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Proceedings Papers

An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Michele Angelini, Edoardo Ida', Daniele Bertin, Marco Carricato, Enrico Mantovani, Davide Bazzi, Vincenzo Orassi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A056, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110570
https://doi.org/10.1115/DETC2023-110570
View Paper titled, An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
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Topics: Cables, Robots
Proceedings Papers

Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot

Tahir Rasheed, Philip Long, Taskin Padir, Stéphane Caro
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A010, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116412
https://doi.org/10.1115/DETC2023-116412
View Paper titled, Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot
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Topics: Cables, Robots, Composite materials, Equilibrium (Physics), Gantry cranes, Simulation, Stability
Proceedings Papers

Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots

Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A013, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116640
https://doi.org/10.1115/DETC2023-116640
View Paper titled, Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots
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Topics: Algorithms, Cables, Robots, Sensitivity analysis, Tension
Proceedings Papers

Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces

Lei Jin, Boxiang Zhang, Maitha Alqaydi, Xiaoming Wang, Tarek Taha, Dongming Gan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A008, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116327
https://doi.org/10.1115/DETC2023-116327
View Paper titled, Kinetostatic Modeling and Cable Tension Optimization of Cable-Driven Parallel Robots on Cylindrical Surfaces
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Topics: Cables, Modeling, Optimization, Robots, Tension
Proceedings Papers

Design of Detachable Winch System for Field-Deployable Cable Driven Parallel Robot

Arely Flores Guevara, Matthew Q. Marshall
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A078, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110562
https://doi.org/10.1115/DETC2023-110562
View Paper titled, Design of Detachable Winch System for Field-Deployable Cable Driven Parallel Robot
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Topics: Cables, Design, Robots
Proceedings Papers

Testing and Validation of a Mobile Damping Robot for Power Lines

Andrew Choi, Oumar Barry
Proc. ASME. IDETC-CIE2023, Volume 12: 35th Conference on Mechanical Vibration and Sound (VIB), V012T12A003, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115071
https://doi.org/10.1115/DETC2023-115071
View Paper titled, Testing and Validation of a Mobile Damping Robot for Power Lines
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Topics: Damping, Mobile robots, Robots, Testing, Transmission lines, Vibration, Vibration control, Wind, Cables, Equations of motion
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89714
https://doi.org/10.1115/DETC2022-89714
View Paper titled, Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures
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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90595
https://doi.org/10.1115/DETC2022-90595
View Paper titled, A Modular Continuum Manipulator for Aerial Manipulation and Perching
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71064
https://doi.org/10.1115/DETC2021-71064
View Paper titled, Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach
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Topics: Artificial neural networks, Cables, Kinematics, Robots, Algorithms, Equilibrium (Physics), Function approximation, Gravity (Force), Kinematic analysis, Optimization
Proceedings Papers

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger

Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Zongquan Deng
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A001, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67340
https://doi.org/10.1115/DETC2021-67340
View Paper titled, Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger
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Topics: Cables, Robotics, Engines, Motors, Pulleys, Tendons, Design, Equilibrium (Physics), Linkages, Simulation experiments
Proceedings Papers

Combinatorial Optimization of Pre-Formed Hose Assemblies

Erik Gustafsson, Johan Persson, Mehdi Tarkian
Proc. ASME. IDETC-CIE2021, Volume 3B: 47th Design Automation Conference (DAC), V03BT03A033, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71408
https://doi.org/10.1115/DETC2021-71408
View Paper titled, Combinatorial Optimization of Pre-Formed Hose Assemblies
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Topics: Optimization, Cables, Engineers, Manufacturing, Design automation, Pareto optimization, Path planning
Proceedings Papers

Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton

Jiaxu Huang, Rand Hidayah, Sunil Agrawal, Jorge A. Diez, Nicolas García-Aracil
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A044, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69353
https://doi.org/10.1115/DETC2021-69353
View Paper titled, Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton
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Topics: Cables, Exoskeleton devices, Force sensors, Sensors, Calibration, Control equipment, Dynamic testing (Materials), Errors, Manufacturing, Robotics
Proceedings Papers

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Etienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A038, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71778
https://doi.org/10.1115/DETC2021-71778
View Paper titled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
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Topics: Cables, Cranes, Design, Robots, Actuators, Dynamics (Mechanics), Engines, Inertia (Mechanics), Modeling, Motors
Proceedings Papers

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance

Chong Liu, Rand Hidayah, Sunil Agrawal
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A040, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67808
https://doi.org/10.1115/DETC2021-67808
View Paper titled, Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance
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Topics: Actuators, Cables, Design, Fourier analysis, Exoskeleton devices, Motors, Degrees of freedom, Engineering prototypes, Curve fitting, Feedback
Proceedings Papers

Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator

Shuai Li, Damiano Zanotto
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A034, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71797
https://doi.org/10.1115/DETC2021-71797
View Paper titled, Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator
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Topics: Reinforcement learning, Transportation systems, Unmanned aerial vehicles, Cables, Accounting, Collisions (Physics), Computer simulation, Degrees of freedom, Dynamic models, Dynamics (Mechanics)
Proceedings Papers

Trajectory Planning for a 3-S P S-U Tensegrity Mechanism

Swaminath Venkateswaran, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A004, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69957
https://doi.org/10.1115/DETC2021-69957
View Paper titled, Trajectory Planning for a 3-S P S-U Tensegrity Mechanism
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Topics: Tensegrity mechanisms, Trajectories (Physics), Control equipment, Junctions, Motors, Robots, Springs, Algorithms, Cables, Errors
Proceedings Papers

Thermal Characteristics of Kickless Welding Cables Using Finite Element Analysis

James Heist, K. J. Berry
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 667-677, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0084
https://doi.org/10.1115/CIE1991-0084
View Paper titled, Thermal Characteristics of Kickless Welding Cables Using Finite Element Analysis
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Topics: Cables, Finite element analysis, Welding, Copper, Engineering prototypes, Computer simulation, Computer software, Computer-aided design, Computer-aided engineering, Construction
Proceedings Papers

Approximate Linear Theories for the Dynamics of Slack Cables Supporting a Discrete Mass

S.-P. Cheng, N. C. Perkins
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Modal Analysis, Modeling, Diagnostics, and Control — Analytical and Experimental, 85-88, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0364
https://doi.org/10.1115/DETC1991-0364
View Paper titled, Approximate Linear Theories for the Dynamics of Slack Cables Supporting a Discrete Mass
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Topics: Cables, Dynamics (Mechanics), Tension, Approximation, Equilibrium (Physics), Mode shapes, Vibration
Proceedings Papers

Dynamic Overturning Response of an Army Vehicle Subjected to a Side-On Blast Overpressure

Aaron Das Gupta, Henry L. Wisniewski
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 2 — Finite Elements/Computational Geometry; Computers in Education; Robotics and Controls, 49-57, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0096
https://doi.org/10.1115/CIE1991-0096
View Paper titled, Dynamic Overturning Response of an Army Vehicle Subjected to a Side-On Blast Overpressure
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Topics: Army, Vehicles, Cables, Defense industry, Diffraction, Drag (Fluid dynamics), Electronic equipment, Hardening, Manufacturing, Multibody dynamics