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Proceedings Papers

Multi-Axes Series Elastic Actuation: A Computer Model

Haohan Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A051, August 14–17, 2022
Paper No: DETC2022-90117
https://doi.org/10.1115/DETC2022-90117
View Paper titled, Multi-Axes Series Elastic Actuation: A Computer Model
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Topics: Computers, Force control, Robots, Stress, Actuators, Seas, Deflection, Degrees of freedom, Dimensions, Displacement
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Ellipse Synthesis of a Five-Bar Linkage

Mark Plecnik
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A081, August 14–17, 2022
Paper No: DETC2022-91341
https://doi.org/10.1115/DETC2022-91341
View Paper titled, Ellipse Synthesis of a Five-Bar Linkage
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Topics: Linkages, Degrees of freedom
Proceedings Papers

Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology

Tanner Vaculik, Brian Slaboch, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A041, August 14–17, 2022
Paper No: DETC2022-89138
https://doi.org/10.1115/DETC2022-89138
View Paper titled, Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology
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Topics: Design engineering, Topology, Kinematics, Actuators, Degrees of freedom, End effectors, Energy consumption, Engineering prototypes, Trajectories (Physics)
Proceedings Papers

A Three Degree of Freedom Model Approach to Enable a MEMS-Based Neural Computing Unit

Mohammad Megdadi, Hamed Nikfarjam, Mohammad Okour, Siavash Pourkamali, Fadi Alsaleem
Proc. ASME. IDETC-CIE2022, Volume 8: 16th International Conference on Micro- and Nanosystems (MNS), V008T08A011, August 14–17, 2022
Paper No: DETC2022-90498
https://doi.org/10.1115/DETC2022-90498
View Paper titled, A Three Degree of Freedom Model Approach to Enable a MEMS-Based Neural Computing Unit
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Topics: Degrees of freedom, Microelectromechanical systems
Proceedings Papers

Integration of EMG-Based Learning and Sliding Mode Control for an Exoskeleton Assist-as-Needed Support System

Pablo Delgado, Nathan Gonzalez, Yimesker Yihun
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A034, August 14–17, 2022
Paper No: DETC2022-91305
https://doi.org/10.1115/DETC2022-91305
View Paper titled, Integration of EMG-Based Learning and Sliding Mode Control for an Exoskeleton Assist-as-Needed Support System
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Topics: Electromyography, Exoskeleton devices, Sliding mode control, Muscle, Signals, Torque, Algorithms, Degrees of freedom, Dynamics (Mechanics), Engineering simulation
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
https://doi.org/10.1115/DETC2022-90105
View Paper titled, Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting

Rahid Zaman, Joel Quarnstrom, Yujiang Xiang, Ritwik Rakshit, James Yang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A022, August 14–17, 2022
Paper No: DETC2022-89127
https://doi.org/10.1115/DETC2022-89127
View Paper titled, Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting
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Topics: Musculoskeletal system, Stress, Wounds, Muscle, Dynamics (Mechanics), Optimization, Compression, Degrees of freedom, Electromyography, Equations of motion
Proceedings Papers

LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design

Amin Heyrani Nobari, Akash Srivastava, Dan Gutfreund, Faez Ahmed
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A013, August 14–17, 2022
Paper No: DETC2022-89798
https://doi.org/10.1115/DETC2022-89798
View Paper titled, LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design
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Topics: Design, Kinematics, Linkages, Simulation, Databases, Algorithms, Degrees of freedom, Screw threads, Shapes, Thread
Proceedings Papers

Kinematics of an Origami Inspired Millipede Robot

Chenying Liu, Zhong You, Perla Maiolino
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A062, August 14–17, 2022
Paper No: DETC2022-88998
https://doi.org/10.1115/DETC2022-88998
View Paper titled, Kinematics of an Origami Inspired Millipede Robot
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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis
Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022
Paper No: DETC2022-89625
https://doi.org/10.1115/DETC2022-89625
View Paper titled, Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism
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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds
Proceedings Papers

On the Combination of Geometrically Nonlinear Models and Substructuring for Multibody Simulation of Wind Turbine Blades

