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Proceedings Papers

Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas

Erik Pearson, Paul Szenher, Christine Huang, Brendan Englot
Proc. ASME. IDETC-CIE2023, Volume 1: 25th International Conference on Advanced Vehicle Technologies (AVT), V001T01A014, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-111245
https://doi.org/10.1115/DETC2023-111245
View Paper titled, Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas
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Topics: Clearances (Engineering), Inspection, Vehicles, Manipulators, Hardware, Navigation, Robots, Computer software, Degrees of freedom, End effectors
Proceedings Papers

Print As a Dance Duet: Communication Strategies for Collision-Free Arm-Arm Coordination in Cooperative 3D Printing

Ronnie F. P. Stone, Wenchao Zhou, Ergun Akleman, Vinayak Raman Krishnamurthy, Zhenghui Sha
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A081, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114959
https://doi.org/10.1115/DETC2023-114959
View Paper titled, Print As a Dance Duet: Communication Strategies for Collision-Free Arm-Arm Coordination in Cooperative 3D Printing
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Topics: Additive manufacturing, Collisions (Physics), Manipulators, Manufacturing
Proceedings Papers

Efficient Object Manipulation in Confined Space Using Compliant Based Gripper

Krushang Gabani, Yuhe Oswin Ji, Ehsan T. Esfahani
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A036, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116674
https://doi.org/10.1115/DETC2023-116674
View Paper titled, Efficient Object Manipulation in Confined Space Using Compliant Based Gripper
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Topics: Grippers, Manipulators, Algorithms, Collisions (Physics), Human-robot collaboration, Machinery, Optimization, Robotics, Stiffness
Proceedings Papers

Selection of Inverse Kinematics Solution Type for Cooperative Robots and Singularity Avoidance Based on Reinforcement Learning

Daiki Kato, Naoki Maeda, Ayumu Takeuchi, Masataka Sekioka, Toshiki Hirogaki, Eiichi Aoyama
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A019, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114868
https://doi.org/10.1115/DETC2023-114868
View Paper titled, Selection of Inverse Kinematics Solution Type for Cooperative Robots and Singularity Avoidance Based on Reinforcement Learning
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Topics: Kinematics, Reinforcement learning, Robots, Manipulators, Artificial neural networks, Computer-aided engineering, End effectors, Numerical analysis, Robotics
Proceedings Papers

Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator

Xuexuan Li, Yijie Liu, Zhen Zhang
Proc. ASME. IDETC-CIE2023, Volume 7: 19th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A016, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116451
https://doi.org/10.1115/DETC2023-116451
View Paper titled, Design and Tracking Control of a Large-Range Reluctance-Actuated Compliant Nano-Manipulator
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Topics: Actuators, Design, Manipulators, Tracking control, Control equipment, Errors, Closed loop systems, Compliant mechanisms, Density, Engines
Proceedings Papers

Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators

Evan Ripperger, Girish Krishnan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A097, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116930
https://doi.org/10.1115/DETC2023-116930
View Paper titled, Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators
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Topics: Design, Manipulators, Actuators, Architecture, Valves, End effectors, Fibers, Inertia (Mechanics), Shapes
Proceedings Papers

Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A007, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115240
https://doi.org/10.1115/DETC2023-115240
View Paper titled, Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method
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Topics: Kinematics, Redundant manipulators, Robots, Redundancy (Engineering), Algorithms, Manipulators
Proceedings Papers

A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs

Jieyu Wang, Xianwen Kong, Yingzhong Tian
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A089, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116500
https://doi.org/10.1115/DETC2023-116500
View Paper titled, A Geometric Method for Static Balancing of Spatial Mechanisms Using Springs
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Topics: Springs, Potential energy, Manipulators, Parallel mechanisms, Algebra, Center of mass, Energy efficiency, Gravity (Force), Linkages
Proceedings Papers

Towards High Dynamic Operations With Parallel-Serial Hybrid Robots

Keerthi Sagar, Vishal Ramadoss, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A064, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116954
https://doi.org/10.1115/DETC2023-116954
View Paper titled, Towards High Dynamic Operations With Parallel-Serial Hybrid Robots
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Topics: Robots, Kinematics, Manipulators, Linkages, Control modeling, Design, High speed machining, Kinematic chains, Manufacturing, Modeling
Proceedings Papers

A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs

Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90877
https://doi.org/10.1115/DETC2022-90877
View Paper titled, A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Modeling, Resolution (Optics)
Proceedings Papers

Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator

Hedieh Badkoobehhezaveh, Reza Fotouhi, Qianwei Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A048, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89769
https://doi.org/10.1115/DETC2022-89769
View Paper titled, Particle Swarm Optimization / PID-Computed Torque Control for a Manipulator
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Topics: Manipulators, Particle swarm optimization, Torque control
Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91025
https://doi.org/10.1115/DETC2022-91025
View Paper titled, Synthesis of a 3-RPS Parallel Manipulator Based on Axodes
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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws
Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90105
https://doi.org/10.1115/DETC2022-90105
View Paper titled, Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization

Xueguan Song, Kunpeng Li, Shuo Wang, Ziyun Kan, Haiyang Li, Jiaxiang Zhu, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A023, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89187
https://doi.org/10.1115/DETC2022-89187
View Paper titled, Framework Design of a Digital Twin of an XY Compliant Parallel Manipulator Based on Non-Negative Matrix Factorization
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Topics: Compliant mechanisms, Design, Digital twin, Manipulators
Proceedings Papers

Drive the Cobots Aright: Guidelines for Industrial Application of Cobots

Ali Ahmad Malik, Vijitashwa Pandey
Proc. ASME. IDETC-CIE2022, Volume 5: 27th Design for Manufacturing and the Life Cycle Conference (DFMLC), V005T05A015, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90777
https://doi.org/10.1115/DETC2022-90777
View Paper titled, Drive the Cobots Aright: Guidelines for Industrial Application of Cobots
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Topics: Design, Human-robot interaction, Lightweight structures, Manipulators, Manufacturing, Robots, Space
Proceedings Papers

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

Zhujin Jiang, Chen Liu, Ketao Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91176
https://doi.org/10.1115/DETC2022-91176
View Paper titled, A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles
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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90595
https://doi.org/10.1115/DETC2022-90595
View Paper titled, A Modular Continuum Manipulator for Aerial Manipulation and Perching
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom

Yogesh Pratap Singh, Ashitava Ghosal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A042, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89173
https://doi.org/10.1115/DETC2022-89173
View Paper titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom
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Topics: Degrees of freedom, Design, Manipulators
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91310
https://doi.org/10.1115/DETC2022-91310
View Paper titled, A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments
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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics
Proceedings Papers

An Effective Approach to Model Parallel Robots With Flexible Links

Brillarelli Stefano, Matteo-Claudio Palpacelli
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A043, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69983
https://doi.org/10.1115/DETC2021-69983
View Paper titled, An Effective Approach to Model Parallel Robots With Flexible Links
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Topics: Hardware, Manipulators, Robots, Software architecture