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

Contour-Crafting-Cartesian-Cable Robot System: Dynamics and Controller Design

Robert L. Williams, II, Ming Xin, Paul Bosscher
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 39-45, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49480
https://doi.org/10.1115/DETC2008-49480
View Paper titled, Contour-Crafting-Cartesian-Cable Robot System: Dynamics and Controller Design
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Topics: Cables, Control equipment, Design, Dynamics (Mechanics), Robots, System dynamics, Torque
Proceedings Papers

Novel Two-Stage Electrical Energy Generators for Highly-Variable and Low-Speed Linear or Rotary Input Motions

Jahangir S. Rastegar, Richard T. Murray
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 533-540, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49646
https://doi.org/10.1115/DETC2008-49646
View Paper titled, Novel Two-Stage Electrical Energy Generators for Highly-Variable and Low-Speed Linear or Rotary Input Motions
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Topics: Energy / power systems, Generators, Oscillations, Energy conversion, Buoys, Cycles, Design, Flow (Dynamics), Linkages, Machinery
Proceedings Papers

Generation and Sketching of Generalized Kinematic Chains

Chiu-Fan Hsieh, Yii-Wen Hwang, Hong-Sen Yan
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1337-1345, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49043
https://doi.org/10.1115/DETC2008-49043
View Paper titled, Generation and Sketching of Generalized Kinematic Chains
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Topics: Kinematic chains
Proceedings Papers

Design and Dynamic Simulation of a Novel Piano Action Mechanism

Carl A. Nelson
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 789-796, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49167
https://doi.org/10.1115/DETC2008-49167
View Paper titled, Design and Dynamic Simulation of a Novel Piano Action Mechanism
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Topics: Design, Simulation
Proceedings Papers

The Accurate Modeling and Performance Analysis of Cross-Spring Pivot as a Flexure Module

Hongzhe Zhao, Shusheng Bi, Jingjun Yu, Guanghua Zong
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 257-263, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49694
https://doi.org/10.1115/DETC2008-49694
View Paper titled, The Accurate Modeling and Performance Analysis of Cross-Spring Pivot as a Flexure Module
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Topics: Bending (Stress), Modeling, Springs, Displacement, Stress, Approximation, Errors, Finite element analysis, Compliant mechanisms, Design
Proceedings Papers

Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism

Joo H. Kim, Yujiang Xiang, Rajankumar Bhatt, Jingzhou Yang, Hyun-Joon Chung, Amos Patrick, Jasbir S. Arora, Karim Abdel-Malek
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1073-1084, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49925
https://doi.org/10.1115/DETC2008-49925
View Paper titled, Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism
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Topics: Dynamics (Mechanics), Gravity (Force), Inertia (Mechanics), Optimization, Path planning, Physics, Redundancy (Engineering), Simulation, Stress
Proceedings Papers

Development and Comparison of Gait Generation Algorithms for Hexapedal Robots Based on Kinematics With Considerations for Workspace

Mark Showalter, Dennis Hong, Daniel Larimer
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1215-1220, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49616
https://doi.org/10.1115/DETC2008-49616
View Paper titled, Development and Comparison of Gait Generation Algorithms for Hexapedal Robots Based on Kinematics With Considerations for Workspace
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Topics: Algorithms, Kinematics, Robots, Robotics, Yaw
Proceedings Papers

Singularity Analysis of Rigid-Body, Closed-Loop, Shape-Changing Mechanisms

David Myszka, Andrew Murray, James Schmiedeler
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 665-670, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49644
https://doi.org/10.1115/DETC2008-49644
View Paper titled, Singularity Analysis of Rigid-Body, Closed-Loop, Shape-Changing Mechanisms
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Topics: Shapes, Kinematics
Proceedings Papers

Dynamic Workspace and Control of Planar Active Tensegrity-Like Structures

Andrew P. Schmalz, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 3-12, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49280
https://doi.org/10.1115/DETC2008-49280
View Paper titled, Dynamic Workspace and Control of Planar Active Tensegrity-Like Structures
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Topics: Cables, Tensegrity
Proceedings Papers

Constraint Redundancy in Mobility of Parallel Manipulators

Akhtar N. Malik, Jian S. Dai, Gordon R. Pennock
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1485-1493, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49759
https://doi.org/10.1115/DETC2008-49759
View Paper titled, Constraint Redundancy in Mobility of Parallel Manipulators
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Topics: Degrees of freedom, Manipulators, Mechanical admittance, Redundancy (Engineering)
Proceedings Papers

System-Level Optimization Model for a Snake-Inspired Robot Based on a Rectilinear Gait

