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Proceedings Papers

Closed-Form Primitives for Generating Volume Preserving Deformations

Proc. ASME. DETC93, 19th Design Automation Conference: Volume 2 — Design Optimization; Geometric Modeling and Tolerance Analysis; Mechanism Synthesis and Analysis; Decomposition and Design Optimization, 397-402, September 19–22, 1993

Paper No: DETC1993-0412

DOI: https://doi.org/10.1115/DETC1993-0412

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Topics: Deformation, Design, Simulation, Computer-aided engineering, Continuum mechanics, Equations of motion, Preservation, Strength (Materials)

Proceedings Papers

A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics

Gregory S. Chirikjian

Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibrations and Dynamics of Robotic and Multibody Structures, 1-6, September 19–22, 1993

Paper No: DETC1993-0137

DOI: https://doi.org/10.1115/DETC1993-0137

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Topics: Manipulators, Computation, Dynamics (Mechanics), Degrees of freedom, Actuators, Algorithms, Approximation, Robotics

Proceedings Papers

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Gregory S. Chirikjian

Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 161-167, September 11–14, 1994

Paper No: DETC1994-0319

DOI: https://doi.org/10.1115/DETC1994-0319

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Topics: Actuators, Kinematics, Manipulators, Feedback, Robotics, Algorithms, Manipulator design, Pneumatic cylinders, Solenoids

Proceedings Papers

Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution

Imme Ebert-Uphoff, Gregory S. Chirikjian

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A014, August 18–22, 1996

Paper No: 96-DETC/MECH-1162

DOI: https://doi.org/10.1115/96-DETC/MECH-1162

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Topics: Manipulators, Density, Computation, Actuators

Proceedings Papers

An Efficient Trajectory Planning Method for Binary Manipulators

David S. Lees, Gregory S. Chirikjian

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A048, August 18–22, 1996

Paper No: 96-DETC/MECH-1161

DOI: https://doi.org/10.1115/96-DETC/MECH-1161

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Topics: Manipulators, Trajectories (Physics), Actuators, End effectors, Kinematics, Robustness

Proceedings Papers

Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group

Alexander Kyatkin, Gregory S. Chirikjian

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A015, September 13–16, 1998

Paper No: DETC98/MECH-5993

DOI: https://doi.org/10.1115/DETC98/MECH-5993

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Topics: Fourier transforms, Manipulators, Density, Design, Fittings, Inverse problems, Kinematics

Proceedings Papers

Convolution Metrics for Rigid Body Motion

Gregory S. Chirikjian

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A033, September 13–16, 1998

Paper No: DETC98/MECH-5899

DOI: https://doi.org/10.1115/DETC98/MECH-5899

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Topics: Kinematics, Robotics

Proceedings Papers

Workspace Generation As a Diffusion Process

Yunfeng Wang, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 133-137, September 10–13, 2000

Paper No: DETC2000/MECH-14063

DOI: https://doi.org/10.1115/DETC2000/MECH-14063

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Topics: Density, Diffusion (Physics), Diffusion processes, Fourier transforms, Kinematics, Manipulators, Partial differential equations

Proceedings Papers

Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor

David Stein, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 595-601, September 10–13, 2000

Paper No: DETC2000/MECH-14115

DOI: https://doi.org/10.1115/DETC2000/MECH-14115

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Topics: Path planning, Stepper motors, Stators, Rotors, Poles (Building), Design, Electromagnets, Engineering prototypes, Permanent magnets, Trajectories (Physics)

Journal Articles

The Kinematics of Containment for N -Dimensional Ellipsoids

Sipu Ruan, Jianzhong Ding, Qianli Ma, Gregory S. Chirikjian

J. Mechanisms Robotics. August 2019, 11(4): 041005.

Paper No: JMR-18-1404

DOI: https://doi.org/10.1115/1.4043458

Published Online: May 17, 2019

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Topics: Algebra, Containment, Kinematics

Journal Articles

Error Space Estimation of Three Degrees of Freedom Planar Parallel Mechanisms

Jianzhong Ding, Shengnan Lyu, Ting Da, Chunjie Wang, Gregory S. Chirikjian

J. Mechanisms Robotics. June 2019, 11(3): 031013.

Paper No: JMR-18-1294

DOI: https://doi.org/10.1115/1.4042633

Published Online: April 11, 2019

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Topics: Errors, Parallel mechanisms

