Jingyi Yang, Zhong You
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A044, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-112262
https://doi.org/10.1115/DETC2023-112262
View Paper titled, Cutting and Folding Thick-Panel Miura-Ori With One DoF
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Topics: Cutting, Degrees of freedom, Hinges, Manufacturing, Mechanical admittance
Proceedings Papers

The Synthesis of P-Drivable Single Degree of Freedom Spatial Mechanisms

Jian Liu, Mohammad Z. Khan, David H. Myszka, Andrew P. Murray
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A018, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116938
https://doi.org/10.1115/DETC2023-116938
View Paper titled, The Synthesis of P-Drivable Single Degree of Freedom Spatial Mechanisms
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Topics: Degrees of freedom, Chain, Circuits
Proceedings Papers

A Unified Design Equation to Represent Geometric Constraints of Spatial SS, ES and SE Dyads

Xueting Deng, Anurag Purwar, Qiaode Jeffrey Ge
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A025, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117282
https://doi.org/10.1115/DETC2023-117282
View Paper titled, A Unified Design Equation to Represent Geometric Constraints of Spatial SS, ES and SE Dyads
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Topics: Design, Algebra, Algorithms, Degrees of freedom, Dimensions, Fittings
Proceedings Papers

A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms

Zhijie Lyu, Wei Liao, Anurag Purwar
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A019, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117159
https://doi.org/10.1115/DETC2023-117159
View Paper titled, A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
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Topics: Algorithms, Mechanical admittance, Simulation, Computation, Computer software, Degrees of freedom, Design, Errors, Kinematics, Linkages
Proceedings Papers

A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers

Sanchit Jhunjhunwala, Manoj Kumar R, Chandrashekhara K. L., Sanjay Patil, Kiran J., Ahmad Shaikh, G. K. Ananthasuresh
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A042, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117037
https://doi.org/10.1115/DETC2023-117037
View Paper titled, A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers
Open the PDF for A Customizable and Responsive Mechanism for a Chair to Assist During All Phases of Stand-To-Sit and Sit-To-Stand Maneuvers in another window
Topics: Bistability, Compliant mechanisms, Degrees of freedom, Electromyography, Hinges, Linkages, Sensors, Shells, Springs, Stiffness
Proceedings Papers

A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping

Vitthal Khatik, Anupam Saxena
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A071, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115115
https://doi.org/10.1115/DETC2023-115115
View Paper titled, A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping
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Topics: Artificial limbs, Exoskeleton devices, Grasping, Pulleys, String, Actuators, Arches, Degrees of freedom, End effectors, Rotation
Proceedings Papers

Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries

Wenda Xu, Yunfei Guo, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A070, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114907
https://doi.org/10.1115/DETC2023-114907
View Paper titled, Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries
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Topics: Design, Exoskeleton devices, Robotics, Simulation, Wounds, Degrees of freedom, Control algorithms, Control systems, Electronics, Machinery
Proceedings Papers

Natural Motion Grasping Design Using Control-Oriented Kinematic Models

Nina Robson, Vanessa Audrey, Severino Hernandez, John Golden, Vincent Ton
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A073, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116654
https://doi.org/10.1115/DETC2023-116654
View Paper titled, Natural Motion Grasping Design Using Control-Oriented Kinematic Models
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Topics: Design, Grasping, Kinematics, Degrees of freedom, Engineering prototypes, Geometry, Robotics, Rotation
Proceedings Papers

The Kinematic Synthesis of a Spherical Mechanism for Assisting in Wrist Pronation and Supination

Clément Trotobas, Christine Azevedo, Andrew P. Murray
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A079, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114766
https://doi.org/10.1115/DETC2023-114766
View Paper titled, The Kinematic Synthesis of a Spherical Mechanism for Assisting in Wrist Pronation and Supination
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Topics: Bone, Degrees of freedom, Design, Gages, Kinematics, Matlab, Optimization, Orthotics, Rotation
Proceedings Papers

Numerical Analysis of Phase Nonreciprocity in a Linear Spatiotemporally Modulated System

Jiuda Wu, Behrooz Yousefzadeh
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A001, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110347
https://doi.org/10.1115/DETC2023-110347
View Paper titled, Numerical Analysis of Phase Nonreciprocity in a Linear Spatiotemporally Modulated System
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Topics: Degrees of freedom, Metamaterials, Numerical analysis, Phase shift, Spatiotemporal phenomena, Steady state, Stiffness, Vibration
Proceedings Papers

Three-Dimensional Symmetric Tossing Motion Prediction – A Pilot Study

Seunghun Lee, James Yang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A068, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117336
https://doi.org/10.1115/DETC2023-117336
View Paper titled, Three-Dimensional Symmetric Tossing Motion Prediction – A Pilot Study
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Topics: B-splines, Data collection, Degrees of freedom, Design, Dynamics (Mechanics), Equations of motion, Kinematics, Materials handling, Occupational safety and health, Optimization
Proceedings Papers

Methods for Creating Additive Printing Paths on Nonplanar Surfaces

Liam Rudd, Zahra Faghihrasoul, Matthew I. Campbell
Proc. ASME. IDETC-CIE2023, Volume 3B: 49th Design Automation Conference (DAC), V03BT03A028, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110757
https://doi.org/10.1115/DETC2023-110757
View Paper titled, Methods for Creating Additive Printing Paths on Nonplanar Surfaces
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Topics: Printing, Toolpaths, Additive manufacturing, Algorithms, Computational methods, Computer numerical control machine tools, Computer software, Cross section (Physics), Degrees of freedom, Iterative methods
Proceedings Papers

On the Modelling Bases of In-Motion Dynamic Characterization of Flexible Structures Subject to Friction and Position Control Delay

Zsolt Iklódi, Xavier Beudaert, Zoltan Dombovari
Proc. ASME. IDETC-CIE2022, Volume 10: 34th Conference on Mechanical Vibration and Sound (VIB), V010T10A024, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90924
https://doi.org/10.1115/DETC2022-90924
View Paper titled, On the Modelling Bases of In-Motion Dynamic Characterization of Flexible Structures Subject to Friction and Position Control Delay
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Topics: Delays, Flexible structures, Friction, Modeling, Position control, Machine dynamics, Bifurcation, Boundary-value problems, Degrees of freedom, Delay differential equations
Proceedings Papers

Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning

András Bártfai, Asier Barrios, Zoltan Dombovari
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A033, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90937
https://doi.org/10.1115/DETC2022-90937
View Paper titled, Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning
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Topics: Control equipment, Degrees of freedom, Feedback, Robots, Stability, Turning
Proceedings Papers

LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design

Amin Heyrani Nobari, Akash Srivastava, Dan Gutfreund, Faez Ahmed
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A013, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89798
https://doi.org/10.1115/DETC2022-89798
View Paper titled, LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design
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Topics: Design, Kinematics, Linkages, Simulation, Databases, Algorithms, Degrees of freedom, Screw threads, Shapes, Thread
Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90105
https://doi.org/10.1115/DETC2022-90105
View Paper titled, Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting

Rahid Zaman, Joel Quarnstrom, Yujiang Xiang, Ritwik Rakshit, James Yang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A022, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89127
https://doi.org/10.1115/DETC2022-89127
View Paper titled, Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting
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Topics: Musculoskeletal system, Stress, Wounds, Muscle, Dynamics (Mechanics), Optimization, Compression, Degrees of freedom, Electromyography, Equations of motion
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes