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Proceedings Papers

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

Brian J. Slaboch, Peter Holtzen, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A026, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71189
https://doi.org/10.1115/DETC2021-71189
View Paper titled, Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology
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Topics: Kinematics, Modeling, Topology, Actuators, Manipulators, Weight (Mass)
Proceedings Papers

Orientation Control of Self-Righting Tensegrity Landers

Alan Zhang, Douglas Hutchings, Mayank Gupta, Alice Agogino
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A025, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70989
https://doi.org/10.1115/DETC2021-70989
View Paper titled, Orientation Control of Self-Righting Tensegrity Landers
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Topics: Robots, Tensegrity
Proceedings Papers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A017, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68143
https://doi.org/10.1115/DETC2021-68143
View Paper titled, AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment
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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots
Proceedings Papers

Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box

Jiefeng Jiang, Fengfeng (Jeff) Xi, Jingjing You, Qunxing Xue
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A016, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68098
https://doi.org/10.1115/DETC2021-68098
View Paper titled, Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box
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Topics: Design engineering, Humanoid robots, Shapes, Wings
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72009
https://doi.org/10.1115/DETC2021-72009
View Paper titled, Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71602
https://doi.org/10.1115/DETC2021-71602
View Paper titled, Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)
Proceedings Papers

Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process

Hiroaki Hanai, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A003, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68287
https://doi.org/10.1115/DETC2021-68287
View Paper titled, Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process
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Topics: Finite element analysis, Humanoid robots, Robots, Acoustics, Instrumentation, Displacement, Jigs and fixtures, Real-time control, Sound pressure
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-66869
https://doi.org/10.1115/DETC2021-66869
View Paper titled, A Geometric Approach for Error Space Estimation of Planar Linkage
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Topics: Errors, Linkages, End effectors, Actuators, Evaluation methods, Geometry, Mechanical admittance, Modeling
Proceedings Papers

Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections

Hai Zhou, Haiping Wu, Jian Xu, Hongbin Fang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A046, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71939
https://doi.org/10.1115/DETC2021-71939
View Paper titled, Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections
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Topics: Dynamic response, Dynamics (Mechanics), Stiffness, Computer simulation, Excitation, Design, Dynamic models, Metamaterials, Origami-inspired design, Steady state
Proceedings Papers

The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure

Peng Liu, Jiayao Ma, Yan Chen, Lin Yuan, Haifeng Zhao, Ke Wang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A032, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67410
https://doi.org/10.1115/DETC2021-67410
View Paper titled, The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure
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Topics: Deformation, Kinematic analysis, Winding (process)
Proceedings Papers

Auxetic Structures Based on Rhombic Tiling

Kanata Warisaya, Hiroaki Hamanaka, Asao Tokolo, Tomohiro Tachi
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A031, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67141
https://doi.org/10.1115/DETC2021-67141
View Paper titled, Auxetic Structures Based on Rhombic Tiling
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Topics: Compliant mechanisms, Corners (Structural elements), Design, Kinematics, Mathematics, Poisson ratio, Tiles, Topology
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70233
https://doi.org/10.1115/DETC2021-70233
View Paper titled, A New Robotic Hand Based on the Design of Fingers With Spatial Motions
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Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes
Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70081
https://doi.org/10.1115/DETC2021-70081
View Paper titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function
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Topics: Actuators, Mobile robots, Robots, Stability, Wheels
Proceedings Papers

Modular Foldable Airship Concept for Subterranean Exploration

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A018, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69954
https://doi.org/10.1115/DETC2021-69954
View Paper titled, Modular Foldable Airship Concept for Subterranean Exploration
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Topics: Caves, Design, Engineering prototypes, Kinematics, Robotics, Structural design, Tunnels, Vehicles
Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67821
https://doi.org/10.1115/DETC2021-67821
View Paper titled, Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method
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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics
Proceedings Papers

A New Robot Path Planning Method Based on LSTM Neural Network and Rapidly-Exploring Random Tree Algorithm

Weifei Hu, Feng Tang, Zhenyu Liu, Jianrong Tan
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A006, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71234
https://doi.org/10.1115/DETC2021-71234
View Paper titled, A New Robot Path Planning Method Based on LSTM Neural Network and Rapidly-Exploring Random Tree Algorithm
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Topics: Algorithms, Artificial neural networks, Path planning, Robots
Proceedings Papers

Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover

Xianwen Kong
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A051, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70059
https://doi.org/10.1115/DETC2021-70059
View Paper titled, Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
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Topics: Parallel mechanisms
Proceedings Papers

Grooved Cam With a Translating Follower Having an Added Ternary-Roller Intermediate Link

Kuan-Lun Hsu, Tung-Hsin Pan, Long-Iong Wu
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A050, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69734
https://doi.org/10.1115/DETC2021-69734
View Paper titled, Grooved Cam With a Translating Follower Having an Added Ternary-Roller Intermediate Link
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Topics: Rollers, Stress
Proceedings Papers

Neural Network Based Transfer Learning for Robot Path Generation

Houcheng Tang, Leila Notash
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A049, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69006
https://doi.org/10.1115/DETC2021-69006
View Paper titled, Neural Network Based Transfer Learning for Robot Path Generation
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Topics: Artificial neural networks, Displacement, Manipulators, Robots
Proceedings Papers

An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation

Andreas Müller
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A048, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67468
https://doi.org/10.1115/DETC2021-67468
View Paper titled, An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation
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Topics: Degrees of freedom, Linkages, Screws