bluuebunny/crossref_metadata_2025_split huggingface dataset:
Computational and Geometric Investigation on the Reciprocal Screw Axis of Bricard Six-Revolute Mechanisms
Authors: Lee Chung-Ching 
Published: December 2020

Abstract
Based on the optimization theory and the direct elimination technique, we present a systematic approach to explore the single reciprocal screw axis of Bricard six-revolute mechanisms numerically and to confirm its geometric properties graphically. To overcome the difficulty of deriving the analytical closed-form solutions and the shortcomings of needing an accurate initial estimate and having a highly computational sensitivity in the popular Newton-type procedure, the nonlinear programming algorithm establishes a general computational solution to the matrix displacement equation. Using the transformation of line and screw coordinates and the fundamentals of reciprocity of screws, we develop a simple numerical computational approach to obtain the reciprocal screw axis of mechanisms through the linear dependence or independence of linear algebra. Geometric explanations with 3-D computer graphics are also offered to comprehensively understand their algebraic surface of the reciprocal screw axes and to confirm the correctness and validity of the derived algorithm.
Finding Diversity in Mechanisms Using a Hybrid Genetic Algorithm
Authors: O’Neil Robert A. , Everett Louis J. 
Published: December 2020

Abstract
The path synthesis problem for mechanical linkages still presents problems for engineers, although it has been examined for more than two centuries. This research approached the design problem as one of creating a characteristic test function to compare a synthesized output path with a desired output path, and finding a set of linkages that reduce the corresponding error. Since the solution space of this approach is very large with typically a generous number of local minima, it may be possible to find several linkages that each produce a small error. This research investigated the ability to use a modified genetic algorithm to search for a global minima and simultaneously identify several linkage designs that are “almost” as good as the global optimum. Having alternative solutions will allow designers to choose a mechanism that best fits criteria other than path error. The results from using the method on a subclass of linkage problems demonstrate that solutions can be found that “fit” better than those found in the literature. The results also show that a diverse family of acceptable designs can be obtained and that this family includes both “well known” designs and heretofore unknown solutions.
Workspace Generation As a Diffusion Process
Authors: Wang Yunfeng , Chirikjian Gregory S. 
Published: December 2020

Abstract
In this paper we show that the workspace of a highly articulated manipulator can be found by solving a partial differential equation. This diffusion-type equation describes the evolution of the workspace density function depending on manipulator length and kinematic properties. The support of the workspace density function is the workspace of the manipulator. The PDE governing workspace density evolution is solvable in closed form using the Fourier transform on the group of rigid-body motions. We present numerical results that use this technique.
Numerical Study of the Motion of a Runaway Escapement
Authors: Els D. N. J. 
Published: December 2020

Abstract
The dynamic and kinematic characteristics of a runaway escapement, one of the classic mechanisms, were investigated. The two components of the mechanism are treated as separate entities and their equations of motion are integrated twice to obtain angular displacement. The motion is constrained by the space occupied by the opposing component at a specific time. The contacts between the components are treated as elastic collisions with dissipation and friction.
From the simulation results it can be concluded that for the normal operating range of a runaway escapement, a resisting moment proportional to the square of its angular velocity is exerted.
SDAMP: Software for the Design and Analysis of Mechanical Presses
Authors: Stumph Herbert E. , Murray Andrew P. 
Published: December 2020

Abstract
In this paper we introduce the MATLAB-based SDAMP (pronounced stamp) software for the analysis and synthesis of several mechanical press linkages. These linkages include the slider-crank and the four six-bar mechanisms formed by attaching a drag-link, crank-rocker, crank-shaper or Whitworth mechanism to a slider-crank. SDAMP performs four basic tasks: guided layout, kinematic analysis, mechanism refine and kinematic synthesis. Guided layout leads the user through joint selection to ensure a functioning mechanism. Kinematic analysis displays the position, velocity, acceleration and jerk of the sliding output versus the rotation of the input link. Mechanism refine allows the user to vary the geometry of an existing mechanism towards the goal of achieving a desired kinematic analysis. Lastly, kinematic synthesis determines the set of defect-free slider-cranks capable of achieving four precision points. All of these capabilities are integrated through a host of GUI driven MATLAB files in SDAMP.
Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms
Authors: Agrawal Sunil K. , Gardner Glenn , Pledgie Stephen 
Published: December 2020

