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Proceedings Papers

Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading

Joshua Prendergast, Manaswin Oddiraju, Mostafa Nouh, Souma Chowdhury

Proc. ASME. IDETC-CIE2022, Volume 3B: 48th Design Automation Conference (DAC), V03BT03A027, August 14–17, 2022

Paper No: DETC2022-90132

DOI: https://doi.org/10.1115/DETC2022-90132

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Topics: Absorption, Conceptual design, Design, Displacement, End effectors, Finite element analysis, Grippers, Optimization, Poisson ratio, Robotics

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

Paper No: DETC2022-89384

DOI: https://doi.org/10.1115/DETC2022-89384

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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes

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

Self-Aligning Rotational Latching Mechanisms

Gabriel I. Fernandez, Samuel Gessow, Justin Quan, Dennis Hong

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A024, August 14–17, 2022

Paper No: DETC2022-89801

DOI: https://doi.org/10.1115/DETC2022-89801

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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard

Proceedings Papers

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Patrick McGowan, Guangbo Hao

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A016, August 14–17, 2022

Paper No: DETC2022-90939

DOI: https://doi.org/10.1115/DETC2022-90939

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Topics: Compliant mechanisms, Design, Displacement, Finite element analysis, Computer software, Deformation, End effectors, Grippers, Rigid-body mechanisms, Robotics

Proceedings Papers

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Andrew Sharp, Austin Lovan, Eduardo Herrera, Evan Laske

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A043, August 14–17, 2022

Paper No: DETC2022-89299

DOI: https://doi.org/10.1115/DETC2022-89299

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Topics: End effectors, Grippers, Robotics, Computer software, Gates (Closures), Design, Drills (Tools), Filters, Fire, Grasping

Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022

Paper No: DETC2022-91310

DOI: https://doi.org/10.1115/DETC2022-91310

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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics

Proceedings Papers

Task Modification Scheme for a Collaborative Robot

Hardeep Singh, Rajesh Kumar, Subir Kumar Saha

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A075, August 14–17, 2022

Paper No: DETC2022-89720

DOI: https://doi.org/10.1115/DETC2022-89720

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Topics: Robots, Sliding mode control, Algorithms, Control equipment, End effectors, Human dynamics, Ignorance, Trajectories (Physics), Dynamics (Mechanics), Inertia (Mechanics)

Proceedings Papers

Connecting Design Actions, Reasoning, and Outcomes in Concept-Selection

Yakira Mirabito, Kosa Goucher-Lambert

Proc. ASME. IDETC-CIE2021, Volume 6: 33rd International Conference on Design Theory and Methodology (DTM), V006T06A037, August 17–19, 2021

Paper No: DETC2021-71830

DOI: https://doi.org/10.1115/DETC2021-71830

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Topics: Design, Performance, Decision making, Dynamics (Mechanics), End effectors, Engineers, Preferences

Proceedings Papers

Design of a New Piezoelectrically Actuated Compliant Microgripper With High Area Usage Efficiency

Zekui Lyu, Qingsong Xu

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A001, August 17–19, 2021

Paper No: DETC2021-67371

DOI: https://doi.org/10.1115/DETC2021-67371

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Topics: Design, Displacement, Microassembling, Grippers, Optimization, Bridges (Structures), Brittleness, Clamps (Tools), Construction, Damage

Proceedings Papers

Design, Modeling, and Optimization of a Novel Asymmetrical Piezoelectrically Actuated Microgripper

Zekui Lyu, Qingsong Xu

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A039, August 17–19, 2021

Paper No: DETC2021-68787

DOI: https://doi.org/10.1115/DETC2021-68787

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Topics: Design, Modeling, Optimization, Displacement, Grippers, Resonance, Biomedicine, Bridges (Structures), Clamps (Tools), End effectors

Proceedings Papers

Development of an End-Effector for Mitigation of Collisions

Domenico Tommasino, Matteo Bottin, Giulio Cipriani, Alberto Doria, Giulio Rosati

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A042, August 17–19, 2021

Paper No: DETC2021-68928

DOI: https://doi.org/10.1115/DETC2021-68928

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Topics: Collisions (Physics), Design, Dynamics (Mechanics), End effectors, Robotics, Robots, Computer simulation, Algorithms, Compliant mechanisms, Control systems

Proceedings Papers

Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission

Gabriele Maria Achilli, Silvia Logozzo, Maria Cristina Valigi, Monica Malvezzi

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A005, August 17–19, 2021

Paper No: DETC2021-72162

DOI: https://doi.org/10.1115/DETC2021-72162

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Topics: End effectors, Grasping, Grippers, Modeling, Simulation

Proceedings Papers

Delta Based Non-Anthropomorphic Hand

Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A013, August 17–19, 2021

Paper No: DETC2021-67349

DOI: https://doi.org/10.1115/DETC2021-67349

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Topics: Actuators, Design, End effectors, Feedback, Oscillations, Robotics, Robots, Springs

Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021

Paper No: DETC2021-72009

DOI: https://doi.org/10.1115/DETC2021-72009

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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)

Proceedings Papers

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021

Paper No: DETC2021-71602

DOI: https://doi.org/10.1115/DETC2021-71602

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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)

Proceedings Papers

A Geometric Approach for Error Space Estimation of Planar Linkage

Jianzhong Ding, Chunjie Wang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A047, August 17–19, 2021

Paper No: DETC2021-66869

DOI: https://doi.org/10.1115/DETC2021-66869

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Topics: Errors, Linkages, End effectors, Actuators, Evaluation methods, Geometry, Mechanical admittance, Modeling

Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021

Paper No: DETC2021-70233

DOI: https://doi.org/10.1115/DETC2021-70233

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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes

Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021

Paper No: DETC2021-71518

DOI: https://doi.org/10.1115/DETC2021-71518

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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety

Proceedings Papers

Spatial Mechanism-Environment Contact Geometric Models

Nina Robson, Aaron Lee

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A054, August 17–19, 2021

Paper No: DETC2021-71380

DOI: https://doi.org/10.1115/DETC2021-71380

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Topics: Degrees of freedom, Design, End effectors, Kinematic chains, Kinematics

2 3 4 5

NARROW

Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading

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

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

Self-Aligning Rotational Latching Mechanisms

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Practical End-Effector Development Through Task Interface Taxonomy Analysis

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Task Modification Scheme for a Collaborative Robot

Connecting Design Actions, Reasoning, and Outcomes in Concept-Selection

Design of a New Piezoelectrically Actuated Compliant Microgripper With High Area Usage Efficiency

Design, Modeling, and Optimization of a Novel Asymmetrical Piezoelectrically Actuated Microgripper

Development of an End-Effector for Mitigation of Collisions

Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission

Delta Based Non-Anthropomorphic Hand

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

A Geometric Approach for Error Space Estimation of Planar Linkage

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Spatial Mechanism-Environment Contact Geometric Models

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