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Proceedings Papers

Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory

Dongming Gan, Jorge Dias, Lakmal D. Seneviratne

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A064, August 4–7, 2013

Paper No: DETC2013-12991

DOI: https://doi.org/10.1115/DETC2013-12991

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Topics: Dynamics (Mechanics), Parallel mechanisms, Screws, Modeling, Kinematics, Mechanical admittance, Robots, Topology

Proceedings Papers

Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator

Bryce Lee, Viktor Orekhov, Derek Lahr, Dennis Hong

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A022, August 4–7, 2013

Paper No: DETC2013-13637

DOI: https://doi.org/10.1115/DETC2013-13637

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Topics: Actuators, Design, Error analysis, Friction, Seas, Errors, Force measurement, Robots, Stress, Cantilevers

Proceedings Papers

Design and Development of the Single Motor Propelled Drive-Train (SiMPl-D)

Mahender Mandala, Jonathan Pearlman, Olof Berner, Padmaja Kankipati, Rory Cooper

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A015, August 4–7, 2013

Paper No: DETC2013-13225

DOI: https://doi.org/10.1115/DETC2013-13225

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Topics: Design, Engines, Motors, Trains, Mechanical admittance, Robotics, Space, Surface roughness, Wheels, Center of mass

Proceedings Papers

PCB Origami: A Material-Based Design Approach to Computer-Aided Foldable Electronic Devices

Yoav Sterman, Erik D. Demaine, Neri Oxman

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A029, August 4–7, 2013

Paper No: DETC2013-12497

DOI: https://doi.org/10.1115/DETC2013-12497

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Topics: Computation, Computer-aided engineering, Design, Electrical conductivity, Electronics, Engineering prototypes, Light-emitting diodes, Manufacturing, Materials properties, Printed circuit boards

Proceedings Papers

Singularity Analysis of a Single-Loop Underactuated Wrist

Raffaele Di Gregorio

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A050, August 4–7, 2013

Paper No: DETC2013-12044

DOI: https://doi.org/10.1115/DETC2013-12044

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Topics: Design, Kinematics, Manipulators, Path planning

Proceedings Papers

Manufacture of Arbitrary Cross-Section Composite Honeycomb Cores Based on Origami Techniques

Kazuya Saito, Sergio Pellegrino, Taketoshi Nojima

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A036, August 4–7, 2013

Paper No: DETC2013-12743

DOI: https://doi.org/10.1115/DETC2013-12743

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Topics: Composite materials, Honeycomb structures, Shapes, Advanced materials, Forming limit diagrams, Carbon, Carbon reinforced plastics, Design, Design methodology, Hinges

Proceedings Papers

Advanced Folding Approaches for Deployable Spacecraft Payloads

Whitney D. Reynolds, Sungeun K. Jeon, Jeremy A. Banik, Thomas W. Murphey

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A043, August 4–7, 2013

Paper No: DETC2013-13378

DOI: https://doi.org/10.1115/DETC2013-13378

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Topics: Space vehicles, Packing (Shipments), Packings (Cushioning), Architecture, Composite materials, Design, Membranes, Optical mirrors, Optics, Origami-inspired design

Proceedings Papers

Design of the Second Spine: A Secondary Pathway to Transfer Loads From the Shoulders to the Pelvis

Joon-Hyuk Park, Paul Stegall, Damiano Zanotto, Vineet Vashista, Xin Jin, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A008, August 4–7, 2013

Paper No: DETC2013-12795

DOI: https://doi.org/10.1115/DETC2013-12795

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Topics: Design, Stress, Belts, Musculoskeletal system, Wounds, Human spine, Muscle, String, Weight (Mass)

Proceedings Papers

Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism

Thierry Laliberté, Clément Gosselin

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A001, August 4–7, 2013

Paper No: DETC2013-12107

DOI: https://doi.org/10.1115/DETC2013-12107

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Topics: Engineering prototypes, Inertia (Mechanics), Parallel mechanisms

Proceedings Papers

A Task Driven Approach to Simultaneous Type Synthesis and Dimensional Optimization of Planar Parallel Manipulator Using Algebraic Fitting of a Family of Quadrics

Xiangyun Li, Ping Zhao, Q. J. Ge, Anurag Purwar

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A057, August 4–7, 2013

Paper No: DETC2013-13197

DOI: https://doi.org/10.1115/DETC2013-13197

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Topics: Algebra, Fittings, Manipulators, Optimization, Errors, Kinematics, Surface fitting, Displacement, Geometry, Manifolds

Proceedings Papers

Novel Design Concept of Planar Litz Winding Without Via Using Folded Printed Circuit Board

T. Nomura, K. Seto, K. Toshiyuki

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A023, August 4–7, 2013

Paper No: DETC2013-12226

DOI: https://doi.org/10.1115/DETC2013-12226

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Topics: Design, Printed circuit boards, Winding (process), Wire, Inductors, Manufacturing, Batteries, Cables, Finite element methods, Finite element model

Proceedings Papers

Four Motion Branches of an Origami Based Eight Bar Spatial Mechanism

Yun Qin, Jian S. Dai

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A030, August 4–7, 2013

Paper No: DETC2013-12584

DOI: https://doi.org/10.1115/DETC2013-12584

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Topics: End effectors, Kinematic analysis, Mechanical admittance, Screws

