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Journal Articles

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro

J. Mechanisms Robotics. June 2021, 13(3): 031016.

Paper No: JMR-20-1457

DOI: https://doi.org/10.1115/1.4050102

Published Online: March 15, 2021

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Topics: Computer programming, Friction, Robots, Torque, Welding

Proceedings Papers

Kinematic Design of a Large-Angular-Motion Constant-Velocity Coupling

Stephen L. Canfield, Robert J. Salerno, Charles F. Reinholtz

Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 167-173, September 11–14, 1994

Paper No: DETC1994-0191

DOI: https://doi.org/10.1115/DETC1994-0191

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Topics: Design, Kinematics

Proceedings Papers

A Parallel, Four Degree-of-Freedom Robotic Wrist

Robert J. Salerno, Stephen L. Canfield, Anthony J. Ganino, Charles F. Reinholtz

Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 765-771, September 17–20, 1995

Paper No: DETC1995-0100

DOI: https://doi.org/10.1115/DETC1995-0100

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Topics: Degrees of freedom, Robotics, Kinematics, Weight (Mass), Construction, Design, Displacement, Mechanical admittance, Patents, Real-time control

Proceedings Papers

Velocity Analysis of Truss-Type Manipulators

Stephen L. Canfield, R. Randall Soper, Scott L. Hendricks, Charles F. Reinholtz

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A004, August 18–22, 1996

Paper No: 96-DETC/MECH-1158

DOI: https://doi.org/10.1115/96-DETC/MECH-1158

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Topics: Manipulators, Trusses (Building), Screws, Algebra, Geometry

Proceedings Papers

Singularity and Dexterity Analysis of the Carpal Wrist

Stephen L. Canfield, Anthony J. Ganino, Robert J. Salerno, Charles F. Reinholtz

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A059, August 18–22, 1996

Paper No: 96-DETC/MECH-1156

DOI: https://doi.org/10.1115/96-DETC/MECH-1156

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Topics: Bone, Cables, Kinematics, Manipulators, Muscle, Tunnels

Proceedings Papers

Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz

Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A041, September 14–17, 1997

Paper No: DETC97/DAC-3969

DOI: https://doi.org/10.1115/DETC97/DAC-3969

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Topics: Manipulators, Actuators, Robotics

Proceedings Papers

New Matrix-Theory-Based Definitions for Manipulator Dexterity

R. Randall Soper, Stephen L. Canfield, Charles F. Reinholtz, Dean T. Mook

Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A042, September 14–17, 1997

Paper No: DETC97/DAC-4410

DOI: https://doi.org/10.1115/DETC97/DAC-4410

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Topics: Manipulators, Algebra, Architecture, Linear systems

Proceedings Papers

Dynamic Force Analysis of the Carpal Wrist

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz

Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A090, September 14–17, 1997

Paper No: DETC97/DAC-3970

DOI: https://doi.org/10.1115/DETC97/DAC-3970

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Topics: Bearings, Equations of motion, Kinematics, Lightweight structures, Robotics, Stress

Proceedings Papers

Synthesis of Multi-Degree-of-Freedom Force-Generating Linkages

R. Randall Soper, Charles F. Reinholtz, Stephen L. Canfield

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A007, September 13–16, 1998

Paper No: DETC98/MECH-5975

DOI: https://doi.org/10.1115/DETC98/MECH-5975

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Topics: Linkages, Design, Chain, Weight (Mass), Energy storage, Equilibrium (Physics), Machinery, Mechanical admittance, Springs, Stress

Proceedings Papers

Creating Highly Dexterous Manipulators Using Nonlinear Input Transmission

Stephen L. Canfield, R. Randall Soper, Charles F. Reinholtz

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A008, September 13–16, 1998

Paper No: DETC98/MECH-5976

DOI: https://doi.org/10.1115/DETC98/MECH-5976

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Topics: Manipulators, Actuators, Architecture, Engines, Motors, Robotics, Torque, Yaw

Proceedings Papers

Contention-Free Control of Over-Constrained Variable Geometry Trusses

R. Randall Soper, Charles F. Reinholtz, Stephen L. Canfield, Robert L. Williams, III

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1127-1133, September 12–16, 1999

Paper No: DETC99/DAC-8668

DOI: https://doi.org/10.1115/DETC99/DAC-8668

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Topics: Geometry, Actuators, Architecture, Trusses (Building), Chain, Dimensions, Manipulators

Proceedings Papers

Investigation of the Parameters Governing Linkage-Based Rocking Chairs

Stephen L. Canfield, James W. Beard, R. Randall Soper

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1301-1305, September 10–13, 2000

Paper No: DETC2000/MECH-14196

DOI: https://doi.org/10.1115/DETC2000/MECH-14196

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Topics: Linkages, Design, Displacement, Oscillations, Degrees of freedom, Engineering prototypes, Kinematics, Numerical analysis, Pendulums, Stability

