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Proceedings Papers

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A004, August 14–17, 2022

Paper No: DETC2022-89406

DOI: https://doi.org/10.1115/DETC2022-89406

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Topics: Stability, Stiffness, Springs, Potential energy, Deformation, Design, Dimensions, Engineering simulation, Kinematics, Parametric design

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)

NARROW

A Curved Compliant Differential Mechanism With Neutral Stability

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

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

Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting

LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design

Origami Claw Tessellation and Its Stacked Structure

On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism

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

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

Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Sensitivity Study With Sobol’ Indices in Planar Multistable Mechanisms

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

A Modular Continuum Manipulator for Aerial Manipulation and Perching

On the Computation of the Average of Spatial Displacements

Kinematics of an Origami Inspired Millipede Robot

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

Systematic Generation of 5-Axis Manufacturing Machines

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

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

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