Topics: Bending (Stress) , Displacement , Hinges , Optimization , Topology , Compliant mechanisms , Design , Equilibrium (Physics) , Finite element analysis , Modeling

Constraint-Force-Based (CFB) Modeling of Compliant Mechanisms

Haiyang Li, Guangbo Hao

IDETC-CIE 2015; V05AT08A006doi:https://doi.org/10.1115/DETC2015-46481

Abstract

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Topics: Compliant mechanisms , Modeling , Equilibrium (Physics) , Deformation , Finite element analysis , Space

Pseudo-Rigid-Body Models for End-Loaded Heavy Cantilever Beams

Philip J. Logan, Craig P. Lusk

IDETC-CIE 2015; V05AT08A007doi:https://doi.org/10.1115/DETC2015-46526

Abstract

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Topics: Cantilever beams , Stress , Deflection , Compliant mechanisms , Design , Differential equations , Errors , Phase space , Springs , Stiffness

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

Marijn Nijenhuis, J. P. Meijaard, Just L. Herder, Shorya Awtar, Dannis M. Brouwer

IDETC-CIE 2015; V05AT08A008doi:https://doi.org/10.1115/DETC2015-46591

Abstract

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Topics: Bending (Stress) , Stiffness , Strips , Deformation , Flexure mechanisms , Warping , Computer software , Degrees of freedom , Displacement , Errors

A Method for Determining Load-Dependent Stiffness of Flexures

Ezekiel G. Merriam, Jared T. Bruton, Spencer P. Magleby, Larry L. Howell

IDETC-CIE 2015; V05AT08A009doi:https://doi.org/10.1115/DETC2015-46628

Abstract

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Topics: Stiffness , Stress , Bending (Stress) , Finite element model , Rotation

A Shape-Controlled Compliant Microarchitectured Material

Lucas A. Shaw, Jonathan B. Hopkins

IDETC-CIE 2015; V05AT08A010doi:https://doi.org/10.1115/DETC2015-46643

Abstract

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Topics: Shapes , Aircraft , Deformation , Design , Fuel efficiency , Materials properties , Modeling , Optics , Texture (Materials) , Wings

A Variable-Stiffness Straight-Line Compliant Mechanism

Jeffrey C. Hawks, Mark B. Colton, Larry L. Howell

IDETC-CIE 2015; V05AT08A011doi:https://doi.org/10.1115/DETC2015-46650

Abstract

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Topics: Compliant mechanisms , Stiffness , Haptics , Displacement , Finite element analysis , Anterior cruciate ligament , Deflection , Engineering prototypes , Feedback , Force feedback

Design of a Constant-Force Flexure Micropositioning Stage With Long Stroke

Qingsong Xu

IDETC-CIE 2015; V05AT08A012doi:https://doi.org/10.1115/DETC2015-46672

Abstract

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Topics: Bending (Stress) , Design , Flexure mechanisms , Compliant mechanisms , Finite element analysis , Parametric design , Stiffness

Dynamic Modeling for a Continuum Robot With Compliant Structure

Yong Guo, Rongjie Kang, Lisha Chen, Jian Dai

IDETC-CIE 2015; V05AT08A013doi:https://doi.org/10.1115/DETC2015-46683

Abstract

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Topics: Dynamic modeling , Robots , Control modeling , Dampers , Deformation , Design , Dynamic models , Engineering prototypes , Robotics , Safety

A Fully Compliant Constant Velocity Universal Joint

D. Farhadi Machekposhti, N. Tolou, J. L. Herder

IDETC-CIE 2015; V05AT08A014doi:https://doi.org/10.1115/DETC2015-46813

Abstract

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Topics: Universal joints , Kinematics , Deflection , Engineering prototypes , Linkages , Manufacturing , Rotation

Conceptual Design of 2-DOF Flexure-Based Sensing Mechanisms for Superconductor Gravity Gradient