Proceedings Papers

Recovering a Rotation Matrix From Three Direction Cosines

Mengdi Xu, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A079, August 26–29, 2018

Paper No: DETC2018-85825

DOI: https://doi.org/10.1115/DETC2018-85825

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Topics: Rotation, Jacobian matrices, Path planning

Proceedings Papers

Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms

Jianzhong Ding, Shengnan Lu, Ting Da, Chunjie Wang, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A080, August 26–29, 2018

Paper No: DETC2018-85849

DOI: https://doi.org/10.1115/DETC2018-85849

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Topics: Errors, Parallel mechanisms, Manipulators, Algebra, Clearances (Engineering), Computation, Error analysis, Kinematics, Mechanical admittance, Modeling

Proceedings Papers

Lower Bounds of the Allowable Motions of One N -Dimensional Ellipsoid Contained in Another

Sipu Ruan, Gregory S. Chirikjian, Jianzhong Ding

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A081, August 26–29, 2018

Paper No: DETC2018-85851

DOI: https://doi.org/10.1115/DETC2018-85851

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Topics: Algebra, Collisions (Physics), Containment, Kinematics, Manufacturing, Shapes

Proceedings Papers

Rotations in a Non-Orthogonal Frame

Shengnan Lu, Xilun Ding, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A082, August 26–29, 2018

Paper No: DETC2018-85862

DOI: https://doi.org/10.1115/DETC2018-85862

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Topics: Conformational analysis, Crystals, Geometry, Polymers, Rotation

Journal Articles

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf

J. Mechanisms Robotics. April 2018, 10(2): 021008.

Paper No: JMR-17-1315

DOI: https://doi.org/10.1115/1.4039121

Published Online: February 27, 2018

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Topics: Aircraft, Displacement, Humanoid robots, Kinematics, Rotation

Journal Articles

Discussion of “Geometric Algorithms for Robot Dynamics: A Tutorial Review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70 (1), p. 010803)

Gregory S. Chirikjian

Appl. Mech. Rev. January 2018, 70(1): 015502.

Paper No: AMR-18-1002

DOI: https://doi.org/10.1115/1.4039080

Published Online: February 14, 2018

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Topics: Algorithms, Dynamics (Mechanics), Manipulator dynamics, Multibody dynamics, Robot dynamics, Kinematics, Manipulators, Robotics

Proceedings Papers

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf

Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A073, August 6–9, 2017

Paper No: DETC2017-67725

DOI: https://doi.org/10.1115/DETC2017-67725

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Topics: Aircraft, Displacement, Humanoid robots, Rotation

Proceedings Papers

Kinematic Analysis of Hexapod Manipulation

Fan Yang, Xilun Ding, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A089, August 21–24, 2016

Paper No: DETC2016-59619

DOI: https://doi.org/10.1115/DETC2016-59619

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Topics: Kinematic analysis, Chain, Robots, Center of mass, Engineering simulation, Jacobian matrices, Modeling, Motion control, Simulation, Stability

Journal Articles

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

Joshua D. Davis, Yunuscan Sevimli, Baxter R. Eldridge, Gregory S. Chirikjian

J. Mechanisms Robotics. October 2016, 8(5): 051008.

Paper No: JMR-15-1260

DOI: https://doi.org/10.1115/1.4032273

Published Online: May 4, 2016

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Topics: Design, Elevators, Energy consumption, Kinematics, Maintenance, Manipulators, Robots, Wheels, Teams, Robotics

Includes: Supplementary data

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Supplemental Material

Closed-Form Primitives for Generating Volume Preserving Deformations

A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution

An Efficient Trajectory Planning Method for Binary Manipulators

Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group

Convolution Metrics for Rigid Body Motion

Workspace Generation As a Diffusion Process

Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor

The Kinematics of Containment for N -Dimensional Ellipsoids

Error Space Estimation of Three Degrees of Freedom Planar Parallel Mechanisms

Recovering a Rotation Matrix From Three Direction Cosines

Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms

Lower Bounds of the Allowable Motions of One N -Dimensional Ellipsoid Contained in Another

Rotations in a Non-Orthogonal Frame

Pose Changes From a Different Point of View

Discussion of “Geometric Algorithms for Robot Dynamics: A Tutorial Review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70 (1), p. 010803)

Pose Changes From a Different Point of View

Kinematic Analysis of Hexapod Manipulation

Module Design and Functionally Non-Isomorphic Configurations of the Hex-DMR II System

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