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Proceedings Papers

Modular Robot Connection Design

Robert O. Ambrose, Delbert Tesar

Proc. ASME. DETC92, 4th Conference on Flexible Assembly Systems, 41-48, September 13–16, 1992

Paper No: DETC1992-0445

DOI: https://doi.org/10.1115/DETC1992-0445

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Topics: Design, Robots, Manufacturing, Fittings, Maintenance, Robotics

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

Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

Daniel J. Cox, Delbert Tesar

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 445-453, September 13–16, 1992

Paper No: DETC1992-0244

DOI: https://doi.org/10.1115/DETC1992-0244

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Topics: Manipulators, Robotics, Robots, Actuators, Redundancy (Engineering), Stress, Intelligent machines, Trajectories (Physics)

Proceedings Papers

Computer Considerations for Advanced Robotics

Chetan Kapoor, Nathan Pettus, Rich Hooper, Delbert Tesar

Proc. ASME. DETC-CIE96, Volume 5: 5th Flexible Assembly Conference, V005T05A015, August 18–22, 1996

Paper No: 96-DETC/FAS-1634

DOI: https://doi.org/10.1115/96-DETC/FAS-1634

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Topics: Computers, Robotics, Control equipment, Hardware, Computer software, Design, Flexible manufacturing systems, Intelligent machines, Machinery, Manufacturing

Proceedings Papers

Performance Based Redundancy Resolution With Multiple Criteria

Chetan Kapoor, Murat Cetin, Delbert Tesar

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A018, September 13–16, 1998

Paper No: DETC98/MECH-5864

DOI: https://doi.org/10.1115/DETC98/MECH-5864

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Topics: Redundancy (Engineering), Resolution (Optics), Kinematics, Computer software, Decision making, Degrees of freedom, Manipulators, Real-time control

Proceedings Papers

Kinematic Abstractions for General Manipulator Control

Chetan Kapoor, Delbert Tesar

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 315-326, September 12–16, 1999

Paper No: DETC99/DAC-8671

DOI: https://doi.org/10.1115/DETC99/DAC-8671

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Topics: Computer software, Kinematics, Manipulators

Proceedings Papers

Survey of Available Sensor Technology for Robotic Hands

Amit V. Upasani, Chetan Kapoor, Delbert Tesar

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 437-443, September 12–16, 1999

Paper No: DETC99/DAC-8656

DOI: https://doi.org/10.1115/DETC99/DAC-8656

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Topics: Robotics, Sensors

Proceedings Papers

Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models

Mitch Pryor, Matthew Van Doren, Delbert Tesar

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 297-305, September 12–16, 1999

Paper No: DETC99/DAC-8651

DOI: https://doi.org/10.1115/DETC99/DAC-8651

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Topics: Kinematics, Manipulators, Design, Optimization, Redundant manipulators, Computation, Computers, Control algorithms, Cycles, Trajectories (Physics)

Proceedings Papers

Experimental Evaluation of a Criteria-Based Obstacle Avoidance Scheme

Troy Harden, Chetan Kapoor, Delbert Tesar

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1527-1533, September 12–16, 1999

Paper No: DETC99/DAC-8657

DOI: https://doi.org/10.1115/DETC99/DAC-8657

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Topics: Collisions (Physics), Computer software, Degrees of freedom, End effectors, Manipulators, Modeling, Optimization, Redundancy (Engineering), Redundant manipulators, Resolution (Optics)

Proceedings Papers

Algebraic Reduction for Mechanical Design

Thomas Robert Waskow, II, Delbert Tesar

Proc. ASME. DETC99, Volume 3: 11th International Conference on Design Theory and Methodology, 307-316, September 12–16, 1999

Paper No: DETC99/DTM-8770

DOI: https://doi.org/10.1115/DETC99/DTM-8770

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Topics: Algebra, Design engineering, Design, Kinematics, Manipulators, Nonlinear equations

Proceedings Papers

Design of Actuator Endurance and Reliability Testbed

Seong-Ho Kang, Daniel J. Cox, Delbert Tesar

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 995-1003, September 10–13, 2000

Paper No: DETC2000/MECH-14160

DOI: https://doi.org/10.1115/DETC2000/MECH-14160

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Topics: Actuators, Design, Reliability, Robots, Testing performance

Proceedings Papers

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part II — Operation, Maintenance, and Refreshment Criteria

Hoon Lee, Pradeepkumar Ashok, Delbert Tesar

Proc. ASME. IDETC-CIE2015, Volume 3: 17th International Conference on Advanced Vehicle Technologies; 12th International Conference on Design Education; 8th Frontiers in Biomedical Devices, V003T01A046, August 2–5, 2015