M. Jia, R. P. Jia, J. J. Yu

IDETC-CIE 2015; V05AT08A015doi:https://doi.org/10.1115/DETC2015-46827

Abstract

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Topics: Bending (Stress) , Conceptual design , Gravity (Force) , Errors , Finite element analysis , Engineering simulation , Optimization , Screws , Simulation , Topology

Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws

Zhigang Wu, Yangmin Li

IDETC-CIE 2015; V05AT08A016doi:https://doi.org/10.1115/DETC2015-46869

Abstract

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Topics: Bending (Stress) , Design , Dynamic models , Actuators , Levers , Magnification , Nonlinear systems , Optimization , Simulation results , Sliding mode control

On Synthesis of Contact Aided Compliant Mechanisms Using the Material Mask Overlay Method

Prabhat Kumar, Roger A. Sauer, Anupam Saxena

IDETC-CIE 2015; V05AT08A017doi:https://doi.org/10.1115/DETC2015-47064

Abstract

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Topics: Compliant mechanisms , Overlays (Materials engineering) , Shapes , Design , Deformation , Finite element analysis , Stress , Topology

Review, Categorization and Comparison of 1 DOF Static Balancers

Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder

IDETC-CIE 2015; V05AT08A018doi:https://doi.org/10.1115/DETC2015-47217

Abstract

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Topics: Bending (Stress) , Design , Energy storage , Engines , Feedback , Haptics , Motors , Robotics , Stress , Surgical tools

Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms

Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud

IDETC-CIE 2015; V05AT08A019doi:https://doi.org/10.1115/DETC2015-47240

Abstract

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Topics: Compliant mechanisms , Design , Springs , Traction , Additive manufacturing , Friction , Geometry , Materials properties , Rubber , Torsion

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

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su

IDETC-CIE 2015; V05AT08A020doi:https://doi.org/10.1115/DETC2015-47267

Abstract

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Topics: Geometry , Deformation , Accounting , Compliant mechanisms , Finite element analysis , Optimization , Stress

Design of a Compliant XY Positioning Stage With Large Workspace

Chao-Min Huang, Hai-Jun Su

IDETC-CIE 2015; V05AT08A021doi:https://doi.org/10.1115/DETC2015-47271

Abstract

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Topics: Design , Finite element analysis , Flexure mechanisms , Kinematics , Rotation , Ball bearings , Degrees of freedom , Maintenance , Radium , Wear

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

Antonio Ruiz, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Oscar Altuzarra

IDETC-CIE 2015; V05AT08A022doi:https://doi.org/10.1115/DETC2015-47449

Abstract

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Topics: Compliant mechanisms , Kinematics , Micromilling , Manipulators , Finite element methods , Finite element model , Milling , Parallel mechanisms , Control equipment , Cutting

Shape-Morphing Space Frame (SMSF) Using Linear Bistable Elements

Ahmad Alqasimi, Craig Lusk

IDETC-CIE 2015; V05AT08A023doi:https://doi.org/10.1115/DETC2015-47526

Abstract

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Topics: Shapes , Space frame structures , Pipes , Design , Shear (Mechanics) , Shells , Spherical shells , Stress

Mode Shapes in Compliant Mechanisms, and a Procedure to Identify Appropriate Pseudo-Rigid-Body Model Type

Ashok Midha, Pratheek Bagivalu Prasanna

IDETC-CIE 2015; V05AT08A024doi:https://doi.org/10.1115/DETC2015-47694

Abstract

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Topics: Compliant mechanisms , Mode shapes , Boundary-value problems , Classical mechanics , Deformation , Displacement , Energy storage , Mechanical admittance , Stress

Flexure Design for Eight-Bar Rectilinear Motion Mechanism

Yang Liu, J. Michael McCarthy

IDETC-CIE 2015; V05AT08A025doi:https://doi.org/10.1115/DETC2015-47863

Abstract

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Topics: Bending (Stress) , Design , Linkages , Microelectromechanical systems , End effectors , Errors

Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model

Vamsi Lodagala, Krutika Karthik, Ashok Midha

IDETC-CIE 2015; V05AT08A026doi:https://doi.org/10.1115/DETC2015-47914

Abstract

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Topics: Deflection , Errors , Modeling

Mechanical Advantage of a Compliant Mechanism and Significant Factors Affecting it, Using the Pseudo-Rigid-Body Model Approach

Ashok Midha, Sushrut G. Bapat, Prem Midha

IDETC-CIE 2015; V05AT08A027doi:https://doi.org/10.1115/DETC2015-47930

Abstract

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Topics: Compliant mechanisms , Energy conservation , Rigid-body mechanisms

Development of a Methodology for Pseudo-Rigid-Body Models of Compliant Beams With Inserts, and Experimental Validation

Ashok Midha, Raghvendra S. Kuber, Sushrut G. Bapat

IDETC-CIE 2015; V05AT08A028doi:https://doi.org/10.1115/DETC2015-47943

Abstract

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Topics: Compliant mechanisms , Creep , Design , Fatigue life

Medical and Rehabilitation Robotics

Development and Testing of a Low Cost Wearable and Portable Hand Exoskeleton Based on a Parallel Mechanism

B. Allotta, R. Conti, L. Governi, E. Meli, A. Ridolfi

IDETC-CIE 2015; V05AT08A029doi:https://doi.org/10.1115/DETC2015-46336

Abstract

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Topics: Exoskeleton devices , Parallel mechanisms , Testing , Engineering prototypes , Cables , Grasping , Orthotics

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

Baoliang Zhao, Carl A. Nelson

IDETC-CIE 2015; V05AT08A030doi:https://doi.org/10.1115/DETC2015-46344

Abstract

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Topics: Biological tissues , Robotics , Surgical tools , Haptics , Sterilization , Surgery , Delays , Engines , Feedback , Force sensors

Parallel Articulated-Cable Exercise Robot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation

Aliakbar Alamdari, Venkat Krovi

IDETC-CIE 2015; V05AT08A031doi:https://doi.org/10.1115/DETC2015-46389

Abstract

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Topics: Cables , Robots , Design , Trajectories (Physics) , Actuators , Case studies , Control equipment , Degrees of freedom , Equations of motion , Kinematic analysis

Robotic Physical Exercise and System (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy

Aliakbar Alamdari, Venkat Krovi

IDETC-CIE 2015; V05AT08A032doi:https://doi.org/10.1115/DETC2015-46393

Abstract

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Topics: Cables , Motors , Patient treatment , Robotics , Ropes , Control equipment , Multibody systems , Case studies , Equilibrium (Physics) , Feedback

Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs

Peng Qi, Hongbin Liu, Lakmal Seneviratne, Kaspar Althoefer

IDETC-CIE 2015; V05AT08A033doi:https://doi.org/10.1115/DETC2015-46503

Abstract

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Topics: Design , Engineering prototypes , Kinematics , Robots , Springs , Finite element analysis , Rotation , Bending (Stress) , Biomedicine , Modeling

A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery

Clayton L. Grames, Jordan D. Tanner, Brian D. Jensen, Spencer P. Magleby, John Ryan Steger, Larry L. Howell

IDETC-CIE 2015; V05AT08A034doi:https://doi.org/10.1115/DETC2015-46516

Abstract

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Topics: Robotics , Rolling contact , Surgery , Instrumentation , Degrees of freedom , Manufacturing , Lasers , Metals , Sintering

Design and Qualitative Testing of a Prosthetic Foot With Rotational Ankle and Metatarsal Joints to Mimic Physiological Roll-Over Shape

Kathryn M. Olesnavage, Amos G. Winter, V

IDETC-CIE 2015; V05AT08A035doi:https://doi.org/10.1115/DETC2015-46518

Abstract

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Topics: Artificial limbs , Design , Physiology , Shapes , Testing , Engineering prototypes , Feedback , Springs , Stiffness

