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Proceedings Papers

Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A024, August 17–19, 2021
Paper No: DETC2021-66762
DOI: https://doi.org/10.1115/DETC2021-66762
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Topics: Gravity (Force), Manipulators, Reliability, Sensitivity analysis, Uncertainty, Robots, Simulation, Springs, Design, Dimensions
Proceedings Papers

Effect of Matching Buckling Loads on Post-Buckling Behavior in Compliant Mechanisms

A. Numić, T. W. A. Blad, F. van Keulen
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A010, August 17–19, 2021
Paper No: DETC2021-68439
DOI: https://doi.org/10.1115/DETC2021-68439
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Topics: Buckling, Compliant mechanisms, Stress, Deflection, Architecture, Finite element analysis, Stiffness
Proceedings Papers

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A033, August 17–19, 2021
Paper No: DETC2021-70378
DOI: https://doi.org/10.1115/DETC2021-70378
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Topics: Design, Kinematic analysis, Machining, Robots, Stiffness, Kinematics, Manipulators, Degrees of freedom, Hard materials, Milling
Proceedings Papers

A Reconfigurable Variable-Stiffness Parallel Beam for Compliant Robotic Mechanisms Towards Safe Human Interaction

Jiaming Fu, Dongming Gan
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A020, August 17–19, 2021
Paper No: DETC2021-70226
DOI: https://doi.org/10.1115/DETC2021-70226
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Topics: Modeling, Robotics, Stiffness
Proceedings Papers

A Novel Micro-Positioning Stage With Large-Stroke and Adjustable Stiffness

Zhijun Yang, Bingyu Cai, Ruiqi Li, Hao Peng, Youdun Bai
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A019, August 17–19, 2021
Paper No: DETC2021-70068
DOI: https://doi.org/10.1115/DETC2021-70068
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Topics: Bending (Stress), Hinges, Stiffness
Proceedings Papers

A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

Jiaxiang Zhu, Guangbo Hao, Shiyao Li, Shuwen Yu, Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A012, August 17–19, 2021
Paper No: DETC2021-69032
DOI: https://doi.org/10.1115/DETC2021-69032
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Topics: Manipulators, Mirrors, Stiffness, Symmetry (Physics), Design, Finite element analysis, Rotation, Actuators, Compliant mechanisms, Performance characterization
Proceedings Papers

Design and Analysis of a Contact-Aided Variable Stiffness Flexure Hinge (CVSFH)

Shenyuan Dai, Lifang Qiu, Qichao Chen, Yanlin Li
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A007, August 17–19, 2021
Paper No: DETC2021-68366
DOI: https://doi.org/10.1115/DETC2021-68366
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Topics: Bending (Stress), Compliant mechanisms, Design, Hinges, Stiffness
Proceedings Papers

Programmable Stiffness and Applications of 3D Printed TPU Grid Lattices

Yifan Yuan, Cynthia Sung
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A016, August 17–19, 2021
Paper No: DETC2021-69826
DOI: https://doi.org/10.1115/DETC2021-69826
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Topics: Additive manufacturing, Stiffness, Elastic moduli, Density, Wall thickness, Compression, Geometry, Grippers, Manufacturing, Mechanical properties
Proceedings Papers

Methods for Shape Fitting in Morphing Compliant Mechanisms

Alden Yellowhorse, Jelle Rommers, Ali Amoozandeh, Just L. Herder
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A021, August 17–19, 2021
Paper No: DETC2021-70686
DOI: https://doi.org/10.1115/DETC2021-70686
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Topics: Compliant mechanisms, Fittings, Shapes, Geometry, Design, Dimensions, Finite element analysis, Stress, Algebra, Approximation
Proceedings Papers

Conceptual Design of a Compliant Hip Orthosis for Trendelenburg Gait

P. Vugts, J. Rommers, Bram T. Sterke, J. L. Herder
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A004, August 17–19, 2021
Paper No: DETC2021-68104
DOI: https://doi.org/10.1115/DETC2021-68104
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Topics: Conceptual design, Orthotics, Engineering prototypes, Knee, Muscle, Shear (Mechanics), Stiffness, Theoretical analysis
Proceedings Papers

Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

Victor Prost, Heidi V. Peterson, Amos G. Winter, V
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A039, August 17–19, 2021
Paper No: DETC2021-67673
DOI: https://doi.org/10.1115/DETC2021-67673
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Topics: Artificial limbs, Design, Errors, Keel, Optimization, Trajectories (Physics), Durability, Prostheses, Engineering prototypes, Mechanical admittance
Proceedings Papers

Variable Stiffness Design and Analysis of Flexure Hinge Based on ID-LEJ

Yanlin Li, Lifang Qiu, Kang Zhou, Chongxiang Li
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A008, August 17–19, 2021
Paper No: DETC2021-68415
DOI: https://doi.org/10.1115/DETC2021-68415
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Topics: Bending (Stress), Design, Finite element analysis, Hinges, Stiffness
Proceedings Papers

Potential Energy as Design Criterion in Planar Multistable Mechanisms

Edward J. Dold, Philip A. Voglewede
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A027, August 17–19, 2021
Paper No: DETC2021-68550
DOI: https://doi.org/10.1115/DETC2021-68550
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Topics: Design, Potential energy, Optimization, Parametrization, Topology, Compliant mechanisms, Design methodology, Equations of motion, Kinematic analysis, Springs
Proceedings Papers

Modelling the Axis Drift of Short Wire Flexures and Increasing Their Support Stiffness Using Polymers

Boris Daan, Jelle Rommers, Just L. Herder
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A006, August 17–19, 2021
Paper No: DETC2021-68255
DOI: https://doi.org/10.1115/DETC2021-68255
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Topics: Modeling, Polymers, Stiffness, Wire
Proceedings Papers

Structures With Multiple Rigid Configurations Due to Prestress and Unilateral Contacts

Charles Dorn, Yang Li, Sergio Pellegrino
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A044, August 17–19, 2021
Paper No: DETC2021-70397
DOI: https://doi.org/10.1115/DETC2021-70397
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Topics: Degrees of freedom, Design, Equilibrium (Physics), Kinematics, Linkages, Springs, Stability, Stiffness
Proceedings Papers

A Study of a Pendulum-Like Vibration Isolator With Quasi-Zero-Stiffness

Yishen Tian, Dengqing Cao, Yan Wang
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A010, August 17–19, 2021
Paper No: DETC2021-70184
DOI: https://doi.org/10.1115/DETC2021-70184
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Topics: Displacement, Pendulums, Stiffness, Vibration isolators
Proceedings Papers

Automatic Differentiation in Automatic Generation of the Linearized Equations of Motion

Bruce Minaker, Francisco González
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A003, August 17–19, 2021
Paper No: DETC2021-69118
DOI: https://doi.org/10.1115/DETC2021-69118
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Topics: Equations of motion, Computer software, Multibody systems, Computation, Linearization techniques, Stability, Stiffness, Vehicles
Proceedings Papers

Vibration Analysis of Beams Using Alternative Admissible Functions With Penalties

Srividyadhare Kateel, Natalie Baddour
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A025, August 17–19, 2021
Paper No: DETC2021-68459
DOI: https://doi.org/10.1115/DETC2021-68459
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Topics: Vibration, Vibration analysis, Boundary-value problems, Eigenfunctions, Geometry, Mode shapes, Stability, Stiffness
Proceedings Papers

A Strategy for Fine Mesh Resolution in Contact Mechanics

Gaurav Chauda, Daniel J. Segalman
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A010, August 17–19, 2021
Paper No: DETC2021-71360
DOI: https://doi.org/10.1115/DETC2021-71360
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Topics: Contact mechanics, Resolution (Optics), Disks, Brass (Metal), Degrees of freedom, Elasticity, Finite element analysis, Fourier analysis, Linear systems, Metals
Proceedings Papers

Insect Wing Buckling Influences Stress and Stability During Collisions

Mark Jankauski, Ryan Schwab, Cailin Casey, Andrew Mountcastle
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A023, August 17–19, 2021
Paper No: DETC2021-70551
DOI: https://doi.org/10.1115/DETC2021-70551
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Topics: Buckling, Collisions (Physics), Stability, Stress, Wings, Flight, Damage, Springs, Computer simulation, Dynamics (Mechanics)