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Proceedings Papers

Controller Implementation of a Powered Transtibial Prosthetic Device

Jinming Sun, Philip A. Voglewede
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 597-603, August 28–31, 2011
Paper No: DETC2011-47957
DOI: https://doi.org/10.1115/DETC2011-47957
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Topics: Control equipment, Prostheses, Control algorithms, Control systems, Engines, Feedback, Matlab, Motors, Resistors, Sensors
Proceedings Papers

Curve Decomposition Analysis for Fixed-Guided Beams With Application to Statically Balanced Compliant Mechanisms

Charles Kim
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 149-158, August 28–31, 2011
Paper No: DETC2011-47829
DOI: https://doi.org/10.1115/DETC2011-47829
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Topics: Compliant mechanisms, Deflection, Modeling, Stiffness, Engineering prototypes, Parametric design
Proceedings Papers

Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators

Xianwen Kong, Jingjun Yu, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1009-1016, August 28–31, 2011
Paper No: DETC2011-48165
DOI: https://doi.org/10.1115/DETC2011-48165
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Topics: Kinematic chains, Manipulators, Screws, Algebra, Kinematics, Parallel mechanisms, Stability
Proceedings Papers

Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Jon Olza
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 387-394, August 28–31, 2011
Paper No: DETC2011-47892
DOI: https://doi.org/10.1115/DETC2011-47892
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Topics: Deformation, Manipulators, Clearances (Engineering), Dimensions, End effectors, Errors, Screws, Stiffness, Trajectories (Physics)
Proceedings Papers

Checking Mobility and Decomposition of Linkages via Pebble Game Algorithm

Adnan Sljoka, Offer Shai, Walter Whiteley
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 493-502, August 28–31, 2011
Paper No: DETC2011-48340
DOI: https://doi.org/10.1115/DETC2011-48340
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Topics: Algorithms, Linkages, Mechanical admittance
Proceedings Papers

Collinear-Type Statically Balanced Compliant Micro Mechanism (SB-CMM): Experimental Comparison Between Pre-Curved and Straight Beams

Nima Tolou, Pablo Estevez, Just L. Herder
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 113-117, August 28–31, 2011
Paper No: DETC2011-47678
DOI: https://doi.org/10.1115/DETC2011-47678
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Topics: Coordinate measuring machines, Stiffness, Manufacturing, Buckling, Compliant mechanisms, Design, Dimensions, Engineering prototypes, Errors, Microelectromechanical systems
Proceedings Papers

Number Enumeration of Planar Pin-Joined Driving Mechanisms

Peter Mitrouchev, Fre´de´ric Maffray, Slim Amri, Abdelghafour Nafiss, Marc Dahan
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 275-287, August 28–31, 2011
Paper No: DETC2011-47056
DOI: https://doi.org/10.1115/DETC2011-47056
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Topics: Actuators, Design, End effectors, Kinematic chains, Linkages, Mechanical admittance, Motors, Robotics, Robots
Proceedings Papers

Design of a Drive Mechanism for a Rectilinear-Gait Based Snake-Inspired Robot

James K. Hopkins, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 817-825, August 28–31, 2011
Paper No: DETC2011-48547
DOI: https://doi.org/10.1115/DETC2011-48547
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Topics: Design, Robots, Engineering prototypes, Surface roughness, Wheels
Proceedings Papers

A Novel Inflatable Tendon Driven Manipulator With Constant Volume

Se´bastien Voisembert, Nazih Mechbal, Alain Riwan, Andre´ Barraco
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1233-1242, August 28–31, 2011
Paper No: DETC2011-47432
DOI: https://doi.org/10.1115/DETC2011-47432
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Topics: Manipulators, Tendons, Cables, Air-supported structures, Robotics, Compression, Design, Robots, Skin, Stiffness
Proceedings Papers

Quadrotor UAV Control: Online Learning Approach

Pong-in Pipatpaibul, P. R. Ouyang
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 701-710, August 28–31, 2011
Paper No: DETC2011-47095
DOI: https://doi.org/10.1115/DETC2011-47095
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Topics: Unmanned aerial vehicles, Control equipment, Iterative learning control, Trajectories (Physics), Simulation results, Surveillance
Proceedings Papers

