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Journal Articles

Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation

Xiaowei Shan, Lionel Birglen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. April 2024, 146(4): 045001.
Paper No: MD-23-1495
https://doi.org/10.1115/1.4063763
Published Online: November 7, 2023
View Article titled, Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation
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Topics: Artificial neural networks, Design, Finite element analysis, Grasping, Grippers, Robotics, Errors, Kinematics
Journal Articles

Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects

Nicolas Mouazé, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011009.
Paper No: JMR-20-1116
https://doi.org/10.1115/1.4047988
Published Online: October 7, 2020
View Article titled, Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects
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Topics: Deformation, Grasping, Modeling, Robotics, Simulation, Springs, Grippers, Shapes, Finite element analysis, Engineering simulation
Proceedings Papers

Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell

Mohammad H. FarzanehKaloorazi, Ilian A. Bonev, Lionel Birglen
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A087, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86336
https://doi.org/10.1115/DETC2018-86336
View Paper titled, Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell
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Topics: Optimization, Robotics, Manipulators, Redundancy (Engineering), Reactor protection systems
Proceedings Papers

Deformation Analysis of a Compliant Underactuated Finger Grasping a Soft Object

Nicolas Mouazé, Lionel Birglen
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A001, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85226
https://doi.org/10.1115/DETC2018-85226
View Paper titled, Deformation Analysis of a Compliant Underactuated Finger Grasping a Soft Object
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Topics: Deformation, Grasping, Approximation, Engineering simulation, Finite element analysis, Simulation, Springs
Proceedings Papers

Kinematic and Potential Energy Analysis of Self-Adaptive Robotic Legs

Dmitri Fedorov, Lionel Birglen
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A041, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85824
https://doi.org/10.1115/DETC2018-85824
View Paper titled, Kinematic and Potential Energy Analysis of Self-Adaptive Robotic Legs
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Topics: Kinematics, Potential energy, Robotics, Trajectories (Physics), Degrees of freedom, Grasping, Linkages, Sensors, Shapes, Stability
Journal Articles

Differential Noncircular Pulleys for Cable Robots and Static Balancing

Dmitri Fedorov, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061001.
Paper No: JMR-18-1051
https://doi.org/10.1115/1.4041213
Published Online: September 7, 2018
View Article titled, Differential Noncircular Pulleys for Cable Robots and Static Balancing
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Topics: Cables, Pulleys, Robots, Rotation, Pendulums
Journal Articles

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Bruno Belzile, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051004.
Paper No: JMR-16-1289
https://doi.org/10.1115/1.4037113
Published Online: August 4, 2017
View Article titled, Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing
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Topics: Design, Stiffness, Optimization, Algorithms, Actuators
Journal Articles

Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

Jean-Michel Boucher, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041003.
Paper No: JMR-16-1236
https://doi.org/10.1115/1.4036220
Published Online: April 27, 2017
View Article titled, Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation
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Topics: Actuators, Degrees of freedom, Design, Grasping, Linkages, Optimization, Stiffness, Torque
Proceedings Papers

Analysis and Design of a Remote Center Compliance Universal Joint

Pierre-Olivier Dubois, Lionel Birglen
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A019, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47749
https://doi.org/10.1115/DETC2015-47749
View Paper titled, Analysis and Design of a Remote Center Compliance Universal Joint
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Topics: Design, Universal joints, Mechanical admittance, Finite element analysis, Design engineering, Genetic algorithms, Jacobian matrices, Linkages, Optimization, Screws
Proceedings Papers

Underactuated Finger Closing Motion Control Using Dual Drive Actuation

Jean-Michel Boucher, Lionel Birglen
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A005, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46626
https://doi.org/10.1115/DETC2015-46626
View Paper titled, Underactuated Finger Closing Motion Control Using Dual Drive Actuation
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Topics: Actuators, Degrees of freedom, Design, Design engineering, Genetic algorithms, Geometry, Kinematics, Linkages, Motion control, Motors
Proceedings Papers