James K. Hopkins, Brent W. Spranklin, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 913-924, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49972
https://doi.org/10.1115/DETC2008-49972
View Paper titled, System-Level Optimization Model for a Snake-Inspired Robot Based on a Rectilinear Gait
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Topics: Optimization, Robots, Equations of motion, Physics, Topology
Proceedings Papers

Smart Material and Control Design for Vibration Suppression

Yung Ting, Ci-Chun Yang, Je-Guan Xu, Bin-Kwan Ho, Shin-Liang Chen, Chun-Chung Li
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 541-548, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49715
https://doi.org/10.1115/DETC2008-49715
View Paper titled, Smart Material and Control Design for Vibration Suppression
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Topics: Design, Smart materials, Vibration suppression, Actuators, Electrodes, Sensors, Dynamic modeling, Electric fields, Damping, Finite element analysis
Proceedings Papers

Geometric Synthesis of Spatial Compliant Mechanisms Using Three-Dimensional Wide Curves

Hong Zhou, Kwun-Lon Ting
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 133-142, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49047
https://doi.org/10.1115/DETC2008-49047
View Paper titled, Geometric Synthesis of Spatial Compliant Mechanisms Using Three-Dimensional Wide Curves
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Topics: Compliant mechanisms, Optimization, Algorithms, Cross section (Physics), Deformation, Finite element analysis, Matlab, Nonlinear programming
Proceedings Papers

Adaptronic Revolute Joints for Parallel Robots Based on Simultaneous Quasi-Statical Axial and Radial Clearance Adjustment

Nenad Pavlovic, Ralf Keimer, Hans-Joachim Franke
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 797-804, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49263
https://doi.org/10.1115/DETC2008-49263
View Paper titled, Adaptronic Revolute Joints for Parallel Robots Based on Simultaneous Quasi-Statical Axial and Radial Clearance Adjustment
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Topics: Clearances (Engineering), Piezoelectric actuators, Robots
Proceedings Papers

Multi-Stage Design Method for Practical Compliant Mechanisms by Topology and Shape Optimizations and Shape Conversion Method Utilizing Level Set Method

Masakazu Kobayashi, Shinji Nishiwaki, Masatake Higashi
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 265-272, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49717
https://doi.org/10.1115/DETC2008-49717
View Paper titled, Multi-Stage Design Method for Practical Compliant Mechanisms by Topology and Shape Optimizations and Shape Conversion Method Utilizing Level Set Method
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Topics: Compliant mechanisms, Design methodology, Shapes, Topology, Optimization, Shape optimization, Deformation, Design, Stress concentration
Proceedings Papers

End-Effector Trajectory Tracking of a Class of Flexible Link Manipulators

Mohammad Vakil, Reza Fotouhi, P. N. Nikiforuk
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1085-1094, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49944
https://doi.org/10.1115/DETC2008-49944
View Paper titled, End-Effector Trajectory Tracking of a Class of Flexible Link Manipulators
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Topics: End effectors, Manipulators, Trajectories (Physics), Control equipment, Dynamic models, Torque, Chain, Deflection, Differential equations, Errors
Proceedings Papers

Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors

Venketesh N. Dubey, Richard M. Crowder
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 925-931, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49999
https://doi.org/10.1115/DETC2008-49999
View Paper titled, Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors
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Topics: End effectors, Grasping
Proceedings Papers

Genome Reconfiguration of Metamorphic Manipulators Based on Lie Group Theory

Liping Zhang, Jian S. Dai
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1495-1504, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49906
https://doi.org/10.1115/DETC2008-49906
View Paper titled, Genome Reconfiguration of Metamorphic Manipulators Based on Lie Group Theory
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Topics: Displacement, Manipulators
Proceedings Papers

A Flexure-Based Bi-Axial Contact-Aided Compliant Mechanism for Spinal Arthroplasty

Peter A. Halverson, Larry L. Howell, Anton E. Bowden
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 405-416, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-50121
https://doi.org/10.1115/DETC2008-50121
View Paper titled, A Flexure-Based Bi-Axial Contact-Aided Compliant Mechanism for Spinal Arthroplasty
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Topics: Arthroplasty, Bending (Stress), Compliant mechanisms, Disks, Kinematics, Biomechanics, Deflection, Mechanical admittance, Physiology, Rotation
Proceedings Papers

Realization of a 6-DOF Manipulator With an Unconventional Topological Structure

Keisuke Arikawa
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1221-1230, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49621
https://doi.org/10.1115/DETC2008-49621
View Paper titled, Realization of a 6-DOF Manipulator With an Unconventional Topological Structure
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Topics: Kinematics, Manipulators