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Proceedings Papers

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

Marcos B. Oliveira, Alexander Lurie, David Ewen, Philip Long, Taskin Padir, Samuel M. Felton

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A015, August 18–21, 2019

Paper No: DETC2019-97842

DOI: https://doi.org/10.1115/DETC2019-97842

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Topics: Actuators, Additive manufacturing, Casting, Manufacturing, Cutting, Damage, Deflection, Design, Exoskeleton devices, Grippers

Proceedings Papers

Kalman Filter Based Sensor Fusion for a Mobile Manipulator

Barnaba Ubezio, Shashank Sharma, Guglielmo Van der Meer, Michele Taragna

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A043, August 18–21, 2019

Paper No: DETC2019-97241

DOI: https://doi.org/10.1115/DETC2019-97241

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Topics: Kalman filters, Manipulators, Sensors, Algorithms, End effectors, Calibration, Filters, Microelectromechanical systems, Noise (Sound), Robots

Proceedings Papers

Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method

Sonia C. García, Juan A. Gallego-Sanchez

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A001, August 18–21, 2019

Paper No: DETC2019-97091

DOI: https://doi.org/10.1115/DETC2019-97091

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Topics: Design, Finite element analysis, Displacement, Rigid-body mechanisms

Proceedings Papers

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Jiayin Xie, Chenghao Bi, David J. Cappelleri, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A057, August 18–21, 2019

Paper No: DETC2019-97306

DOI: https://doi.org/10.1115/DETC2019-97306

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Topics: Design, Simulation, Robots, Shapes, Adhesion, Errors, Friction

Proceedings Papers

Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

Shuaishuai Lu, Peng Yan

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A008, August 18–21, 2019

Paper No: DETC2019-97690

DOI: https://doi.org/10.1115/DETC2019-97690

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Topics: Modeling, Springs, Temperature effects, Stress, Temperature, Finite element analysis, Bending (Stress), Compliant mechanisms, Mechanical properties, Motion control

Proceedings Papers

Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

Shrinath Deshpande, Anurag Purwar

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A029, August 18–21, 2019

Paper No: DETC2019-98193

DOI: https://doi.org/10.1115/DETC2019-98193

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Topics: Creativity, Linkages, Machine learning, Kinematics, Computational methods, Design, Statistical distributions, Algorithms, Artificial neural networks, Bridges (Structures)

Proceedings Papers

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

Xiaorong Zhu, Huiping Shen, Chengqi Wu, Damien Chablat, Tingli Yang

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A022, August 18–21, 2019

Paper No: DETC2019-97007

DOI: https://doi.org/10.1115/DETC2019-97007

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Topics: Algorithms, Mechanical admittance, Parallel mechanisms, Computer software, Computer-aided engineering, Design, Dimensions, Kinematics, Optimization

Proceedings Papers

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

Latifah Nurahmi, Dongming Gan

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A064, August 18–21, 2019

Paper No: DETC2019-97851

DOI: https://doi.org/10.1115/DETC2019-97851

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Topics: Dynamic analysis, Parallel mechanisms, Screws, Mechanical admittance, Rotation

Proceedings Papers

Robotics Simulator for Development and Verification of Swarm Behaviors

Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. McDonald, Michael A. Neumann, Christopher A. Kitts

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A050, August 18–21, 2019

Paper No: DETC2019-97622

DOI: https://doi.org/10.1115/DETC2019-97622

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Topics: Robotics, Simulation, Composite materials, Dynamics (Mechanics), Navigation, Robots

Proceedings Papers

An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

Bo-Rong Yang, Yu-Cheng Zhang, Hee-Hyol Lee, Eiichiro Tanaka

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A036, August 18–21, 2019

Paper No: DETC2019-97796

DOI: https://doi.org/10.1115/DETC2019-97796

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Topics: Stairs, Trajectories (Physics), Ultrasonic transducers, Roads, Safety, Simulation

Proceedings Papers

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

Duanling Li, Kaijie Dong, Xingze Wang, Biao Li, Zhou Su

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A016, August 18–21, 2019

Paper No: DETC2019-97845

DOI: https://doi.org/10.1115/DETC2019-97845

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Topics: Design, Cables, Stiffness, Deformation, Friction, Theoretical analysis

Proceedings Papers

The Design of Robust Phase Oscillator for Wearable Robotic Systems

Juan De La Fuente, Susheelkumar C. Subramanian, Prudhvi Tej Chinimilli, Sangram Redkar, Thomas Sugar

