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Venkatasubramanian Kalpathy Venkiteswaran
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Journal Articles

Surgical Applications of Compliant Mechanisms: A Review

Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. April 2021, 13(2): 020801.
Paper No: JMR-20-1344
https://doi.org/10.1115/1.4049491
Published Online: January 22, 2021
View Article titled, Surgical Applications of Compliant Mechanisms: A Review
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Topics: Compliant mechanisms, Design, Surgery, Grasping, Cutting, Robots
Journal Articles

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061006.
Paper No: JMR-19-1401
https://doi.org/10.1115/1.4046838
Published Online: May 12, 2020
View Article titled, A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study
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Topics: Design, Manipulators, Stress, Deflection, Magnetic fields
Journal Articles

A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2018, 140(9): 092305.
Paper No: MD-18-1111
https://doi.org/10.1115/1.4040628
Published Online: July 9, 2018
View Article titled, A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section
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Topics: Compliant mechanisms, Design, Displacement, Stress, Optimization, Finite element analysis, Kinematics, Deformation, Shapes
Proceedings Papers

Pseudo-Rigid-Body Models of Initially-Curved and Straight Beams for Designing Compliant Mechanisms

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A006, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67431
https://doi.org/10.1115/DETC2017-67431
View Paper titled, Pseudo-Rigid-Body Models of Initially-Curved and Straight Beams for Designing Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Finite element analysis, Kinematics
Journal Articles

Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041007.
Paper No: JMR-16-1348
https://doi.org/10.1115/1.4035992
Published Online: May 2, 2017
View Article titled, Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model
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Topics: Compliant mechanisms, Design, Optimization, Topology, Stress, Finite element analysis
Proceedings Papers

Compliant Mechanism Design Through Topology Optimization Using Pseudo-Rigid-Body Models

Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A023, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59946
https://doi.org/10.1115/DETC2016-59946
View Paper titled, Compliant Mechanism Design Through Topology Optimization Using Pseudo-Rigid-Body Models
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Topics: Compliant mechanisms, Design, Optimization, Topology, Deformation, Finite element methods, Kinematics, Algebra, Euler-Bernoulli beam theory, Genetic algorithms
Journal Articles

Extension Effects in Compliant Joints and Pseudo-Rigid-Body Models

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2016, 138(9): 092302.
Paper No: MD-15-1662
https://doi.org/10.1115/1.4034111
Published Online: July 21, 2016
View Article titled, Extension Effects in Compliant Joints and Pseudo-Rigid-Body Models
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Topics: Compliant mechanisms, Errors, Euler-Bernoulli beam theory, Finite element analysis, Springs, Stress, Deflection, Shear (Mechanics), Timoshenko beam theory, Shapes
Journal Articles

A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061001.
Paper No: JMR-15-1116
https://doi.org/10.1115/1.4032862
Published Online: June 10, 2016
View Article titled, A Three-Spring Pseudorigid-Body Model for Soft Joints With Significant Elongation Effects
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Topics: Deformation, Elongation, Errors, Optimization, Springs, Stress, Deflection, Compliant mechanisms
Proceedings Papers

Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A020, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47267
https://doi.org/10.1115/DETC2015-47267
View Paper titled, Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
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Topics: Geometry, Deformation, Accounting, Compliant mechanisms, Finite element analysis, Optimization, Stress
Proceedings Papers

Development of a 3-Spring Pseudo Rigid Body Model of Compliant Joints for Robotic Applications

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A032, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34520
https://doi.org/10.1115/DETC2014-34520
View Paper titled, Development of a 3-Spring Pseudo Rigid Body Model of Compliant Joints for Robotic Applications
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Topics: Robotics, Springs, Compliant mechanisms, Deflection, Deformation, Errors, Optimization, Robots, Timoshenko beam theory