bluuebunny/crossref_metadata_2025_split huggingface dataset:
An Investigation of a Relational Database Approach to a Multidisciplinary Conceptual Design for the HSCT
Authors: Hall Neil S. , Fulton Robert E. 
Published: February 2021

Abstract
New aerospace designs will incorporate new concepts as a result of advances made in the scientific and engineering technologies. These new concepts will afford the aircraft designer with an interesting and somewhat envious dilemma. The aircraft designer will have unprecedented flexibility in design concepts. However, this new flexibility will often be paralleled in ever increasing design complexity. Aircraft such as the High Speed Civil Transport (HSCT) will provide a design environment which will require the efficient use of new technologies in an arena which has historically proven to have stringent performance and cost goals which must be met in order to result in a successful design. The complexity of the HSCT design will dictate a close multidisciplinary effort requiring large amounts of data exchange. Moreover, with the enormous development costs associated with such a design, corporate teaming is essential. It is critical to the success of the HSCT and future aircraft design that a new approach be taken toward the management and exchange of information. A top-down data management design structure should be developed and implemented in the early stages in order to optimize the design process. A small scale multidisciplinary relational database management design has been developed for the HSCT in order to gain a better understanding of how efficient data management can optimize the aircraft design process.
Choosing Between Manual and Automated Methods for Assembly Operations: A Systematic Procedure
Authors: Mital Anil , Pennathur Arunkumar 
Published: February 2021

Abstract
Product assembly is a major consideration when designing products for manufacture as the method of assembly (manual, hybrid, or automated) often dictates, among other things the design of components, the assembly process and associated tooling. The choice of assembly method is, on the other hand, frequently dictated by technical and economic considerations. If the technical and economic considerations favor one method over the other, the decision-making is straight forward. However, when a product can be assembled either manually or with the assistance of automated equipment, the designer is confronted with the decision to choose between the two methods. This article provides a systematic procedure for choosing the assembly method in the event both manual and automated assembly methods are technically feasible.
Computer Considerations for Advanced Robotics
Authors: Kapoor Chetan , Pettus Nathan , Hooper Rich , Tesar Delbert 
Published: February 2021

Abstract
Mechanical systems for manufacturing in the past have represented monolithic, dedicated machines which remain expensive and inflexible relative to product changes due to market demands. It is the goal of the Robotics Research Group at the University of Texas at Austin (UTRRG) to develop a complete generalized modular architecture for intelligent machines (robots). This paper discusses the various issues involved in the design and selection of system controller hardware, servo controller hardware, real-time software, operating systems, and the software design methodologies. These constructs are required for the realization of a revolutionary, advanced intelligent flexible manufacturing system which offers the same success potential as that of a personal computer.
A Programming Technique for Multifunctional Use of Industrial Robots
Authors: Balkan Tuna 
Published: February 2021

Abstract
In this study, a software is developed in order to use an industrial robot, specifically an arc welding robot, as a palletizing robot by using programming codes of a FANUC ARC Mate Sr. on a FANUC R-G2 controller environment. The software performs all standard palletizing options of a material handling robot in the same category without requirement of any optional built-in software. In addition, multiplication and division can be performed without any optional software for these functions, by using standard addition and subtraction software. Thus, with the algorithm of the developed software, an industrial robot for a certain application may be used for palletizing without any extra cost for optional software.
Workspace Cusp Locations, and Simplified Workspace Boundary Equations for General RRR Regional Structures of Manipulators
Authors: Riley Peregrine E. J. , Torfason Louis E. 
Published: February 2021

Abstract
General, complex geometry forms of RRR regional structures are often avoided due to the presence of inner boundaries within the workspace which tend to complicate robot guidance. Despite the added complexity, certain RRR geometries may have useful applications as they contain large workspace regions where four alternate configurations may be used to reach a given spatial location. Cusp points often appear on the workspace boundaries of general RRR regional structures, and determining their precise location may be useful for both design and guidance purposes.
A twelfth degree polynomial equation in the outer joint variable is derived which defines the location of non-trivial cusps in the workspace.
A new closed form workspace boundary equation is derived in the outer joint variable and x coordinate of the toroidal surface generated by rotation of the two outer revolutes. If the outer joint variable is incremented, a quadratic in x is formed at each step which enables a very efficient determination of the workspace boundaries while also providing the coordinates of the boundary on the toroidal surface.
An Efficient Algorithm to Determine the Intersection of Simple Polygons for Robot Path Planning
Authors: Miao S. , Howard D. 
Published: February 2021

Abstract
This paper presents an efficient algorithm for determining the intersection of two simple polygons. The proposed algorithm is based on the idea of searching for the vertices of the intersection polygon vertex by vertex along the boundary in a clockwise direction. This method finds the intersection polygon vertices and their order in one pass. The algorithm almost eliminates the need for testing whether candidate vertices are inside both polygons and the sorting stage is no longer needed.
A Numerical Method and Automatic Generation for Determining the Assemblage Configurations of Complex Planar Linkages Based on the Ordered Single-Opened-Chains
Authors: Hui-Ping Shen , Ting-Li Yang 
Published: February 2021

Abstract
This paper presents a simple numerical evaluation method for solving all possible assembly configurations on an any position of the input link of some complex planar linkages according to the structural theory of mechanism based on the ordered Single-Opened-Chains (S.O.Cs). This method can simultaneously checks on whether the input link is a crank of the linkage. This paper also discovers that full-cycle ratability (F.C.R) of a linkage depends on not only the length of links of the linkage but also the different assembly configurations of the linkage after analysis of assemblage configurations.
The illustration for solution and analysis of assembly configurations of a complex planar linkage is given in detail.
This paper provides the actual assembly of linkages and the optimization of structure synthesis of linkages with some important information.
Optimal Sensor Location in Motion Control of Flexibly Supported Long Reach Manipulators
Authors: Mavroidis Constantinos , Dubowsky Steven , Thomas Kevin 
Published: February 2021

