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Journal Articles

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035003.
Paper No: JMR-20-1450
DOI: https://doi.org/10.1115/1.4050103
Published Online: April 9, 2021
View Article titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Robots, Actuators, Patient rehabilitation, Sensors
Journal Articles

On the Zeros of an Undamped Three Degrees-of-Freedom Flexible System

Siddharth Rath, Leqing Cui, Shorya Awtar
Journal: ASME Letters in Dynamic Systems and Control
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2021, 1(4): 041010.
Paper No: ALDSC-20-1073
DOI: https://doi.org/10.1115/1.4050339
Published Online: April 2, 2021
View Article titled, On the Zeros of an Undamped Three Degrees-of-Freedom Flexible System
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Topics: Degrees of freedom, Dynamics (Mechanics), Flexible systems
Journal Articles

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035001.
Paper No: JMR-20-1393
DOI: https://doi.org/10.1115/1.4049947
Published Online: March 12, 2021
View Article titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Chain, Kinematics, Space, Stress, Yaw, End effectors, Rotation, Bearings, Arches
Proceedings Papers

Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms

Revanth Damerla, Shorya Awtar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A032, August 17–19, 2020
Paper No: DETC2020-22704
DOI: https://doi.org/10.1115/DETC2020-22704
View Paper titled, Constraint-Based Analysis of Parallel Kinematic Articulated Wrist Mechanisms
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Topics: Kinematics, Stress, Tradeoffs, Bearings, Degrees of freedom, Design, Rotation
Proceedings Papers

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A048, August 17–19, 2020
Paper No: DETC2020-22573
DOI: https://doi.org/10.1115/DETC2020-22573
View Paper titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Patient rehabilitation, Robots, Rotation, Degrees of freedom
Journal Articles

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Shorya Awtar, Jason Quint, John Ustick
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2021, 13(1): 015001.
Paper No: JMR-20-1056
DOI: https://doi.org/10.1115/1.4048259
Published Online: October 7, 2020
View Article titled, Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism
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Topics: Actuators, Design, Errors, Flexure mechanisms, Kinematics, Manufacturing, Sensors, Stiffness, Finite element analysis, Bending (Stress)
Journal Articles

Modeling Complex Nonminimum Phase Zeros in Flexure Mechanisms

Leqing Cui, Chinedum Okwudire, Shorya Awtar
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2017, 139(10): 101001.
Paper No: DS-16-1343
DOI: https://doi.org/10.1115/1.4036032
Published Online: June 5, 2017
View Article titled, Modeling Complex Nonminimum Phase Zeros in Flexure Mechanisms
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Topics: Bending (Stress), Displacement, Flexure mechanisms, Modeling, Design, Kinematics, Transfer functions
Journal Articles

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

Marijn Nijenhuis, J. P. Meijaard, Dhanushkodi Mariappan, Just L. Herder, Dannis M. Brouwer, Shorya Awtar
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. May 2017, 139(5): 051401.
Paper No: MD-16-1478
DOI: https://doi.org/10.1115/1.4035861
Published Online: March 20, 2017
View Article titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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Topics: Bending (Stress), Deformation, Displacement, Flexure mechanisms, Kinematics, Stiffness, Stress, Strips, Torsion, Interpolation
Proceedings Papers

Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module Based Flexure Mechanisms

Leqing Cui, Chinedum Okwudire, Shorya Awtar
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T17A002, October 12–14, 2016
Paper No: DSCC2016-9658
DOI: https://doi.org/10.1115/DSCC2016-9658
View Paper titled, Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module Based Flexure Mechanisms
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Topics: Bending (Stress), Dynamics (Mechanics), Flexure mechanisms, Displacement, Design, Eigenvalues, Blocks (Building materials), Frequency response, Kinematics, Manufacturing
Proceedings Papers

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

Marijn Nijenhuis, J. P. Meijaard, Just L. Herder, Shorya Awtar, Dannis M. Brouwer
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A008, August 2–5, 2015
Paper No: DETC2015-46591
DOI: https://doi.org/10.1115/DETC2015-46591
View Paper titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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Topics: Bending (Stress), Stiffness, Strips, Deformation, Flexure mechanisms, Warping, Computer software, Degrees of freedom, Displacement, Errors
Journal Articles

Automatic Instrument Tracking Endo-Illuminator for Intra-Ocular Surgeries

Ke Cao, Ramiro Pinon, Ira Schachar, Thiran Jayasundera, Shorya Awtar
Journal: Journal of Medical Devices
Article Type: Technical Briefs
J. Med. Devices. September 2014, 8(3): 030932.
Paper No: MED-14-1083
DOI: https://doi.org/10.1115/1.4027077
Published Online: July 21, 2014
View Article titled, Automatic Instrument Tracking Endo-Illuminator for Intra-Ocular Surgeries
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Topics: Instrumentation, Surgery
Journal Articles

Modeling Geometric Nonlinearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass

Hamid Moeenfard, Shorya Awtar
Journal: Journal of Mechanical Design
Article Type: Technical Briefs
J. Mech. Des. April 2014, 136(4): 044502.
Paper No: MD-12-1432
DOI: https://doi.org/10.1115/1.4026147
Published Online: February 26, 2014
View Article titled, Modeling Geometric Nonlinearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass
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Topics: Bending (Stress), Displacement, Dynamics (Mechanics), Free vibrations, Modeling, Resonance, Vibration, Flexure mechanisms, Design, Approximation
Proceedings Papers

MEMS Based XY Stage With Large Displacement

Mohammad Olfatnia, Leqing Cui, Pankaj Chopra, Shorya Awtar
Proc. ASME. IDETC-CIE2013, Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems, V001T09A021, August 4–7, 2013
Paper No: DETC2013-13038
DOI: https://doi.org/10.1115/DETC2013-13038
View Paper titled, MEMS Based XY Stage With Large Displacement
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Topics: Displacement, Microelectromechanical systems, Bending (Stress), Stiffness, Actuators, Degrees of freedom, Bearings, Delays, Design, Finite element analysis
Proceedings Papers

Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms

Justin Beroz, Shorya Awtar, A. John Hart
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A029, August 4–7, 2013
Paper No: DETC2013-12582
DOI: https://doi.org/10.1115/DETC2013-12582
View Paper titled, Extensible-Link Kinematic Model for Determining Motion Characteristics of Compliant Mechanisms
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Topics: Compliant mechanisms, Kinematics, Trajectories (Physics), Stress, Polynomials, Topology, Design, Errors, Deformation, Finite element analysis
Journal Articles

Extensible-Link Kinematic Model for Characterizing and Optimizing Compliant Mechanism Motion

Justin Beroz, Shorya Awtar, A. John Hart
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. March 2014, 136(3): 031008.
Paper No: MD-13-1115
DOI: https://doi.org/10.1115/1.4026269
Published Online: January 10, 2014
View Article titled, Extensible-Link Kinematic Model for Characterizing and Optimizing Compliant Mechanism Motion
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Topics: Compliant mechanisms, Deformation, Design, Errors, Kinematics, Topology, Trajectories (Physics), Stress, Shapes
Journal Articles

Nonlinear Strain Energy Formulation of a Generalized Bisymmetric Spatial Beam for Flexure Mechanism Analysis

Shiladitya Sen, Shorya Awtar
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. February 2014, 136(2): 021002.
Paper No: MD-12-1499
DOI: https://doi.org/10.1115/1.4025705
Published Online: November 26, 2013
View Article titled, Nonlinear Strain Energy Formulation of a Generalized Bisymmetric Spatial Beam for Flexure Mechanism Analysis
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Topics: Bending (Stress), Displacement, Flexure mechanisms, Stress, Shapes, Finite element analysis, Stiffness, Rotation
Proceedings Papers

Modeling Geometric Non-Linearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass

Hamid Moeenfard, Shorya Awtar
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 363-371, August 12–15, 2012
Paper No: DETC2012-71498
DOI: https://doi.org/10.1115/DETC2012-71498
View Paper titled, Modeling Geometric Non-Linearities in the Free Vibration of a Planar Beam Flexure With a Tip Mass
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Topics: Approximation, Bending (Stress), Boundary-value problems, Cantilever beams, Deflection, Differential equations, Flexure mechanisms, Free vibrations, Modeling, Nonlinear dynamics
Proceedings Papers

Large Stroke Comb-Drive Actuators Using Reinforced, Clamped, Paired Double Parallelogram (C-DP-DP) Flexure

Mohammad Olfatnia, Siddharth Sood, Shorya Awtar
Proc. ASME. IDETC-CIE2012, Volume 5: 6th International Conference on Micro- and Nanosystems; 17th Design for Manufacturing and the Life Cycle Conference, 231-239, August 12–15, 2012
Paper No: DETC2012-71294
DOI: https://doi.org/10.1115/DETC2012-71294
View Paper titled, Large Stroke Comb-Drive Actuators Using Reinforced, Clamped, Paired Double Parallelogram (C-DP-DP) Flexure
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Topics: Actuators, Bending (Stress), Design, Flexure mechanisms, Stiffness, Bearings, Dimensions, Displacement, Microfabrication
Journal Articles

Design of a Large Range XY Nanopositioning System

Shorya Awtar, Gaurav Parmar
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021008.
Paper No: JMR-12-1125
DOI: https://doi.org/10.1115/1.4023874
Published Online: April 12, 2013
View Article titled, Design of a Large Range XY Nanopositioning System
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Topics: Actuators, Bending (Stress), Design, Sensors, Bearings, Displacement, Resolution (Optics), Kinematics, Noise (Sound)
Journal Articles

A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams

Shiladitya Sen, Shorya Awtar
Journal: Journal of Mechanical Design
Article Type: Research-Article
J. Mech. Des. March 2013, 135(3): 031003.
Paper No: MD-12-1139
DOI: https://doi.org/10.1115/1.4023157
Published Online: January 24, 2013
View Article titled, A Closed-Form Nonlinear Model for the Constraint Characteristics of Symmetric Spatial Beams
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Topics: Bending (Stress), Deformation, Displacement, Stress, Flexure mechanisms, Approximation, Finite element analysis, Stiffness, Design