Singularity Analysis of the 4- R UU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry

Semaan Amine, Mehdi Tale Masouleh, Ste´phane Caro, Philippe Wenger, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1017-1026, August 28–31, 2011
Paper No: DETC2011-48226
DOI: https://doi.org/10.1115/DETC2011-48226
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Topics: Algebra, Geometry, Manipulators, Jacobian matrices, Rotation
Proceedings Papers

Kinematic Modeling and Internal Motion Analysis of Proteins From a Robot Kinematics Viewpoint

Keisuke Arikawa
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 395-404, August 28–31, 2011
Paper No: DETC2011-47970
DOI: https://doi.org/10.1115/DETC2011-47970
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Topics: Kinematics, Modeling, Proteins, Robot kinematics, Jacobian matrices, Manipulators, Approximation, Compliance, Deformation
Proceedings Papers

Robot Kinematic Design Studies for Natural Orifice Surgery

Chi Min Seow, Wei Jian Chin, Carl A. Nelson
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 605-613, August 28–31, 2011
Paper No: DETC2011-47961
DOI: https://doi.org/10.1115/DETC2011-47961
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Topics: Design, Kinematics, Robots, Surgery, Manipulators, Degrees of freedom
Proceedings Papers

Mobility Analysis of Flexure Mechanisms via Screw Algebra

Hai-Jun Su
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 159-168, August 28–31, 2011
Paper No: DETC2011-48012
DOI: https://doi.org/10.1115/DETC2011-48012
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Topics: Algebra, Flexure mechanisms, Mechanical admittance, Screws, Bending (Stress), Chain, Blocks (Building materials), Design, Space, Topology
Proceedings Papers

Geometric Design of Spherical Serial Chains With Curvature Constraints in the Environment

Nina Robson, Anurag Tolety
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 289-295, August 28–31, 2011
Paper No: DETC2011-47263
DOI: https://doi.org/10.1115/DETC2011-47263
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Topics: Chain, Design, Kinematics, Algebra, Failure, Geometry, Interpolation, Manipulators, Trajectories (Physics)
Proceedings Papers

Optimal Trajectory Planning for Brachiation Robot on Ladder With Irregular Branches

Ali Meghdari, Seyyed Mohammad Hosseini Lavasani, Mir Saman Rahimi Mousavi, Mohsen Norouzi
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1131-1137, August 28–31, 2011
Paper No: DETC2011-47648
DOI: https://doi.org/10.1115/DETC2011-47648
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Topics: Control equipment, Robots, Trajectories (Physics)
Proceedings Papers

A Novel Numerical Method to Solve the Inverse Kinematics of 3R Manipulators

E. A. Gonza´lez-Barbosa, M. A. Gonza´lez-Palacios, L. A. Aguilera-Corte´s, C. A. Bernal-Marti´nez
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 503-512, August 28–31, 2011
Paper No: DETC2011-48436
DOI: https://doi.org/10.1115/DETC2011-48436
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Topics: Kinematics, Manipulators, Numerical analysis, Algorithms, Computer software, Geometry, Simulation, Simulation results
Proceedings Papers

Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems

Padmanabhan Kumar, Tristan W. Hill, D. Andrew Bryant, Stephen L. Canfield
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 827-834, August 28–31, 2011
Paper No: DETC2011-48555
DOI: https://doi.org/10.1115/DETC2011-48555
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Topics: Design, Linkages, Modeling, Robotics, Robots, Center of mass, Density, Engineering prototypes, Equilibrium (Physics), Magnets
Proceedings Papers

Reciprocal Screw-Based Force-Closure of Cable-Driven Closed Chains

Shabbir Kurbanhusen Mustafa, Sunil Kumar Agrawal
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1243-1251, August 28–31, 2011
Paper No: DETC2011-47599
DOI: https://doi.org/10.1115/DETC2011-47599
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Topics: Cables, Chain, Screws
Proceedings Papers

Analysis and Synthesis of Multi-Rotor Aerial Vehicles

Qimi Jiang, Daniel Mellinger, Christine Kappeyne, Vijay Kumar
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 711-720, August 28–31, 2011
Paper No: DETC2011-47114
DOI: https://doi.org/10.1115/DETC2011-47114
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Topics: Aircraft, Rotors