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32nd Annual Mechanisms and Robotics Conference (MR)
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Proceedings Papers

Design and Analysis of a New Six-DOF Parallel Haptic Device With Singularity-Free Task Workspace

Yi Yang, Yuru Zhang, Yaojun Zhang, Yonggang Cao
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1131-1139, August 3–6, 2008
Paper No: DETC2008-49117
DOI: https://doi.org/10.1115/DETC2008-49117
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Topics: Design, Haptics, Jacobian matrices, Optimization, Parallel mechanisms
Proceedings Papers

Contour-Crafting-Cartesian-Cable Robot System Concepts: Workspace and Stiffness Comparisons

Robert L. Williams, II, Ming Xin, Paul Bosscher
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 31-38, August 3–6, 2008
Paper No: DETC2008-49478
DOI: https://doi.org/10.1115/DETC2008-49478
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Topics: Cables, Robots, Stiffness
Proceedings Papers

A Kinetoelastic Approach to Continuum Compliant Mechanism Optimization

Michael Yu Wang
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 183-195, August 3–6, 2008
Paper No: DETC2008-49426
DOI: https://doi.org/10.1115/DETC2008-49426
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Topics: Compliant mechanisms, Optimization, Topology
Proceedings Papers

Determination of the Instantaneous Pole Axes in Single-DOF Spherical Mechanisms

Raffaele Di Gregorio
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1401-1411, August 3–6, 2008
Paper No: DETC2008-49084
DOI: https://doi.org/10.1115/DETC2008-49084
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Topics: Poles (Building)
Proceedings Papers

Closed Form Dimensional Synthesis of a High-Accuracy Four-Position Tilt Mechanism

Farhad Tahmasebi
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 597-602, August 3–6, 2008
Paper No: DETC2008-49294
DOI: https://doi.org/10.1115/DETC2008-49294
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Topics: Errors, Instrumentation, Linkages, Nonlinear equations, Stepper motors
Proceedings Papers

Power Flow Analysis in Parallel Force/Velocity Actuators (PFVA): Theory and Simulations

Dinesh Rabindran, Delbert Tesar
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 983-992, August 3–6, 2008
Paper No: DETC2008-49164
DOI: https://doi.org/10.1115/DETC2008-49164
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Topics: Actuators, Engineering simulation, Flow (Dynamics), Simulation, Design, Mechanical efficiency, Stress, Torque
Proceedings Papers

Cooperative Towing With Multiple Robots

Jonathan Fink, Peng Cheng, Vijay Kumar
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1269-1276, August 3–6, 2008
Paper No: DETC2008-49916
DOI: https://doi.org/10.1115/DETC2008-49916
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Topics: Robots, Cables, Dry friction, Equations of motion, Mobile robots, Pallets, Simulation results, Tension, Warehouses
Proceedings Papers

Condition-Monitoring Based on Structure-Borne Ultrasound Analysis

Albert Albers, Markus Dickerhof, Wolfgang Burger
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 465-470, August 3–6, 2008
Paper No: DETC2008-49408
DOI: https://doi.org/10.1115/DETC2008-49408
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Topics: Condition monitoring, Ultrasound, Friction, Noise (Sound), Signals, Acoustic emissions, Bearings, Emissions, Failure, Machine components
Proceedings Papers

Elastic Kinematic and Geometric Model of Harmonic Gear Drives

Huimin Dong, Delun Wang, Kwun-Lon Ting
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 717-725, August 3–6, 2008
Paper No: DETC2008-50046
DOI: https://doi.org/10.1115/DETC2008-50046
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Topics: Kinematics, Mechanical drives, Splines, Deformation, Computer software, Cross section (Physics), Finite element analysis, Generators, Geometry, Waves
Proceedings Papers

Kinematical Analysis of Overconstrained Mechanism Using Computational Geometric Algebra

Samuli Piipponen, Jukka Tuomela, Teijo Arponen
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1413-1420, August 3–6, 2008
Paper No: DETC2008-49193
DOI: https://doi.org/10.1115/DETC2008-49193
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Topics: Algebra, Multibody systems, Computation, Computer simulation, Kinematics
Proceedings Papers