Proceedings Papers

Surface Electromyographic Control of a Humanoid Robot

Alex W. Grammar, Robert L. Williams, II

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A016, August 4–7, 2013

Paper No: DETC2013-13345

DOI: https://doi.org/10.1115/DETC2013-13345

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Topics: Humanoid robots, Circuits, Computer software, Muscle, Electromyography, Hardware, Robotics, Robots, Signals

Proceedings Papers

Grid-Based Scan-to-Map Matching for Accurate Simultaneous Localization and Mapping: Theory and Preliminary Numerical Study

Kunjin Ryu, Tomonari Furukawa, Stanislaw Antol, Gamini Dissanayake

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A065, August 4–7, 2013

Paper No: DETC2013-13121

DOI: https://doi.org/10.1115/DETC2013-13121

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Topics: Errors, Gaussian distribution

Proceedings Papers

Origami Rotors: Imparting Continuous Rotation to a Moving Platform Using Compliant Flexure Hinges

Matthew S. Moses, M. Kendal Ackerman, Gregory S. Chirikjian

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A037, August 4–7, 2013

Paper No: DETC2013-12753

DOI: https://doi.org/10.1115/DETC2013-12753

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Topics: Bending (Stress), Hinges, Rotation, Rotors, Chain, Kinematic chains, Blood vessels, Fluids, Mechanical admittance, Microscale devices

Proceedings Papers

Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots

Andrew Boddiford, Charlie Manion, Kwan Suk Kim, Pradeep Radhakrishnan, Luis Sentis

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A051, August 4–7, 2013

Paper No: DETC2013-12285

DOI: https://doi.org/10.1115/DETC2013-12285

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Topics: Robots

Proceedings Papers

Towards Realization of Shape-Controlled Adaptable Buildings Following a Robotics Approach

Eftychios G. Christoforou, Andreas Müller, Marios C. Phocas, Maria Matheou, Socrates Arnos

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A009, August 4–7, 2013

Paper No: DETC2013-12885

DOI: https://doi.org/10.1115/DETC2013-12885

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Topics: Robotics, Shapes, Structures, Linkages, Actuators, Brakes, Chain, Design, Optimal control, Path planning

Proceedings Papers

Shield Design for Shape-Shifting Surfaces

Craig Lusk, Daniel E. Perez

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A002, August 4–7, 2013

Paper No: DETC2013-12186

DOI: https://doi.org/10.1115/DETC2013-12186

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Topics: Design, Shapes, Corners (Structural elements), Deformation, Algorithms, Biomedicine, Body armor

Proceedings Papers

Kinematics and Path Planning of a Six-Degrees-of-Freedom Robot Manipulator

Carlos Mondragon, Reza Fotouhi

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A058, August 4–7, 2013

Paper No: DETC2013-13475

DOI: https://doi.org/10.1115/DETC2013-13475

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Topics: Kinematics, Manipulators, Path planning, Robotics, Algorithms, Biomedicine, Collisions (Physics), Mobile robots

Proceedings Papers

An Approach for Understanding Action Origami as Kinematic Mechanisms

Landen A. Bowen, Clayton L. Grames, Spencer P. Magleby, Robert J. Lang, Larry L. Howell

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A044, August 4–7, 2013

Paper No: DETC2013-13407

DOI: https://doi.org/10.1115/DETC2013-13407

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Topics: Kinematics

2 3 4 5

NARROW

Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory

Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator

Design and Development of the Single Motor Propelled Drive-Train (SiMPl-D)

PCB Origami: A Material-Based Design Approach to Computer-Aided Foldable Electronic Devices

Singularity Analysis of a Single-Loop Underactuated Wrist

Manufacture of Arbitrary Cross-Section Composite Honeycomb Cores Based on Origami Techniques

Advanced Folding Approaches for Deployable Spacecraft Payloads

Design of the Second Spine: A Secondary Pathway to Transfer Loads From the Shoulders to the Pelvis

Dynamic Balancing of Two-DOF Parallel Mechanisms Using a Counter-Mechanism

A Task Driven Approach to Simultaneous Type Synthesis and Dimensional Optimization of Planar Parallel Manipulator Using Algebraic Fitting of a Family of Quadrics

Novel Design Concept of Planar Litz Winding Without Via Using Folded Printed Circuit Board

Four Motion Branches of an Origami Based Eight Bar Spatial Mechanism

Surface Electromyographic Control of a Humanoid Robot

Grid-Based Scan-to-Map Matching for Accurate Simultaneous Localization and Mapping: Theory and Preliminary Numerical Study

Origami Rotors: Imparting Continuous Rotation to a Moving Platform Using Compliant Flexure Hinges

Experiments to Validate the Use of a Control Moment Gyroscope (CMG) to Turn Robots

Towards Realization of Shape-Controlled Adaptable Buildings Following a Robotics Approach

Shield Design for Shape-Shifting Surfaces

Kinematics and Path Planning of a Six-Degrees-of-Freedom Robot Manipulator

An Approach for Understanding Action Origami as Kinematic Mechanisms

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