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Proceedings Papers

Drive the Cobots Aright: Guidelines for Industrial Application of Cobots

Ali Ahmad Malik, Vijitashwa Pandey
Proc. ASME. IDETC-CIE2022, Volume 5: 27th Design for Manufacturing and the Life Cycle Conference (DFMLC), V005T05A015, August 14–17, 2022
Paper No: DETC2022-90777
DOI: https://doi.org/10.1115/DETC2022-90777
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Topics: Design, Human-robot interaction, Lightweight structures, Manipulators, Manufacturing, Robots, Space
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
Paper No: DETC2022-90105
DOI: https://doi.org/10.1115/DETC2022-90105
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization

Xueguan Song, Kunpeng Li, Shuo Wang, Ziyun Kan, Haiyang Li, Jiaxiang Zhu, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A023, August 14–17, 2022
Paper No: DETC2022-89187
DOI: https://doi.org/10.1115/DETC2022-89187
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Topics: Compliant mechanisms, Design, Digital twin, Manipulators
Proceedings Papers

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

Zhujin Jiang, Chen Liu, Ketao Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022
Paper No: DETC2022-91176
DOI: https://doi.org/10.1115/DETC2022-91176
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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Paper No: DETC2022-90595
DOI: https://doi.org/10.1115/DETC2022-90595
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom

Yogesh Pratap Singh, Ashitava Ghosal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A042, August 14–17, 2022
Paper No: DETC2022-89173
DOI: https://doi.org/10.1115/DETC2022-89173
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Topics: Degrees of freedom, Design, Manipulators
Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022
Paper No: DETC2022-91310
DOI: https://doi.org/10.1115/DETC2022-91310
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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics
Proceedings Papers

A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs

Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Paper No: DETC2022-90877
DOI: https://doi.org/10.1115/DETC2022-90877
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Modeling, Resolution (Optics)
Proceedings Papers

Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator

Hedieh Badkoobehhezaveh, Reza Fotouhi, Qianwei Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A048, August 14–17, 2022
Paper No: DETC2022-89769
DOI: https://doi.org/10.1115/DETC2022-89769
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Topics: Manipulators, Particle swarm optimization, Torque control
Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022
Paper No: DETC2022-91025
DOI: https://doi.org/10.1115/DETC2022-91025
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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws
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

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

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)