Viscoelastic Damping of Ortho-Planar Springs

Sterling Anderson, Brian D. Jensen
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 323-330, August 3–6, 2008
Paper No: DETC2008-49862
DOI: https://doi.org/10.1115/DETC2008-49862
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Topics: Damping, Springs, Elastic constants, Contact resistance, Design, Noise (Sound), Oscillations, Resonance
Proceedings Papers

On the Influence of Contact Geometry on Grasp Stability

Gert A. Kragten, Just L. Herder, A. L. Schwab
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 993-998, August 3–6, 2008
Paper No: DETC2008-49400
DOI: https://doi.org/10.1115/DETC2008-49400
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Topics: Geometry, Stability, Stiffness, Engineering simulation, Simulation
Proceedings Papers

Fuzzy Control of Motion and Force for Flexible Master-Slave Systems

Yohei Hoshino, Yukinori Kobayashi, Yusuke Furuta
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 999-1008, August 3–6, 2008
Paper No: DETC2008-49454
DOI: https://doi.org/10.1115/DETC2008-49454
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Topics: Fuzzy control, State estimation, Control equipment, Force control, Servomechanisms, Vibration
Proceedings Papers

The Development of an Incrementally Loaded Finite Element Model of the Whole Skin Locomotion Mechanism: Discovering the Relationship Between Its Shape and Motion

Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 851-858, August 3–6, 2008
Paper No: DETC2008-49559
DOI: https://doi.org/10.1115/DETC2008-49559
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Topics: Finite element model, Shapes, Skin, Robots, Fluids, Membranes, Actuators, Advanced materials, Design, Finite element analysis
Proceedings Papers

Kinematic Analysis of a Compliant Microplatform

Julio Correa, Carl Crane, Huikai Xie
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 331-338, August 3–6, 2008
Paper No: DETC2008-49902
DOI: https://doi.org/10.1115/DETC2008-49902
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Topics: Actuators, Kinematic analysis, Manufacturing, Microelectromechanical systems
Proceedings Papers

Optimal Trajectory Planning for Redundant Manipulators Based on Minimum Jerk

Jingzhou Yang, Joo Kim, Esteban Pena Pitarch, Karim Abdel-Malek
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1141-1150, August 3–6, 2008
Paper No: DETC2008-49268
DOI: https://doi.org/10.1115/DETC2008-49268
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Topics: Redundant manipulators, Trajectories (Physics), Optimization, Manipulators, B-splines, Degrees of freedom, End effectors, Kinematics, Robots, Splines
Proceedings Papers

Continuous Workspace Analysis, Synthesis and Optimization of Wire Robots

Tobias Bruckmann, Lars Mikelsons, Manfred Hiller, Dieter Schramm
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 59-66, August 3–6, 2008
Paper No: DETC2008-49532
DOI: https://doi.org/10.1115/DETC2008-49532
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Topics: Optimization, Robots, Wire, Tendons, Degrees of freedom, Algorithms, Cables, End effectors, Engines, Machinery
Proceedings Papers

Modular Wireless Wheeled In Vivo Surgical Robots

Stephen R. Platt, Jeff A. Hawks, Mark E. Rentschler, Lee Redden, Shane Farritor, Dmitry Oleynikov
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 727-736, August 3–6, 2008
Paper No: DETC2008-49157
DOI: https://doi.org/10.1115/DETC2008-49157
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Topics: Robots, Sensors, Surgery
Proceedings Papers

Time Optimal CAM Synthesis for Spring Driven CAMS

Konrad Duerr, Rudolf Seethaler
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 471-479, August 3–6, 2008
Paper No: DETC2008-49440
DOI: https://doi.org/10.1115/DETC2008-49440
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Topics: Cams, Springs, Engines, Pressure, Rotation, Stress, Valves
Proceedings Papers

Mobility Analysis of Some “Paradoxical Mechanisms” Using a General Methodology

Jingfang Liu, Zhen Huang
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1421-1426, August 3–6, 2008
Paper No: DETC2008-49307
DOI: https://doi.org/10.1115/DETC2008-49307
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Topics: Mechanical admittance