Christian Sigurd L. Jensen, Rasmus B. E. Pedersen, Blas Blanco, José L. Escalona, Ole Balling
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A011, August 14–17, 2022
Paper No: DETC2022-90948
https://doi.org/10.1115/DETC2022-90948
View Paper titled, On the Combination of Geometrically Nonlinear Models and Substructuring for Multibody Simulation of Wind Turbine Blades
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Topics: Blades, Simulation, Wind turbines, Deformation, Degrees of freedom, Dimensions, Displacement, Euler-Bernoulli beam theory, Flexible body dynamics, Modeling
Proceedings Papers

Systematic Generation of 5-Axis Manufacturing Machines

Cole Jetton, Liam Rudd, Matthew I. Campbell
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A019, August 14–17, 2022
Paper No: DETC2022-87874
https://doi.org/10.1115/DETC2022-87874
View Paper titled, Systematic Generation of 5-Axis Manufacturing Machines
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Topics: Design, Machinery, Manufacturing, Degrees of freedom, Algebra, Computers, Cutting, Generative design, Hull, Kinematics
Proceedings Papers

Numerical Identification of Freedom Spaces Using the Canonical Basis

Nigel Archer, Jonathan Hopkins
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A076, August 14–17, 2022
Paper No: DETC2022-89822
https://doi.org/10.1115/DETC2022-89822
View Paper titled, Numerical Identification of Freedom Spaces Using the Canonical Basis
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Topics: Compliant mechanisms, Screws, Space, Algorithms, Analytical methods, Degrees of freedom, Design, Topology
Proceedings Papers

Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism

Mohammed El Kihal, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A049, August 14–17, 2022
Paper No: DETC2022-89937
https://doi.org/10.1115/DETC2022-89937
View Paper titled, Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics
Proceedings Papers

Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning

András Bártfai, Asier Barrios, Zoltan Dombovari
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A033, August 14–17, 2022
Paper No: DETC2022-90937
https://doi.org/10.1115/DETC2022-90937
View Paper titled, Stability Analysis of a One Degree-of-Freedom Robot Model With Sampled Digital Acceleration Feedback Controller in Turning
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Topics: Control equipment, Degrees of freedom, Feedback, Robots, Stability, Turning
Proceedings Papers

On the Modelling Bases of In-Motion Dynamic Characterization of Flexible Structures Subject to Friction and Position Control Delay

Zsolt Iklódi, Xavier Beudaert, Zoltan Dombovari
Proc. ASME. IDETC-CIE2022, Volume 10: 34th Conference on Mechanical Vibration and Sound (VIB), V010T10A024, August 14–17, 2022
Paper No: DETC2022-90924
https://doi.org/10.1115/DETC2022-90924
View Paper titled, On the Modelling Bases of In-Motion Dynamic Characterization of Flexible Structures Subject to Friction and Position Control Delay
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Topics: Delays, Flexible structures, Friction, Modeling, Position control, Machine dynamics, Bifurcation, Boundary-value problems, Degrees of freedom, Delay differential equations
Proceedings Papers

Accuracy of Initially-Curved Cross-Axis Flexural Pivots

Simone Serafino, Pietro Fanghella, Matteo Verotti
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A001, August 14–17, 2022
Paper No: DETC2022-88255
https://doi.org/10.1115/DETC2022-88255
View Paper titled, Accuracy of Initially-Curved Cross-Axis Flexural Pivots
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Topics: Bending (Stress), Computer simulation, Degrees of freedom, Design, Geometry, Poles (Building), Precision engineering, Robotics
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
https://doi.org/10.1115/DETC2022-89173
View Paper titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom
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Topics: Degrees of freedom, Design, Manipulators
Proceedings Papers

A Strategy for Fine Mesh Resolution in Contact Mechanics

Gaurav Chauda, Daniel J. Segalman
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A010, August 17–19, 2021
Paper No: DETC2021-71360
https://doi.org/10.1115/DETC2021-71360
View Paper titled, A Strategy for Fine Mesh Resolution in Contact Mechanics
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Topics: Contact mechanics, Resolution (Optics), Disks, Brass (Metal), Degrees of freedom, Elasticity, Finite element analysis, Fourier analysis, Linear systems, Metals