Instantaneous-Stiffness Plane Analysis of Underactuated Fingers

Bruno Belzile, Lionel Birglen
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A078, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47310
https://doi.org/10.1115/DETC2015-47310
View Paper titled, Instantaneous-Stiffness Plane Analysis of Underactuated Fingers
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Topics: Stiffness, Geometry, Actuators, Architecture, Computer simulation, Design, Grasping, Optimization, Springs
Proceedings Papers

Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism

Dmitri Fedorov, Lionel Birglen
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A079, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47330
https://doi.org/10.1115/DETC2015-47330
View Paper titled, Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism
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Topics: Degrees of freedom, Design, Linkages, Biomimetics, Equations of motion, Optimization, Screws
Journal Articles

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

Hamed Khakpour, Lionel Birglen, Souheil-Antoine Tahan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2015, 7(3): 034503.
Paper No: JMR-13-1172
https://doi.org/10.1115/1.4028931
Published Online: August 1, 2015
View Article titled, Analysis and Optimization of a New Differentially Driven Cable Parallel Robot
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Topics: Cables, Robots, Optimization
Proceedings Papers

Fuzzy Decision Making for Conceptual Design of a Visual Servoing System Using Mechatronic Multi-Criteria Profile (MMP)

Abolfazl Mohebbi, Sofiane Achiche, Luc Baron, Lionel Birglen
Proc. ASME. IMECE2014, Volume 11: Systems, Design, and Complexity, V011T14A055, November 14–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2014-40442
https://doi.org/10.1115/IMECE2014-40442
View Paper titled, Fuzzy Decision Making for Conceptual Design of a Visual Servoing System Using Mechatronic Multi-Criteria Profile (MMP)
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Topics: Conceptual design, Decision making, Design, Design methodology, Fittings, Performance evaluation, Robotics, Simulation results
Journal Articles

Analysis and Optimization of One-Degree of Freedom Robotic Legs

Lionel Birglen, Carlos Ruella
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041004.
Paper No: JMR-13-1094
https://doi.org/10.1115/1.4027234
Published Online: June 5, 2014
View Article titled, Analysis and Optimization of One-Degree of Freedom Robotic Legs
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Topics: Optimization, Robotics, Robots, Simulation, Trajectories (Physics), Engineering prototypes
Proceedings Papers

Traversability Analysis of a Novel One-DOF Robotic Leg

Lionel Birglen, Carlos Ruella
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A010, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12898
https://doi.org/10.1115/DETC2013-12898
View Paper titled, Traversability Analysis of a Novel One-DOF Robotic Leg
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Topics: Robotics, Design, Actuators, Algorithms, Architecture, Degrees of freedom, Robustness, Simulation, Surface roughness
Journal Articles

Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger

Hamed Khakpour, Lionel Birglen
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2013, 8(2): 021010.
Paper No: CND-12-1041
https://doi.org/10.1115/1.4007359
Published Online: August 31, 2012
View Article titled, Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger
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Topics: Algorithms, Equilibrium (Physics), Linkages, Numerical analysis, Simulation, Torque, Grasping, Springs
Proceedings Papers

Self-Adaptive Compliant Grippers Capable of Pinch Preshaping

Lionel Birglen, Francois Herbecq
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 249-257, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87067
https://doi.org/10.1115/DETC2009-87067
View Paper titled, Self-Adaptive Compliant Grippers Capable of Pinch Preshaping
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Topics: Grippers, Pinch effect, Computer software, Design, Finite element analysis, Linkages, Stiffness
Journal Articles

Robust Design of Inertial Measurement Units Based on Accelerometers

Zhongkai Qin, Luc Baron, Lionel Birglen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. May 2009, 131(3): 031010.
https://doi.org/10.1115/1.3072157
Published Online: March 20, 2009
View Article titled, Robust Design of Inertial Measurement Units Based on Accelerometers
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Topics: Accelerometers, Design, Sensors, Errors
Journal Articles

Design of an Underactuated Compliant Gripper for Surgery Using Nitinol

Mario Doria, Lionel Birglen
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2009, 3(1): 011007.
https://doi.org/10.1115/1.3089249
Published Online: March 17, 2009
View Article titled, Design of an Underactuated Compliant Gripper for Surgery Using Nitinol
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Topics: Design, Grippers, Nickel titanium alloys, Optimization, Surgery