Sensing and Force-Feedback Exoskeleton Robotic (SAFER) Glove Mechanism for Hand Rehabilitation

Zhou Ma, Pinhas Ben-Tzvi, Jerome Danoff

IDETC-CIE 2015; V05AT08A036doi:https://doi.org/10.1115/DETC2015-46661

Abstract

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Topics: Design , Exoskeleton devices , Force feedback , Force sensors , Grasping , Haptics , Kinematics , Machine learning , Patient treatment , Robotics

Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients

Tzu-Yu Tseng, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo

IDETC-CIE 2015; V05AT08A037doi:https://doi.org/10.1115/DETC2015-46706

Abstract

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Topics: Design , Gravity (Force) , Muscle , Knee , Antigravity , Electromyography , Computer software , Engineering prototypes , Rehabilitation devices , Signals

Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation

Evagoras G. Xydas, Andreas Mueller

IDETC-CIE 2015; V05AT08A038doi:https://doi.org/10.1115/DETC2015-46828

Abstract

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Topics: Linkages , Springs , Robots , Torque , Actuators , Closed kinematic chains , Collaboration , Computer control , Computer software , Design

Analyzing Motion Properties of Proteins Affected by Localized Structures From a Robot Kinematics Perspective

Keisuke Arikawa

IDETC-CIE 2015; V05AT08A039doi:https://doi.org/10.1115/DETC2015-47010

Abstract

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Topics: Proteins , Robot kinematics , Compliance , Shapes , Deformation , Manipulators , Prisms (Optics) , Springs

Design of a Partially Compliant, Three-Phalanx Underactuated Prosthetic Finger

Marco W. M. Groenewegen, Milton E. Aguirre, Just L. Herder

IDETC-CIE 2015; V05AT08A040doi:https://doi.org/10.1115/DETC2015-47055

Abstract

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Topics: Artificial limbs , Design , Grasping , Additive manufacturing , Bending (Stress) , Design methodology , End effectors , Engineering prototypes , Errors , Finite element analysis

Design and Control of a Three Finger Hand Exoskeleton for Translation and Rotation of a Slender Object

Shyam Sunder Nishad, Anupam Saxena, Ashish Dutta

IDETC-CIE 2015; V05AT08A041doi:https://doi.org/10.1115/DETC2015-47058

Abstract

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Topics: Design , Exoskeleton devices , Rotation , Linkages , Algorithms , Artificial neural networks , Finger joints (Carpentry) , Kinematics , Manufacturing , Motors

Design and Fabrication of a Soft Robotic Direct Cardiac Compression Device

Ellen T. Roche, Markus A. Horvath, Ali Alazmani, Kevin C. Galloway, Nikolay V. Vasilyev, David J. Mooney, Frank A. Pigula, Conor J. Walsh

IDETC-CIE 2015; V05AT08A042doi:https://doi.org/10.1115/DETC2015-47355

Abstract

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Topics: Compression , Design , Manufacturing , Robotics , Actuators , Nylon fabrics , Silicones , Biomimetics , Biological tissues , Biomedicine

Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India

V. N. Murthy Arelekatti, Amos G. Winter, V

IDETC-CIE 2015; V05AT08A043doi:https://doi.org/10.1115/DETC2015-47385

Abstract

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Topics: Artificial limbs , Design , Knee , Kinematics , Engineering prototypes , Dampers , Developing nations , Feedback , Friction , Locks (Waterways)

The Use of Additive Manufacturing to Fabricate Structural Components for Wearable Robotic Devices

Ray Churchwell, Kevin W. Hollander, Connor Theisen

IDETC-CIE 2015; V05AT08A044doi:https://doi.org/10.1115/DETC2015-47448

Abstract

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Topics: Additive manufacturing , Robotics , Structural elements (Construction) , Design , Robots , Exoskeleton devices , Modeling , Safety , Stress , Testing

Design of a Biologically Inspired Underwater Burrowing Robot That Utilizes Localized Fluidization

Daniel S. Dorsch, Amos G. Winter, V

IDETC-CIE 2015; V05AT08A045doi:https://doi.org/10.1115/DETC2015-47459

Abstract

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Topics: Design , Fluidization , Robots , Soil , Actuators , Atlantic Ocean , Drag (Fluid dynamics) , Engineering systems and industry applications , Fluids , Friction

A 4-DOF Robot for Positioning Ultrasound Imaging Catheters

Paul M. Loschak, Yaroslav Tenzer, Alperen Degirmenci, Robert D. Howe

IDETC-CIE 2015; V05AT08A046doi:https://doi.org/10.1115/DETC2015-47693

Abstract

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Topics: Catheters , Robots , Ultrasonic imaging , Errors , Imaging , Arrhythmias , Design , Instrumentation , Manufacturing , Navigation

Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications

Mahdi Haghshenas-Jaryani, Wei Carrigan, Muthu B. J. Wijesundara

IDETC-CIE 2015; V05AT08A047doi:https://doi.org/10.1115/DETC2015-47761

Abstract

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Topics: Actuators , Design , Robotics , Pressure , Compression molding , Finite element analysis , Geometry , Manufacturing , Rubber , Shapes

A Theoretical Investigation of the Critical Timescales Needed for Digging in Dry Soil Using a Biomimetic Burrowing Robot

Monica Isava, Amos G. Winter, V

IDETC-CIE 2015; V05AT08A048doi:https://doi.org/10.1115/DETC2015-47852

Abstract

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Topics: Biomimetics , Robots , Soil , Drag (Fluid dynamics) , Stress , Cables , Collapse , Fluidization , Particulate matter , Sensor placement

Force Transfer Characterization of a Soft Exosuit for Gait Assistance

Brendan Quinlivan, Alan Asbeck, Diana Wagner, Tommaso Ranzani, Sheila Russo, Conor Walsh

IDETC-CIE 2015; V05AT08A049doi:https://doi.org/10.1115/DETC2015-47871

Abstract

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Topics: Design , Exoskeleton devices , Inertia (Mechanics) , Pressure , Safety , Textiles , Weight (Mass)

Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs

Jun Ueda, Lauren Lacey, Melih Turkseven, Minoru Shinohara, Ilya Kovalenko, Euisun Kim, Fatiesa Sulejmani

IDETC-CIE 2015; V05AT08A050doi:https://doi.org/10.1115/DETC2015-48085

Abstract

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Topics: Robotics , Muscle , Engines , Motors , Patient treatment , Robots , Dynamics (Mechanics) , Electromagnetic induction , Magnetic resonance imaging , Nervous system

Mobile Robots and Cable-Driven Systems

Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations

Xiaoling Jiang, Clément Gosselin

IDETC-CIE 2015; V05AT08A051doi:https://doi.org/10.1115/DETC2015-46369

Abstract

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Topics: Cables , Equations of motion , Robots , Trajectories (Physics) , Differential equations , Kinematics , Dynamic modeling , Jacobian matrices , Pendulums , Tension

An Innovative Navigation Strategy for Autonomous Underwater Vehicles: An Unscented Kalman Filter Based Approach

Benedetto Allotta, Riccardo Costanzi, Enrico Meli, Alessandro Ridolfi, Luigi Chisci, Claudio Fantacci, Andrea Caiti, Francesco Di Corato, Davide Fenucci

IDETC-CIE 2015; V05AT08A052doi:https://doi.org/10.1115/DETC2015-46432

Abstract

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Topics: Kalman filters , Navigation , Underwater vehicles , Algorithms , Filtration , Seas , Remotely operated vehicles , Robotics , Sensors , Industrial engineering

Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller

Mahdi Haghshenas-Jaryani, GholamReza Vossoughi

IDETC-CIE 2015; V05AT08A053doi:https://doi.org/10.1115/DETC2015-46480

Abstract

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Topics: Control equipment , Robots , Trajectories (Physics) , Kinematics , Uncertainty , Actuators , Algorithms , Coulombs , Degrees of freedom , Friction

Static Modeling of a Multi-Segment Serpentine Robotic Tail

William S. Rone, Pinhas Ben-Tzvi

IDETC-CIE 2015; V05AT08A054doi:https://doi.org/10.1115/DETC2015-46655

Abstract

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Topics: Cables , Design , Displacement , Elasticity , Equilibrium (Physics) , Kinematics , Matlab , Mobile robots , Modeling , Robotics

Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

Joshua T. Bryson, Sunil K. Agrawal

IDETC-CIE 2015; V05AT08A055doi:https://doi.org/10.1115/DETC2015-46837

Abstract

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Topics: Cables , Design , Particle swarm optimization , Robots , Tension , Optimization , Actuators , Architecture , Manipulators

Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators

Joshua T. Bryson, Sunil K. Agrawal

IDETC-CIE 2015; V05AT08A056doi:https://doi.org/10.1115/DETC2015-46842

Abstract

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Topics: Algorithms , Cables , Design , Manipulators , Uncertainty , Robots , Actuators , Errors , Inertia (Mechanics)

Combinatorial Method for Checking Stability in Tensegrity Structures

Daniel Cahan, Offer Shai

IDETC-CIE 2015; V05AT08A057doi:https://doi.org/10.1115/DETC2015-47143

Abstract

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Topics: Stability , Tensegrity structures , Cables , Scalars , Tensegrity

Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry

Vibhute Akash Ajay, Adi P. Suherlan, Gim Song Soh, Shaohui Foong, Kristin Wood, Kevin Otto

IDETC-CIE 2015; V05AT08A058doi:https://doi.org/10.1115/DETC2015-47223

Abstract

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Topics: Robots , Trajectories (Physics) , Kinematics , Sensors , Wheels , Algorithms , Biomimetics , Dynamic models , Dynamics (Mechanics) , Filters

Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot

Andrew P. Sabelhaus, Hao Ji, Patrick Hylton, Yakshu Madaan, ChanWoo Yang, Alice M. Agogino, Jeffrey Friesen, Vytas SunSpiral

IDETC-CIE 2015; V05AT08A059doi:https://doi.org/10.1115/DETC2015-47583

Abstract

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Topics: Design , Robots , Simulation , Tensegrity , Cables , Kinematics , Manufacturing , Actuators , Engineering prototypes , Gears

Kinematic Analysis of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces

Joshua Qualls, Stephen Canfield, Tristan Hill, Alexander Shibakov

IDETC-CIE 2015; V05AT08A060doi:https://doi.org/10.1115/DETC2015-47637

Abstract

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Topics: Kinematic analysis , Manufacturing , Mobile robots , Hull , Robots , Welding , Cylinders , Design , Pipeline construction , Robotics

Quantifying Control Authority in Periodic Motions of Underactuated Mobile Robots

David C. Post, Bill Goodwine, James P. Schmiedeler

IDETC-CIE 2015; V05AT08A061doi:https://doi.org/10.1115/DETC2015-47666

Abstract

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Topics: Control equipment , Design , Dynamics (Mechanics) , Mobile robots , Robots , Trajectories (Physics)

Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs

Oren Y. Kanner, Nicolás Rojas, Aaron M. Dollar

IDETC-CIE 2015; V05AT08A062doi:https://doi.org/10.1115/DETC2015-47867

Abstract

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Topics: Degrees of freedom , Design , Robots , Propulsion , Actuators , Clearances (Engineering) , Engineering prototypes , Mechanical admittance , Simulation results , Surface roughness

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