Paper No: DETC2015-47566

DOI: https://doi.org/10.1115/DETC2015-47566

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Topics: Maintenance, Motors, Wheels, Braking, Asphalt, Roads, Tires, Weight (Mass), Durability, Hybrid electric vehicles

Proceedings Papers

Autonomous Robotic System for Pin Pulling Operation in Rail Yard

Andrew Boddiford, Dhiral Chheda, Chris Hammel, Pradeepkumar Ashok, Delbert Tesar

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A022, August 2–5, 2015

Paper No: DETC2015-47874

DOI: https://doi.org/10.1115/DETC2015-47874

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Topics: Rails, Robotics, Freight cars, Machinery, Sensors, End effectors, Engineering prototypes, Feedback, Force feedback, Hardware

Proceedings Papers

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part I — Purchase Criteria

Hoon Lee, Pradeepkumar Ashok, Delbert Tesar

Paper No: DETC2015-47521

DOI: https://doi.org/10.1115/DETC2015-47521

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Topics: Motors, Wheels, Maintenance, Vehicles, Hybrid electric vehicles

Journal Articles

Properties of Higher Order Instant Center: A Case Study of Classical Motions

Amit Kulkarni, Delbert Tesar

J. Mechanisms Robotics. May 2013, 5(2): 024501.

Paper No: JMR-10-1148

DOI: https://doi.org/10.1115/1.4023555

Published Online: March 26, 2013

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Topics: Kinematics, Simulation

Proceedings Papers

An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

Hoon Lee, Delbert Tesar

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1167-1176, August 28–31, 2011

Paper No: DETC2011-48030

DOI: https://doi.org/10.1115/DETC2011-48030

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Topics: Actuators, Bearings, Robots, Stiffness, Shells, Weight (Mass), Design, Roller bearings, Stress, Tapered roller bearings

Journal Articles

Instant Center Based Kinematic Formulation for Planar Wheeled Platforms

Amit Kulkarni, Delbert Tesar

J. Mechanisms Robotics. August 2010, 2(3): 031015.

DOI: https://doi.org/10.1115/1.4001772

Published Online: July 27, 2010

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Topics: Algebra, Kinematics, Wheels, Manipulators, Path planning

Journal Articles

Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis

Dinesh Rabindran, Delbert Tesar

J. Mechanisms Robotics. February 2010, 2(1): 011013.

DOI: https://doi.org/10.1115/1.4000526

Published Online: January 11, 2010

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Topics: Actuators, Design, Inertia (Mechanics), Motors, Stiffness, Stress, Torque, Engineering prototypes, Kinematics, Engines

Journal Articles

Effective Tool-Point Acceleration of Serial Chain Mechanisms Based on Basic Geometric Transformations

Oziel Rios, Delbert Tesar

J. Mechanisms Robotics. November 2009, 1(4): 041004.

DOI: https://doi.org/10.1115/1.3204254

Published Online: September 17, 2009

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Topics: Actuators, Chain, Design, Inertia (Mechanics), Manipulators, Geometry

Proceedings Papers

Power Flow Analysis in Parallel Force/Velocity Actuators (PFVA): Theory and Simulations

Dinesh Rabindran, Delbert Tesar

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 983-992, August 3–6, 2008

Paper No: DETC2008-49164

DOI: https://doi.org/10.1115/DETC2008-49164

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Topics: Actuators, Engineering simulation, Flow (Dynamics), Simulation, Design, Mechanical efficiency, Stress, Torque

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Journal citation

NARROW

Modular Robot Connection Design

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

Characterization of Robotic Operations for Dual-Arm Robots With Cooperating Manipulators

Computer Considerations for Advanced Robotics

Performance Based Redundancy Resolution With Multiple Criteria

Kinematic Abstractions for General Manipulator Control

Survey of Available Sensor Technology for Robotic Hands

Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models

Experimental Evaluation of a Criteria-Based Obstacle Avoidance Scheme

Algebraic Reduction for Mechanical Design

Design of Actuator Endurance and Reliability Testbed

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part II — Operation, Maintenance, and Refreshment Criteria

Autonomous Robotic System for Pin Pulling Operation in Rail Yard

Visual Performance Maps for Human Choice in Hybrid Electric Vehicle’s In-Wheel Motors: Part I — Purchase Criteria

Properties of Higher Order Instant Center: A Case Study of Classical Motions

An Analytical Stiffness Analysis Between Actuator Structure and Principal Bearings Used for Robot Actuators

Instant Center Based Kinematic Formulation for Planar Wheeled Platforms

Parametric Design of Parallel Force/Velocity Actuators: Force Distribution Analysis

Effective Tool-Point Acceleration of Serial Chain Mechanisms Based on Basic Geometric Transformations

Power Flow Analysis in Parallel Force/Velocity Actuators (PFVA): Theory and Simulations

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