Proceedings Papers

Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot

Stephen L. Canfield, Joseph S. Owens, Stephen G. Zuccaro

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A068, August 17–19, 2020

Paper No: DETC2020-22510

DOI: https://doi.org/10.1115/DETC2020-22510

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Topics: Computer programming, Robots, Friction, Welding, Coulombs, Torque, Calibration, Fourier series, Manufacturing, Momentum

Proceedings Papers

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Matthew W. Powelson, Wesley A. Demirjian, Stephen L. Canfield

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A051, August 18–21, 2019

Paper No: DETC2019-98012

DOI: https://doi.org/10.1115/DETC2019-98012

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Topics: Adhesives, Robots, Design, Adhesion, Design methodology, Sensors, Surveillance, Suspension systems, Vehicles, Weight (Mass)

Proceedings Papers

Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

Benjamin E. Hargis, Benjamin F. Brandt, Stephen L. Canfield, Michael Tinker

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A066, August 18–21, 2019

Paper No: DETC2019-97952

DOI: https://doi.org/10.1115/DETC2019-97952

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Topics: Engineering prototypes, Modeling, Satellites, Design, Flight, Cable reels, Damping, Equations of motion, Robotics, String

Proceedings Papers

Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist

Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, Stephen L. Canfield

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A048, August 26–29, 2018

Paper No: DETC2018-86093

DOI: https://doi.org/10.1115/DETC2018-86093

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Topics: Kinematics, Manipulators, Artificial neural networks, Errors, Density, End effectors, Matlab, Robots, Testing, Trains

Proceedings Papers

Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments

Stephen G. Zuccaro, Stephen L. Canfield, Tristan W. Hill

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A036, August 6–9, 2017

Paper No: DETC2017-68312

DOI: https://doi.org/10.1115/DETC2017-68312

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Topics: Manufacturing, Mobile robots, Robots, System dynamics, Design, Kinematics, Energy consumption, Friction, Mechanical drives, Robot motion

Proceedings Papers

Design of Track-Based Climbing Robots Using Dry Adhesives

Matthew W. Powelson, Stephen L. Canfield

Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A020, August 6–9, 2017

Paper No: DETC2017-67999

DOI: https://doi.org/10.1115/DETC2017-67999

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Topics: Adhesives, Design, Robots, Adhesion, Equilibrium (Physics), Suspension systems

Journal Articles

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

Stephen L. Canfield, Reabetswe M. Nkhumise

J. Mechanisms Robotics. December 2017, 9(6): 061013.

Paper No: JMR-16-1374

DOI: https://doi.org/10.1115/1.4038007

Published Online: October 12, 2017

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Topics: Design, Kinematics, Manipulators, Manufacturing, Robots, Welding, Control equipment, System dynamics

Proceedings Papers

Creating a Concept Inventory Set of a Kinematics and Dynamics Machinery Course to Support Lectures in a Flipped Classroom Environment

Stephen L. Canfield, Tristan W. Hill, Stephen G. Zuccaro

Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A069, August 21–24, 2016

Paper No: DETC2016-60367

DOI: https://doi.org/10.1115/DETC2016-60367

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Topics: Dynamics (Mechanics), Kinematics, Machinery, Students, Engineering education

Journal citation

NARROW

Zero Moment Control for Lead-Through Teach Programming and Process Monitoring of a Collaborative Welding Robot

Kinematic Design of a Large-Angular-Motion Constant-Velocity Coupling

A Parallel, Four Degree-of-Freedom Robotic Wrist

Velocity Analysis of Truss-Type Manipulators

Singularity and Dexterity Analysis of the Carpal Wrist

Uniformity As the Guide to Evaluation of Dexterous Manipulator Workspaces

New Matrix-Theory-Based Definitions for Manipulator Dexterity

Dynamic Force Analysis of the Carpal Wrist

Synthesis of Multi-Degree-of-Freedom Force-Generating Linkages

Creating Highly Dexterous Manipulators Using Nonlinear Input Transmission

Contention-Free Control of Over-Constrained Variable Geometry Trusses

Investigation of the Parameters Governing Linkage-Based Rocking Chairs

Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot

Integrating Dry Adhesives and Compliant Suspension for Track-Type Climbing Robots

Modeling, Validation and Prototype Development of Electric Sail Tether Deployment Systems for CubeSats

Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist

Slip Prediction of Skid-Steer Mobile Robots in Manufacturing Environments

Design of Track-Based Climbing Robots Using Dry Adhesives

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

Creating a Concept Inventory Set of a Kinematics and Dynamics Machinery Course to Support Lectures in a Flipped Classroom Environment

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