Abstract
Exercise machines are becoming increasingly popular in rehbilitation and physical therapy. Gravity balancing is an important feature that is sought after in rehabilitative machines in order to make these accessible to patients with low muscular ability. Often, gravity loads in a mechanism are compensated by feed-forward actuator efforts that quasi-statically balance the mechanism in a configuration and are applied in addition to the actuator efforts required to perform a task. Such a scheme works but places large demands on the actuators. Also, actuator efforts are required at every joint in order to keep the mechanism balanced.
This paper describes the design and fabrication of a gravity balanced planar mechanism, where auxiliary parallelograms are used to identify the center of mass of the augmented mechanism. A sliding carriage positions a counterweight directly above the center of mass in order to make the system gravity balanced. The sliding carriage uses joint encoder data to compute the location of the center of mass. Experiment results are presented which demonstrate the effectiveness of the approach.
Active Vibration Control for the Closed Loop Flexible Mechanisms Combined the Feedback and Feed-Forward Strategy: Part 1 — Modelling
Authors: Xianmin Zhang , Changjian Chao 
Published: December 2020

Abstract
A methodology for suppressing the elastodynamic response of high speed closed loop flexible mechanisms with piezoelectric actuators and sensors are developed. In this part, a mixed variational approach with Hamilton’s principle is developed to derive the equations of motion for the closed loop flexible mechanism systems which describes the motion of the mechanisms and the behavior of the piezoelectric apparatus. This model includes both the rigid-body and the elastic motion coupling terms and the elasto-dynamics and piezoelectricity coupling terms as well as the effects of the actuators and sensors upon the mass and stiffness of the system.
Theory and Method of Dynamic Modeling for Multilayer Vibration Isolation System
Authors: Dao-Xun Liao , Yong-Zhong Lu , Xiao-Cheng Huang 
Published: December 2020

Abstract
The multilayer vibration isolation system has been widely applied to isolate vibration in dynamic devices of ships, high-speed vehicles forging hammer and precise instruments.
The paper is based on the coordinate transformation of space general motion for mass blocks (rigid bodies) and Lagrangian equation of multilayer vibration isolation system. It gives a strict mathematical derivation on the differential equation of the motion for the system with six degrees of freedom of relative motion between mass blocks (including base). The equations are different from the same kind of equations in the reference literatures. It can be used in the floating raft of ships in order to isolates vibration and decrease noise, also used in design calculation of the multilayer vibration isolation for dynamic machines and precise instruments on the dry land.
A Parametric Study of the Dynamics of the Shudderless Tripode Joint
Authors: Santonocito Paolo , Pennestri Ettore 
Published: December 2020

Abstract
Front-wheel drive cars rely upon tripode joints, well known and widely used spatial mechanisms. This research has been prompted by the appearance on the market of a shudderless tripode joint. By means of a parametric model, based on the application of a multibody dynamics technique, it has been investigated the influence of geometric variables and angular speed on the amount of constraint forces and torque fluctuations. The numerical examples presented provide practical guidelines for a rational choice of such parameters.
A New Design Method for Spatial Vibration Absorbers
Authors: Blanchet Pat , Lipkin Harvey 
Published: December 2020

Abstract
A new methodology is presented for the design of spatial vibration absorbers. In general, the design of vibration absorbers has been limited to systems excited by a pure force. These designs cannot handle excitations composed of both a force and a torque. Furthermore, that design requires the absorber to be along the line of action of the force. The proposed design method is more versatile since the location of the absorber is left as a design freedom and it places no restriction on the type of excitation.
The Design Considerations of Manipulators
Authors: Tsai K. Y. , Huang K. D. 
Published: December 2020

Abstract
This paper presents algorithms to evaluate various kinematic properties of manipulators and then studies how to utilize the obtained result in the design of manipulators. The manipulability, workspace volume, and force transmissivity of various serial chains are first evaluated. The obtained data are compared and listed on tables that can be used for designing serial and in-parallel manipulators. A modular approach is used for designing in-parallel manipulators. The optimum design of the platform and serial chains are obtained independently. The modules are then assembled into in-parallel manipulators according to the rules proposed in this work.
Kinematic Synthesis of Spatial in-Parallel Wire-Driven Mechanism With Six Degrees of Freedom With High Force Transmissibility
Authors: Takeda Yukio , Funabashi Hiroaki 
Published: December 2020

Abstract
We propose an index for evaluating the force transmission characteristics in general N degree-of-freedom (dof) in-parallel wire-driven mechanisms (PWDMs) with N + 1 wires. The relationship between input force and output force in an N dof in-parallel actuated mechanism with only rigid links was used for defining the transmission index for a PWDM. The index has been applied to the kinematic synthesis of spatial six dof PWDM with seven wires, and novel PWDMs with high force transmissibility have been obtained.
Determination of the Uniqueness Domains of 3-RPR Planar Parallel Manipulators With Similar Platforms
Authors: Kong Xianwen , Gosselin Clément M. 
Published: December 2020

Abstract
A uniqueness domain is a part of the Cartesian workspace corresponding to the same assembly mode of the 3-RPR (planar parallel) manipulator. This paper presents an efficient method to determine the uniqueness domains of the 3-RPR manipulators with similar platforms. The method is based on the singularity and forward displacement analysis (FDA) of the 3-RPR manipulator with similar platforms. The singularity analysis and the FDA of the 3-RPR manipulator with similar platforms is first performed. It is then proved that each of the solutions distributes into different singularity-free regions of the manipulator. Each singularity-free region corresponds to one uniqueness domain of the 3-RPR manipulator with similar platforms which can thus be determined in a direct way. At last, it is proved that the four solutions in analytic expression form to the forward displacement analysis correspond to different uniqueness domains for the 3-RPR manipulator with similar aligned platforms. This simplifies further the FDA in this case as the unique solution to the FDA can be found without the need to compute all the four solutions as long as the singularity-free region in which the manipulator works is given.
A Parallel Six Degrees-of-Freedom Inflatable Robot
Authors: Ben-Horin (Dombiak) Patricia , Shoham Moshe , Grossman Gershon 
Published: December 2020

Abstract
A new structure of a six degrees-of-freedom robot is described in this paper. The robot presents two new features: three inflatable links that constitute the robot structure and parallel robot architecture with large workspace. These features result in a lightweight and easy to deploy robot. The structure, kinematics and path planning of the experimental robot are presented.
Singular Configuration and Workspace of a Parallel Manipulator With New Architecture
Authors: Fattah Abbas , Oghbaei Mojtaba 
Published: December 2020

Abstract
In this paper singularity analysis and workspace of a 3DOF parallel manipulator with new architecture are studied. Singular configurations of the manipulator at hand are analysed first. To this end, upon differentiating the kinematic constraint equations of the manipulator with respect to time, the relation between input and output speeds is obtained in terms of two kinds of Jacobians. These two Jacobians are then used to determine singular configurations. Next the workspace of the manipulator is studied from two points of view.
Dynamic Modeling and Simulation of Parallel Mechanisms Using the Virtual Spring Approach
Authors: Wang Jiegao , Gosselin Clément M. , Cheng Li 
Published: December 2020

Abstract
A new approach for the dynamic simulation of parallel mechanisms or mechanical systems is presented in this paper. This approach uses virtual springs and dampers to include the closed-loop constraints thereby avoiding the solution of differential-algebraic equations. Examples illustrating the approach are given and include the four-bar mechanism with both rigid and flexible links as well as the 6-dof Gough-Stewart platform. Simulation results are given for the four-bar linkages and the 6-dof manipulator. The results achieve a good agreement with the results obtained from other conventional approaches.
In-Parallel Passive Compliant Coupler for Robot Force Control
Authors: Dwarakanath T. A. , Crane Carl D. , Duffy Joseph , Tyler Chad 
Published: December 2020

Abstract
This paper describes the design of a Passive Compliant Coupler for Force Control (PCCFC) based on an in-parallel mechanism. The optimal synthesis of the mechanism is performed with the objective of achieving a good quality index. The novel design of the connector (also termed as the leg), a crucial element of the mechanism, is one of the important features of the paper. The shape optimization of connectors of an in-parallel mechanism is obtained by satisfying compliant requirements and considering maximization of signal to noise ratio criteria. The various design aspects of sizing, sensing the displacement, and implementation of the connector are discussed. The in-parallel compliant mechanism for force control is obtained by optimizing the signal to noise ratio at various stages of the mechanism design.
Modeling and Batch Fabrication of Spatial Micro-Manipulators
Authors: Kimball C. , Tsai L. W. , DeVoe D. , Maloney J. 
Published: December 2020

Abstract
Pseudo rigid body models (PRBM) may be used to accurately and efficiently model the large elastic deflections of compliant mechanisms. Previously published models have only considered end forces with no end moment or end moment acting only in the same direction as the force. In this paper, we present a model for a cantilever beam with end moment acting in the opposite direction as the end force causing an inflection point. As motivation for the development of such models, we present a novel spatial micro-manipulator which can be modeled with this PRBM. This micro-manipulator is being fabricated as a MEMS device using a 3D fabrication process.
Optimization-Based Design of a Fully-Compliant Bistable Micromechanism
Authors: Parkinson Matthew B. , Jensen Brian D. , Roach Gregory M. 
Published: December 2020

Abstract
Micro-bistable mechanisms are used in microswitches and microvalves to reduce power consumption as power is applied only to switch states. Many of the bistable mechanism designs that have been presented incorporate rigid-body joints. These joints introduce unwanted friction and poor repeatability into the mechanism motion. A fully-compliant mechanism avoids these problems. Optimization techniques were used to find fully-compliant bistable micromechanism designs. The chosen objective was to minimize the displacement required between the two stable positions. Two families of designs were considered: those where the actuator was integral to the device and those where it remained in contact only during actuation. Mechanism designs are presented and are currently in the process of fabrication.
Two Spatial Gravity Equilibrators
Authors: Herder Just L. , Tuijthof Gabriëlle J. M. 
Published: December 2020

