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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
DOI: https://doi.org/10.1115/DETC2022-90105
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Context-Aware Industrial Robot Testing: Low-Cost Virtual Prototyping Environment

Alessandro Pozzi, Luca Puricelli, Marco Rossoni, Elena Spadoni, Marina Carulli, Monica Bordegoni, Giorgio Colombo
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A056, August 14–17, 2022
Paper No: DETC2022-88794
DOI: https://doi.org/10.1115/DETC2022-88794
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Topics: Robots, Testing, Virtual reality, Algorithms, Bridges (Structures), Cutting, Kinematics, Robotics, Simulation, Trajectories (Physics)
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
DOI: https://doi.org/10.1115/DETC2022-89127
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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
DOI: https://doi.org/10.1115/DETC2022-89798
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Topics: Design, Kinematics, Linkages, Simulation, Databases, Algorithms, Degrees of freedom, Screw threads, Shapes, Thread
Proceedings Papers

Origami Claw Tessellation and Its Stacked Structure

David Xing, Zhong You
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A060, August 14–17, 2022
Paper No: DETC2022-88680
DOI: https://doi.org/10.1115/DETC2022-88680
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Topics: Kinematic analysis, Kinematics, Manufacturing, Metamaterials
Proceedings Papers

On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism

Pierluigi Rea, Maurizio Ruggiu, Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A022, August 14–17, 2022
Paper No: DETC2022-89534
DOI: https://doi.org/10.1115/DETC2022-89534
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Topics: Kinematic analysis, Kinematics, Screws
Proceedings Papers

Higher-Order Kinematics of Lower-Pair Chains With Hyper-Multidual Algebra

Daniel Condurache
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A073, August 14–17, 2022
Paper No: DETC2022-88781
DOI: https://doi.org/10.1115/DETC2022-88781
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Topics: Algebra, Chain, Kinematics
Proceedings Papers

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

Nina Robson, Vanessa Audrey
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A054, August 14–17, 2022
Paper No: DETC2022-90614
DOI: https://doi.org/10.1115/DETC2022-90614
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Topics: Robots, Kinematics, Design, Robotics, Testing, Trajectories (Physics)
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
DOI: https://doi.org/10.1115/DETC2022-89138
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Topics: Design engineering, Topology, Kinematics, Actuators, Degrees of freedom, End effectors, Energy consumption, Engineering prototypes, Trajectories (Physics)
Proceedings Papers

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A040, August 14–17, 2022
Paper No: DETC2022-90206
DOI: https://doi.org/10.1115/DETC2022-90206
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Topics: Center of mass, Design, Kinematics, Reliability, Robots, Wheels
Proceedings Papers

Sensitivity Study With Sobol’ Indices in Planar Multistable Mechanisms

Edward J. Dold, Philip A. Voglewede
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A021, August 14–17, 2022
Paper No: DETC2022-89414
DOI: https://doi.org/10.1115/DETC2022-89414
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Topics: Design, Kinematics, Potential energy
Proceedings Papers

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Jay S. Chae, Carl A. Nelson, José Baca, Mukul Mukherjee
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A033, August 14–17, 2022
Paper No: DETC2022-91274
DOI: https://doi.org/10.1115/DETC2022-91274
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Topics: Astronauts, Design, Kinematics, Muscle, Robotics, Space vehicles
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Paper No: DETC2022-90595
DOI: https://doi.org/10.1115/DETC2022-90595
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

On the Computation of the Average of Spatial Displacements

Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark Langer
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A078, August 14–17, 2022
Paper No: DETC2022-90156
DOI: https://doi.org/10.1115/DETC2022-90156
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Topics: Algorithms, Biomechanics, Biomedical imaging, Computation, Displacement, Eigenvalues, Errors, Kinematics, Performance, Separation (Technology)
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
DOI: https://doi.org/10.1115/DETC2022-88998
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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis
Proceedings Papers

Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy

Mahdi Haghshenas-Jaryani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A035, August 14–17, 2022
Paper No: DETC2022-87984
DOI: https://doi.org/10.1115/DETC2022-87984
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Topics: Robots, Shapes, Control algorithms, Control equipment, Dynamics (Mechanics), Kinematics, Navigation, Phase shift, Simulation, Simulation results
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
DOI: https://doi.org/10.1115/DETC2022-87874
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Topics: Design, Machinery, Manufacturing, Degrees of freedom, Algebra, Computers, Cutting, Generative design, Hull, Kinematics
Proceedings Papers

Estimating the Complete Solution Set of the Approximate Path Synthesis Problem for Four-Bar Linkages Using Random Monodromy Loops

Aravind Baskar, Caroline Hills, Mark Plecnik, Jonathan D. Hauenstein
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A026, August 14–17, 2022
Paper No: DETC2022-90402
DOI: https://doi.org/10.1115/DETC2022-90402
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Topics: Linkages, Design, Optimization, Dimensions, Filters, Generators, Kinematics, Optimization algorithms, Polynomials
Proceedings Papers

A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs

Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Paper No: DETC2022-90877
DOI: https://doi.org/10.1115/DETC2022-90877
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Modeling, Resolution (Optics)
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
DOI: https://doi.org/10.1115/DETC2022-89937
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics