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Proceedings Papers

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Shannon Ridgeway, Carl D. Crane, III, Phillip Adsit, Roy Harrell

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 591-597, September 13–16, 1992

Paper No: DETC1992-0263

DOI: https://doi.org/10.1115/DETC1992-0263

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Topics: Design engineering, Mobile robots, Design, Actuators, Kinematics, Torque

Proceedings Papers

Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

Akhil Madhani, Steven Dubowsky

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 581-590, September 13–16, 1992

Paper No: DETC1992-0262

DOI: https://doi.org/10.1115/DETC1992-0262

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Topics: Design, Path planning, Robotics, Actuators, Friction, Kinematics, Machinery, Torque

Proceedings Papers

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

Peter V. Nagy, Subhas Desa, William L. Whittaker

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 573-580, September 13–16, 1992

Paper No: DETC1992-0261

DOI: https://doi.org/10.1115/DETC1992-0261

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Topics: Modeling, Robots, Stability, Static stability

Proceedings Papers

Workspace of Beetle Body As a Function of Foot Position

C. K. Foo, E. F. Fichter, B. L. Fichter

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 567-572, September 13–16, 1992

Paper No: DETC1992-0260

DOI: https://doi.org/10.1115/DETC1992-0260

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Topics: Design, Legged locomotion, Shapes, Simulation models, Symmetry (Physics)

Proceedings Papers

An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

Clément M. Gosselin, Eric Lavoie, Pierre Toutant

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 323-328, September 13–16, 1992

Paper No: DETC1992-0230

DOI: https://doi.org/10.1115/DETC1992-0230

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Topics: Algorithms, Manipulators, Computer-aided design

Proceedings Papers

A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm

Wei-Ming Lee

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 313-322, September 13–16, 1992

Paper No: DETC1992-0229

DOI: https://doi.org/10.1115/DETC1992-0229

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Topics: Algorithms, Kinematics, Robots, Jacobian matrices, Switches, Trajectories (Physics)

Proceedings Papers

On the Kinematics of the UPS Wrist for Real Time Control

Jason J. Lee, Sun-Lai Chang

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 305-312, September 13–16, 1992

Paper No: DETC1992-0228

DOI: https://doi.org/10.1115/DETC1992-0228

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Topics: Kinematics, Real-time control, Design, Algorithms, Force control, Kinematic analysis, Machining

Proceedings Papers

Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

Jichuan Zhang, Gongliang Guo, William A. Gruver

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 299-304, September 13–16, 1992

Paper No: DETC1992-0227

DOI: https://doi.org/10.1115/DETC1992-0227

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Topics: Design, Linkages, Robotics, Artificial limbs, Bionics, Degrees of freedom, Displacement, End effectors, Engineering simulation, Friction

Proceedings Papers

Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study

Sridhar R. Thirupathi, Nagi G. Naganathan

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 233-241, September 13–16, 1992

Paper No: DETC1992-0220

DOI: https://doi.org/10.1115/DETC1992-0220

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Topics: Piezoelectric ceramics, Suspension systems, Wheels, Actuators, Automobiles, Composite materials, Deflection, Hydraulic actuators, Stiffness

Proceedings Papers

Rate Kinematics for Mobile Manipulators

Chau-Chang Wang, Nilanjan Sarkar, Vijay Kumar

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 225-231, September 13–16, 1992

Paper No: DETC1992-0219

DOI: https://doi.org/10.1115/DETC1992-0219

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Topics: Kinematics, Manipulators, End effectors, Actuators, Chain, Preferences

Proceedings Papers

The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator

Radha Sarma, Steven N. Kramer, V. Ramamurti

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 173-178, September 13–16, 1992

Paper No: DETC1992-0212

DOI: https://doi.org/10.1115/DETC1992-0212

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Topics: Equations of motion, Geometry, Manipulators, Trusses (Building), Design, Construction, Engines, Kinematics, Motors, Simulation

Proceedings Papers

Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

Byung-Ju Yi, Robert A. Freeman, Delbert Tesar

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 163-172, September 13–16, 1992

Paper No: DETC1992-0211

DOI: https://doi.org/10.1115/DETC1992-0211

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Topics: Stiffness, Degrees of freedom, Design, Tradeoffs

Proceedings Papers

A Sensitivity Analysis Based Method for Robot Calibration

S. Kaizerman, B. Benhabib, R. G. Fenton, G. Zak

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 119-127, September 13–16, 1992

Paper No: DETC1992-0206

DOI: https://doi.org/10.1115/DETC1992-0206

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Topics: Calibration, Robots, Sensitivity analysis, Kinematics, Degrees of freedom, Manipulators

Proceedings Papers

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

Wang Guozhen

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 113-117, September 13–16, 1992

Paper No: DETC1992-0205

DOI: https://doi.org/10.1115/DETC1992-0205

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Topics: Displacement

Proceedings Papers

Direct Position Analysis of the 4-6 Stewart Platforms

Ning-Xin Chen, Shin-Min Song

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 75-80, September 13–16, 1992

Paper No: DETC1992-0200

DOI: https://doi.org/10.1115/DETC1992-0200

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Topics: Polynomials, Robots, Vehicles

Proceedings Papers

Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints

P. Dietmaier

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 35-40, September 13–16, 1992

Paper No: DETC1992-0195

DOI: https://doi.org/10.1115/DETC1992-0195

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Topics: Kinematics, Manipulators, Linkages, Displacement, Polynomials

Proceedings Papers

On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators

Clément M. Gosselin, Jaouad Sefrioui, Marc J. Richard

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 13-19, September 13–16, 1992

Paper No: DETC1992-0193

DOI: https://doi.org/10.1115/DETC1992-0193

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Topics: Kinematics, Manipulators, Polynomials, Actuators, Grippers

Proceedings Papers

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

D. Zlatanov, M. Q. Dai, R. G. Fenton, B. Benhabib

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 529-536, September 13–16, 1992

Paper No: DETC1992-0255

DOI: https://doi.org/10.1115/DETC1992-0255

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Topics: Degrees of freedom, Design engineering, Kinematic analysis, Manipulators, Kinematics

Proceedings Papers

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

W. Lin, Carl D. Crane, III, J. Duffy

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 521-527, September 13–16, 1992

Paper No: DETC1992-0254

DOI: https://doi.org/10.1115/DETC1992-0254

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Topics: Displacement, Polynomials

Proceedings Papers

Full-Wave Bi-Directional Rotation-Rectifier to Assist Robotic End-Effectors in the Automated Assembly of Large Truss Structures in Space

W. V. Brewer

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 513-519, September 13–16, 1992

Paper No: DETC1992-0253

DOI: https://doi.org/10.1115/DETC1992-0253

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Topics: End effectors, Manufacturing, Robotics, Rotation, Trusses (Building), Waves, Robots, Engines, Motors, Computation

2 3 4

NARROW

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

Predicting Force Redistributions on Walking Robots for Reliable Locomotion: Modeling and Experiments

Workspace of Beetle Body As a Function of Foot Position

An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm

On the Kinematics of the UPS Wrist for Real Time Control

Optimal Design of a Six-Bar Linkage for an Anthropomorphic Three-Jointed Finger Mechanism

Use of Piezoceramic Actuation for Automotive Active Suspension Mechanisms: A Feasibility Study

Rate Kinematics for Mobile Manipulators

The Dynamic Equations of Motion and Actuation Scheme for the Tetrahedron Based Variable Geometry Truss Manipulator

Force and Stiffness Transmission in Redundantly Actuated Mechanisms: The Case for a Spherical Shoulder Mechanism

A Sensitivity Analysis Based Method for Robot Calibration

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

Direct Position Analysis of the 4-6 Stewart Platforms

Inverse Kinematics of Manipulators With 3 Revolute and 3 Parallelogram Joints

On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators

Mechanical Design and Kinematic Analysis of a Three-Legged Six Degree-of-Freedom Parallel Manipulator

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

Full-Wave Bi-Directional Rotation-Rectifier to Assist Robotic End-Effectors in the Automated Assembly of Large Truss Structures in Space

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