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Proceedings Papers

Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A024, August 17–19, 2021
Paper No: DETC2021-66762
DOI: https://doi.org/10.1115/DETC2021-66762
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Topics: Gravity (Force), Manipulators, Reliability, Sensitivity analysis, Uncertainty, Robots, Simulation, Springs, Design, Dimensions
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 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

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

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

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021
Paper No: DETC2021-71602
DOI: https://doi.org/10.1115/DETC2021-71602
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)
Proceedings Papers

Neural Network Based Transfer Learning for Robot Path Generation

Houcheng Tang, Leila Notash
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A049, August 17–19, 2021
Paper No: DETC2021-69006
DOI: https://doi.org/10.1115/DETC2021-69006
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Topics: Artificial neural networks, Displacement, Manipulators, Robots
Proceedings Papers

An Effective Approach to Model Parallel Robots With Flexible Links

Brillarelli Stefano, Matteo-Claudio Palpacelli
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A043, August 17–19, 2021
Paper No: DETC2021-69983
DOI: https://doi.org/10.1115/DETC2021-69983
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Topics: Hardware, Manipulators, Robots, Software architecture
Proceedings Papers

A Larger Range Compliant Nano-Manipulator Supporting Electron Beam Lithography

Yijie Liu, Zhen Zhang
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A040, August 17–19, 2021
Paper No: DETC2021-69770
DOI: https://doi.org/10.1115/DETC2021-69770
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Topics: Electron beams, Lithography, Manipulators, Cathode ray oscilloscopes, Design, Errors, Optimization, Vacuum
Proceedings Papers

Fractional-Order Impedance Control Design for Robot Manipulator

Xiaolian Liu, Shaohua Wang, Ying Luo
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A028, August 17–19, 2021
Paper No: DETC2021-71936
DOI: https://doi.org/10.1115/DETC2021-71936
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Topics: Design, Force control, Manipulators
Proceedings Papers

On the Workspace of Closed-Loop Manipulators With Ground-Mounted Rotary-Linear Actuators and Finite Size Platform

Tzu-Chen Weng, G. N. Sandor, Yongxian Xu, D. Kohli
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 55-61, September 27–30, 1987
Paper No: DETC1987-0063
DOI: https://doi.org/10.1115/DETC1987-0063
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Topics: Actuators, Manipulators, Sferics
Proceedings Papers

Controlling Vibration in Remote Manipulators

N. C. Singer, W. P. Seering
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 11-15, September 27–30, 1987
Paper No: DETC1987-0057
DOI: https://doi.org/10.1115/DETC1987-0057
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Topics: Manipulators, Vibration, Feedforward control, Computer software, Computers, Flexible structures, Space vehicles
Proceedings Papers

Model Based Rigid Body Guidance in Presence of Non-Convex Geometric Constraints

T. S. Ku, B. Ravani
Proc. ASME. DETC88, 14th Design Automation Conference, 67-79, September 25–28, 1988
Paper No: DETC1988-0009
DOI: https://doi.org/10.1115/DETC1988-0009
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Topics: Algorithms, Computer-aided design, Kinematics, Manipulators, Mobile robots, Path planning, Shapes, Shrinkage (Materials)
Proceedings Papers

The Design of Three Jointed Two-Degree-of-Freedom Robot Fingers

S. O. Leaver, J. M. McCarthy
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 127-133, September 27–30, 1987
Paper No: DETC1987-0071
DOI: https://doi.org/10.1115/DETC1987-0071
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Topics: Design, Robots, Degrees of freedom, Manipulators, Mechanical hands, Engines, Kinematics, Motors, Sensors, Weight (Mass)
Proceedings Papers

Some Properties of a New Kinematic Structure for Robot Manipulators

R. Stoughton, T. Kokkinis
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 73-79, September 27–30, 1987
Paper No: DETC1987-0065
DOI: https://doi.org/10.1115/DETC1987-0065
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Topics: Kinematics, Manipulators, Chain, Jacobian matrices, Optimization
Proceedings Papers

Design and Construction of a Statically-Balanced Direct Drive ARM

H. Kazerooni, S. Kim
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 17-23, September 27–30, 1987
Paper No: DETC1987-0058
DOI: https://doi.org/10.1115/DETC1987-0058
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Topics: Construction, Design, Robots, Kinematics, Manufacturing, Motors, Actuators, Composite materials, Epoxy adhesives, Epoxy resins
Proceedings Papers

The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator

C. Gosselin, J. Angeles
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 111-115, September 27–30, 1987
Paper No: DETC1987-0069
DOI: https://doi.org/10.1115/DETC1987-0069
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Topics: Design, Kinematics, Manipulators, Isotropy, Numerical analysis
Proceedings Papers

Dynamic Analysis of Two Cooperating Robots

G. R. Pennock, B. S. Ryuh
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 63-72, September 27–30, 1987
Paper No: DETC1987-0064
DOI: https://doi.org/10.1115/DETC1987-0064
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Topics: Dynamic analysis, Robots, Manufacturing, Dynamics (Mechanics), Classical mechanics, Computers, Design, Manipulators, Manufacturing cells, Reliability
Proceedings Papers

Shape Optimum Design of Robotic Manipulators With Static Performance Criteria

D. A. Saravanos, J. S. Lamancusa, H. J. Sommer, III
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 37-44, September 27–30, 1987
Paper No: DETC1987-0061
DOI: https://doi.org/10.1115/DETC1987-0061
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Topics: Design, Manipulators, Shapes, Dimensions, Robotics, Stiffness, Deflection, End effectors, Finite element analysis, Modeling