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A058, August 18–21, 2019

Paper No: DETC2019-97453

DOI: https://doi.org/10.1115/DETC2019-97453

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Topics: Design, Robotics, Robots, Control equipment, Damping, Exoskeleton devices, Limit cycles, Noise (Sound), Pendulums, Robustness

Proceedings Papers

On the Geometry of Stiffness and Compliance Under Concatenation

Charles J. Kim

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A002, August 18–21, 2019

Paper No: DETC2019-97161

DOI: https://doi.org/10.1115/DETC2019-97161

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

Proceedings Papers

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

Benjamin Abruzzo, David Cappelleri, Philippos Mordohai

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A044, August 18–21, 2019

Paper No: DETC2019-97377

DOI: https://doi.org/10.1115/DETC2019-97377

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Topics: Robotics, Teams, Robots, Errors, Kalman filters, Mobile robots, Sensors, Simulation, Uncertainty, Unmanned aerial vehicles

Proceedings Papers

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

Nianfeng Wang, Fan Yue, Canran Li, Xianmin Zhang

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A009, August 18–21, 2019

Paper No: DETC2019-97758

DOI: https://doi.org/10.1115/DETC2019-97758

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Topics: Bending (Stress), Optimization, Stress, Displacement, Stiffness, Design

Proceedings Papers

Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

Shashank Sharma, Anurag Purwar

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A030, August 18–21, 2019

Paper No: DETC2019-98194

DOI: https://doi.org/10.1115/DETC2019-98194

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Topics: Simulation

Proceedings Papers

Computing Robust Inverse Kinematics Under Uncertainty

Anirban Sinha, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A065, August 18–21, 2019

Paper No: DETC2019-97945

DOI: https://doi.org/10.1115/DETC2019-97945

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Topics: Kinematics, Uncertainty, Errors, Redundant manipulators, Robots, End effectors, Probability, Robot motion, Robotics, Simulation

Proceedings Papers

Determining the Number of Distinct Solutions in Planar Mechanism Design

Lawrence Funke, Jonathan Raney, Cyler Caldwell

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A023, August 18–21, 2019

Paper No: DETC2019-97360

DOI: https://doi.org/10.1115/DETC2019-97360

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Topics: Design, Modal assurance criterion, Artificial neural networks, Self-organization

Proceedings Papers

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Matthew W. Powelson, Wesley A. Demirjian, Stephen L. Canfield

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A051, August 18–21, 2019

Paper No: DETC2019-98012

DOI: https://doi.org/10.1115/DETC2019-98012

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Topics: Adhesives, Robots, Design, Adhesion, Design methodology, Sensors, Surveillance, Suspension systems, Vehicles, Weight (Mass)

Proceedings Papers

Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty

Po-Yu Chen, Kuei-Yuan Chan

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A059, August 18–21, 2019

Paper No: DETC2019-97503

DOI: https://doi.org/10.1115/DETC2019-97503

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Topics: Manipulators, Manufacturing, Uncertainty, Errors, Robots, Flanges, Rotation, Simulation results, Testing

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NARROW

Hybrid Fabrication of a Soft Bending Actuator With Casting and Additive Manufacturing

Kalman Filter Based Sensor Fusion for a Mobile Manipulator

Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method

Towards Dynamic Simulation Guided Optimal Design of Tumbling Microrobots

Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect

Computational Creativity via Assisted Variational Synthesis of Mechanisms Using Deep Generative Models

Automatic Mobility Analysis of Parallel Mechanisms: An Algorithm Approach Based on Position and Orientation Characteristic Equations

Dynamic Analysis of the 3-RRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis

Robotics Simulator for Development and Verification of Swarm Behaviors

An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely

Design and Analysis of Synchronous Joint for SAR Antenna Deployable Mechanism

The Design of Robust Phase Oscillator for Wearable Robotic Systems

On the Geometry of Stiffness and Compliance Under Concatenation

A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives

Optimization of a 2DOF Positioning Stage Using Corrugated Flexure Units Under Stress Constraints

Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical Mechanisms

Computing Robust Inverse Kinematics Under Uncertainty

Determining the Number of Distinct Solutions in Planar Mechanism Design

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Improving Hole-Searching Accuracy for Peg-in-Hole Assembly With Manipulator Harmonic Drive Uncertainty

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