Abstract
This paper describes the design of two spatial gravity compensation devices. The one is an arm-like structure with the same mobility (4dof) as the human arm, which is balanced by two springs. The other is a general suspension unit with full (6dof) mobility, balanced by a single spring. When link and spring masses are considered, rather than just the payload, the latter configuration needs an additional spring or a slight alteration of its structure for complete balance.
Design and Modeling of an Electro-Rheological Fluid Based Haptic Interface
Authors: Mavroidis C. , Pfeiffer C. , Celestino J. , Bar-Cohen Y. 
Published: December 2020

Abstract
In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical MIrroring using Controlled stiffness and Actuators). MEMICA is intended to provide human operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. The ECS elements make use of Electro-Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling of stiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF based force feedback element.
Configuration Management for Modular Flexible Small Automation Systems: A Case Study
Authors: Turner Cameron J. , Legault Jacy M. , Cox Dan J. 
Published: December 2020

Abstract
Configuration management provides designers of automation systems with a framework to develop effective automation systems despite their inherent complexity. By managing the complexity of the system, and assisting in low-level decision-making, configuration management systems enable human designers, operators and system technicians to focus on high-level decision-making where their knowledge and experience are the most valuable. The development of flexible, modular small automation systems for the Advanced Recovery and Integrated Extraction System (ARIES) Pilot Line at Los Alamos National Laboratory, can serve as a case study for the development of a configuration management methodology. Furthermore, this case study can be used to identify potential design tools that can assist in the development of automation systems. An examination of a specific case, that of the Hot-side Electrodecontamination Chamber of the ARIES Pilot Line has been used to identify necessary research developments and demonstrate the utility of the configuration management process.
Understanding Voids in the Workspace of Serial Robot Manipulators
Authors: Abdel-Malek Karim , Yeh Harn-Jou , Othman Saib 
Published: December 2020

Abstract
Analytical methods for identifying the boundary to the workspace of mechanical manipulators and the boundary to voids in the workspace are presented. The determination of parametric equations of surface patches that envelop the workspace of serial manipulators was presented elsewhere and is extended in this paper to an analytical method for void identification. Because of the ability to identify closed-form surface patches that exist internal and external to the workspace, a mathematical formulation based on the concept of a normal acceleration function is introduced. Admissible motion in the normal direction to a point on a singular surface is delineated and characterized by definiteness properties of a quadratic form. An enclosure bound by surface patches that do not admit normal motion towards its internal is identified as a void. Several examples are treated using this formulation to illustrate the method.
Path Planning With Selective/Desriable Orientation in Finite Twist Mapping Space
Authors: Shah Paresh , Dai Jian S. 
Published: December 2020

Abstract
The paper proposes a new approach for path planning based upon the finite twist mapping spaces and discusses the selective and desirable orientation in the planning. In the FT mapping space, positions and orientations are presented in conjunction with configuration space with the dexterous and partial dexterous workspaces. The path planning can hence be made with a range of dexterity of a manipulator to meet a desirable orientation. The work also extends to redundant manipulators.
A Geometric Based Method for Distance-to-Contact Calculations in Two Dimensions
Authors: Wu C. , Mayne R. W. 
Published: December 2020

Abstract
This paper considers distance-to-contact (DTC) calculation strategies to improve computational efficiency in two dimensional motion planning. A basic DTC calculation approach is described which combines geometric concepts and iterative calculations in identifying the minimum distance between two separated objects of interest. The developed approach, termed the “Q-polygon” method, efficiently obtains the analytical minimum distance between two convex objects. The paper describes the development of the Q-polygon strategy and considers its performance in representative DTC calculations. The performance of the Q-polygon approach compares very favorably to a typical quadratic programming technique for basic DTC calculations and shows an impressive low sensitivity to increasing complexity of the considered objects.
A 7R-Based, Two Degrees of Freedom Robomech
Authors: Smaili Ahmad A. 
Published: December 2020

Abstract
A robomech is a crossbreed of a mechanism and a robot arm. It has a parallel architecture equipped with more than one end effector to accomplish tasks that require the coordination of many functions. Robomechs with multi degrees of freedom that are based on the 4R and 5R chains have found their way into the literature. This article presents a new, two-degree of freedom robomech whose architecture is based on the 7R chain. The robomech is capable of performing two-function tasks. The features, kinematic constraints, and synthesis procedure of the robomech are outlined and an application example is given.