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Proceedings Papers

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

Brian J. Slaboch, Peter Holtzen, Luis A. Rodriguez

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A026, August 17–19, 2021

Paper No: DETC2021-71189

DOI: https://doi.org/10.1115/DETC2021-71189

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Topics: Kinematics, Modeling, Topology, Actuators, Manipulators, Weight (Mass)

Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021

Paper No: DETC2021-72009

DOI: https://doi.org/10.1115/DETC2021-72009

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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)

Proceedings Papers

Auxetic Structures Based on Rhombic Tiling

Kanata Warisaya, Hiroaki Hamanaka, Asao Tokolo, Tomohiro Tachi

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A031, August 17–19, 2021

Paper No: DETC2021-67141

DOI: https://doi.org/10.1115/DETC2021-67141

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Topics: Compliant mechanisms, Corners (Structural elements), Design, Kinematics, Mathematics, Poisson ratio, Tiles, Topology

Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021

Paper No: DETC2021-70233

DOI: https://doi.org/10.1115/DETC2021-70233

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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes

Proceedings Papers

Modular Foldable Airship Concept for Subterranean Exploration

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A018, August 17–19, 2021

Paper No: DETC2021-69954

DOI: https://doi.org/10.1115/DETC2021-69954

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Topics: Caves, Design, Engineering prototypes, Kinematics, Robotics, Structural design, Tunnels, Vehicles

Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021

Paper No: DETC2021-67821

DOI: https://doi.org/10.1115/DETC2021-67821

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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics

Proceedings Papers

Sequentially Working Origami Multi-Physics Simulator (SWOMPS): A Versatile Implementation

Yi Zhu, Evgueni T. Filipov

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A034, August 17–19, 2021

Paper No: DETC2021-68042

DOI: https://doi.org/10.1115/DETC2021-68042

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Topics: Physics, Stress, Deformation, Design, Heat transfer, Kinematics, Optimization, Simulation

Proceedings Papers

Serial Chain of Rigid Origami That Extends, Bends and Turns

Haruto Kamijo, Tomohiro Tachi

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A030, August 17–19, 2021

Paper No: DETC2021-67013

DOI: https://doi.org/10.1115/DETC2021-67013

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Topics: Chain, Kinematics, Shapes, Construction, Degrees of freedom

Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Simone Asci, Ketao Zhang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021

Paper No: DETC2021-70642

DOI: https://doi.org/10.1115/DETC2021-70642

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Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)

Proceedings Papers

Approximating Hinges With Multimaterial Compliant Joints

Independence Talken, Zijuan Liang, Mark Plecnik

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A015, August 17–19, 2021

Paper No: DETC2021-67865

DOI: https://doi.org/10.1115/DETC2021-67865

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Topics: Hinges, Stiffness, Design, Approximation, Tradeoffs, Additive manufacturing, Friction, Kinematics, Urethane elastomers, Wear

Proceedings Papers

Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule

Keisuke Arikawa

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A052, August 17–19, 2021

Paper No: DETC2021-70853

DOI: https://doi.org/10.1115/DETC2021-70853

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Topics: Kinematics, Modeling

Proceedings Papers

The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot

Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A027, August 17–19, 2021

Paper No: DETC2021-71292

DOI: https://doi.org/10.1115/DETC2021-71292

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Topics: Kinematics, Robots, Simulation, Tensegrity

Proceedings Papers

Spatial Mechanism-Environment Contact Geometric Models

Nina Robson, Aaron Lee

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A054, August 17–19, 2021

Paper No: DETC2021-71380

DOI: https://doi.org/10.1115/DETC2021-71380

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Topics: Degrees of freedom, Design, End effectors, Kinematic chains, Kinematics

Proceedings Papers

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A053, August 17–19, 2021

Paper No: DETC2021-71064

DOI: https://doi.org/10.1115/DETC2021-71064

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Topics: Artificial neural networks, Cables, Kinematics, Robots, Algorithms, Equilibrium (Physics), Function approximation, Gravity (Force), Kinematic analysis, Optimization

Proceedings Papers

Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block

John Berre, Francois Geiskopf, Lennart Rubbert, Pierre Renaud

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A038, August 17–19, 2021

Paper No: DETC2021-68904

DOI: https://doi.org/10.1115/DETC2021-68904

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Topics: Blocks (Building materials), Kinematics, Stiffness, Geometry, Compliant mechanisms, Design

Proceedings Papers

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021

Paper No: DETC2021-71814

DOI: https://doi.org/10.1115/DETC2021-71814

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Topics: Interpolation, Kinematics, Path planning, Screws, Robots, Trajectories (Physics), Assembly lines, Generators, Manufacturing, Redundancy (Engineering)

Proceedings Papers

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

Rinki Imada, Tomohiro Tachi

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A039, August 17–19, 2021

Paper No: DETC2021-69252

DOI: https://doi.org/10.1115/DETC2021-69252

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Topics: Geometry, Kinematics, Waves, Cylinders, Dynamic systems, Visualization

Proceedings Papers

Calibration of Parallel Kinematic Machine Based on Stewart Platform – A Literature Review

Sourabh Karmakar, Apurva Patel, Cameron J. Turner

Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A015, August 17–19, 2021

Paper No: DETC2021-71619

DOI: https://doi.org/10.1115/DETC2021-71619

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Topics: Calibration, Kinematics, Machinery

Proceedings Papers

Structures With Multiple Rigid Configurations Due to Prestress and Unilateral Contacts

Charles Dorn, Yang Li, Sergio Pellegrino

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A044, August 17–19, 2021

Paper No: DETC2021-70397

DOI: https://doi.org/10.1115/DETC2021-70397

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Topics: Degrees of freedom, Design, Equilibrium (Physics), Kinematics, Linkages, Springs, Stability, Stiffness

Proceedings Papers

Model-Based Design and Optimization of Passive Shoulder Exoskeletons

Ali Nasr, Spencer Ferguson, John McPhee

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A029, August 17–19, 2021

Paper No: DETC2021-69437

DOI: https://doi.org/10.1115/DETC2021-69437

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Topics: Design, Exoskeleton devices, Optimization, Torque, Actuators, Algebra, Engines, Kinematics, Modeling, Motors

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NARROW

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Auxetic Structures Based on Rhombic Tiling

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Modular Foldable Airship Concept for Subterranean Exploration

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Sequentially Working Origami Multi-Physics Simulator (SWOMPS): A Versatile Implementation

Serial Chain of Rigid Origami That Extends, Bends and Turns

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Approximating Hinges With Multimaterial Compliant Joints

Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule

The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot

Spatial Mechanism-Environment Contact Geometric Models

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

Calibration of Parallel Kinematic Machine Based on Stewart Platform – A Literature Review

Structures With Multiple Rigid Configurations Due to Prestress and Unilateral Contacts

Model-Based Design and Optimization of Passive Shoulder Exoskeletons

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