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Proceedings Papers

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

Marcos B. Oliveira, Alexander Lurie, David Ewen, Philip Long, Taskin Padir, Samuel M. Felton
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A015, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97842
https://doi.org/10.1115/DETC2019-97842
View Paper titled, Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing
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Topics: Actuators, Additive manufacturing, Casting, Manufacturing, Cutting, Damage, Deflection, Design, Exoskeleton devices, Grippers
Proceedings Papers

Kalman Filter Based Sensor Fusion for a Mobile Manipulator

Barnaba Ubezio, Shashank Sharma, Guglielmo Van der Meer, Michele Taragna
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A043, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97241
https://doi.org/10.1115/DETC2019-97241
View Paper titled, Kalman Filter Based Sensor Fusion for a Mobile Manipulator
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Topics: Kalman filters, Manipulators, Sensors, Algorithms, End effectors, Calibration, Filters, Microelectromechanical systems, Noise (Sound), Robots
Proceedings Papers

Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method

Sonia C. García, Juan A. Gallego-Sanchez
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A001, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97091
https://doi.org/10.1115/DETC2019-97091
View Paper titled, Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method
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Topics: Design, Finite element analysis, Displacement, Rigid-body mechanisms
Proceedings Papers

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A057, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97306
https://doi.org/10.1115/DETC2019-97306
View Paper titled, Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots
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Topics: Design, Simulation, Robots, Shapes, Adhesion, Errors, Friction
Proceedings Papers

Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

Shuaishuai Lu, Peng Yan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A008, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97690
https://doi.org/10.1115/DETC2019-97690
View Paper titled, Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect
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Topics: Modeling, Springs, Temperature effects, Stress, Temperature, Finite element analysis, Bending (Stress), Compliant mechanisms, Mechanical properties, Motion control
Proceedings Papers

Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

Shrinath Deshpande, Anurag Purwar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A029, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98193
https://doi.org/10.1115/DETC2019-98193
View Paper titled, Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models
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Topics: Creativity, Linkages, Machine learning, Kinematics, Computational methods, Design, Statistical distributions, Algorithms, Artificial neural networks, Bridges (Structures)
Proceedings Papers

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A022, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97007
https://doi.org/10.1115/DETC2019-97007
View Paper titled, Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations
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Topics: Algorithms, Mechanical admittance, Parallel mechanisms, Computer software, Computer-aided engineering, Design, Dimensions, Kinematics, Optimization
Proceedings Papers

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

Latifah Nurahmi, Dongming Gan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A064, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97851
https://doi.org/10.1115/DETC2019-97851
View Paper titled, Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis
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Topics: Dynamic analysis, Parallel mechanisms, Screws, Mechanical admittance, Rotation
Proceedings Papers

Robotics Simulator for Development and Verification of Swarm Behaviors

Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. McDonald, Michael A. Neumann, Christopher A. Kitts
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A050, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97622
https://doi.org/10.1115/DETC2019-97622
View Paper titled, Robotics Simulator for Development and Verification of Swarm Behaviors
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Topics: Robotics, Simulation, Composite materials, Dynamics (Mechanics), Navigation, Robots
Proceedings Papers

An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

Bo-Rong Yang, Yu-Cheng Zhang, Hee-Hyol Lee, Eiichiro Tanaka
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A036, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97796
https://doi.org/10.1115/DETC2019-97796
View Paper titled, An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely
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Topics: Stairs, Trajectories (Physics), Ultrasonic transducers, Roads, Safety, Simulation
Proceedings Papers

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

Duanling Li, Kaijie Dong, Xingze Wang, Biao Li, Zhou Su
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A016, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97845
https://doi.org/10.1115/DETC2019-97845
View Paper titled, Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism
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Topics: Design, Cables, Stiffness, Deformation, Friction, Theoretical analysis
Proceedings Papers

The Design of Robust Phase Oscillator for Wearable Robotic Systems

Juan De La Fuente, Susheelkumar C. Subramanian, Prudhvi Tej Chinimilli, Sangram Redkar, Thomas Sugar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A058, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97453
https://doi.org/10.1115/DETC2019-97453
View Paper titled, The Design of Robust Phase Oscillator for Wearable Robotic Systems
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Topics: Design, Robotics, Robots, Control equipment, Damping, Exoskeleton devices, Limit cycles, Noise (Sound), Pendulums, Robustness
Proceedings Papers

On the Geometry of Stiffness and Compliance Under Concatenation

Charles J. Kim
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A002, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97161
https://doi.org/10.1115/DETC2019-97161
View Paper titled, On the Geometry of Stiffness and Compliance Under Concatenation
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Topics: Geometry, Stiffness, Blocks (Building materials), Compliant mechanisms, Design, Kinematics
Proceedings Papers

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

Benjamin Abruzzo, David Cappelleri, Philippos Mordohai
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A044, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97377
https://doi.org/10.1115/DETC2019-97377
View Paper titled, A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives
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Topics: Robotics, Teams, Robots, Errors, Kalman filters, Mobile robots, Sensors, Simulation, Uncertainty, Unmanned aerial vehicles
Proceedings Papers

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

Nianfeng Wang, Fan Yue, Canran Li, Xianmin Zhang
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A009, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97758
https://doi.org/10.1115/DETC2019-97758
View Paper titled, Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints
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Topics: Bending (Stress), Optimization, Stress, Displacement, Stiffness, Design
Proceedings Papers

Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

Shashank Sharma, Anurag Purwar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A030, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98194
https://doi.org/10.1115/DETC2019-98194
View Paper titled, Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms
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Topics: Simulation
Proceedings Papers

Computing Robust Inverse Kinematics Under Uncertainty

Anirban Sinha, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A065, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97945
https://doi.org/10.1115/DETC2019-97945
View Paper titled, Computing Robust Inverse Kinematics Under Uncertainty
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Topics: Kinematics, Uncertainty, Errors, Redundant manipulators, Robots, End effectors, Probability, Robot motion, Robotics, Simulation
Proceedings Papers

Determining the Number of Distinct Solutions in Planar Mechanism Design

Lawrence Funke, Jonathan Raney, Cyler Caldwell
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A023, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97360
https://doi.org/10.1115/DETC2019-97360
View Paper titled, Determining the Number of Distinct Solutions in Planar Mechanism Design
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Topics: Design, Modal assurance criterion, Artificial neural networks, Self-organization
Proceedings Papers

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Matthew W. Powelson, Wesley A. Demirjian, Stephen L. Canfield
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A051, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98012
https://doi.org/10.1115/DETC2019-98012
View Paper titled, Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots
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Topics: Adhesives, Robots, Design, Adhesion, Design methodology, Sensors, Surveillance, Suspension systems, Vehicles, Weight (Mass)
Proceedings Papers

Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty

Po-Yu Chen, Kuei-Yuan Chan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A059, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97503
https://doi.org/10.1115/DETC2019-97503
View Paper titled, Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty
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Topics: Manipulators, Manufacturing, Uncertainty, Errors, Robots, Flanges, Rotation, Simulation results, Testing