Abstract
Long reach manipulator systems (LRMS) can perform tasks in difficult to reach locations. They use a small and fast manipulator mounted on a large flexible structure that can vibrate, degrading the system performance. Control methods that use strain measurements of the flexible structure have been proposed to control the system’s position in spite of the supporting structure’s vibrations using a model of the structure that relates strains to displacements. Here the minimum number of strain sensors needed to accomplish this control and their optimal locations on the flexible supporting structure are determined. These locations have been selected to achieve high measurement resolution, to maximize the computational robustness and to minimize the error in the identification of the structure’s strain-displacement model. The results are validated with simulations and experiments using a six degree of freedom laboratory LRMS.
The Forward Position Problem of Two Puma-Type Robots Manipulating a Bennett Linkage Payload
Authors: Pennock Gordon R. , Mattson Keith G. 
Published: February 2021

Abstract
This paper presents a solution to the forward position problem of two PUMA-type robots manipulating a Bennett linkage payload. The orientation of a specified payload link is described by a sixth-order polynomial and a specified angular joint displacement in the wrist subassembly of one of the robots is described by a second-order polynomial. A solution technique, based on orthogonal transformation matrices with dual number elements, is used to obtain closed-form solutions for the remaining unknown angular joint displacements in the wrist subassembly of each robot. The paper shows that, for a given set of robot input angles, twenty-four assembly configurations of the robot-payload system are possible. The polynomials provide insight into these configurations, and also reveal stationary configurations of the system. The paper emphasizes that insight into the kinematic geometry of the system is essential in developing the forward position solution. Graphical methods are presented which provide insight into the geometry, and a check of the analytical approach. For illustrative purposes, a numerical example of the two robots manipulating a Bennett linkage is included in this paper to demonstrate the importance of the polynomials and the closed-form solutions.
On the Geometry of Spatial Polygons and Screw Polygons
Authors: Mavroidis Constantinos , Roth Bernard 
Published: February 2021

Abstract
In this paper we study spatial polygons which are closed figures composed of ordered sets of lines and their common normals. It is shown how to solve for up to six of the parameters which define a polygon’s geometry, after all the other parameters are specified. It is also shown that when screws are used instead of lines, the resulting figures, called screw polygons, can be analyzed in order to determine up to twelve parameters, provided all the other parameters which define the screws and the screw polygon are known. Finally, it is pointed out that these results have many potential uses in kinematics.
Determination of Translation Component of Screw Axis From Double-Exposure Holographic Interferograms
Authors: Sanchez L. A. , Zurek A. D. , Griffis J. A. 
Published: February 2021

Abstract
In mechanism design, it is often necessary to accurately measure the relative motions produced by an assembly of rigid bodies connected by joints. A number of analytical tools exist for the theoretical kinematic analysis of the relative motions produced by such an assembly. However, a relatively limited number of corresponding experimental methods for handling such motions exist. Optical methods are especially useful because they do not require that the measurement system touch the assembly being analyzed. A photo-optical method, holographic interferometry, is presented for the experimental determination of finite screw displacements. The purpose of this paper is to show how double-exposure holographic interferograms can be used to provide information about screw axes for general motions of an object in three-dimensional space. This investigation deals with the translation component of a screw axis and categorizes the fringe patterns resulting from in-plane and out-of-plane translations and their combinations. The resulting screw axis for each special displacement case is computed.
Workspace of Four-Degree-of-Freedom Manipulators
Authors: Abdel-Malek Karim , Yeh Harn-Jou 
Published: February 2021

Abstract
An analytical method is presented to obtain all boundary surfaces to the accessible output set of four degree-of-freedom serial manipulators. The method is applicable to all manipulators that comprise combinations of prismatic and revolute joints. Position constraints of the end-effector of such mechanisms are formulated using the Denavit-Hartenberg representation. Examining the Jacobian of the underlying mechanism using a row-rank deficiency method yields sets of first-order singularities. These sets of singularities are substituted into the position constraint equations yielding parametric surfaces upon which the manipulator looses at least one degree of mobility. Singular curves are determined by intersecting singular surfaces. Due to the complexity of intersecting parametric singular surfaces, the resultant singular curves are numerically computed. Bifurcation points are identified and tangents are computed. Singular surfaces are partitioned into sub-surfaces that are studied for existence inside the accessible output set using a proposed perturbation technique. The result is a number of sub-surfaces that envelop the accessible output set. The theory presented is validated using a four-degree-of-freedom example.
Parametric Study of Platform Manipulators
Authors: Ji Zhiming 
Published: February 2021

Abstract
Multi-loop parallel structures of platform manipulators present challenge to their design analysis. For studying the workspace of the 3-6 class of platforms, we developed the “vertex space” concept in (Ji, 1994). This paper extends the “vertex space” concept to other structures for analyzing and comparing their workspaces. We classify the vertices of the platform manipulators into types A and B. The platform manipulators are then divided into four groups based on their vertex types. Design parameters in platform manipulators are studied in terms of their functions and effects to vertex spaces and workspace.
Synthesis of Planar RR Dyads by Constraint Manifold Projection
Authors: Larochelle Pierre M. 
Published: February 2021

Abstract
In this paper we present the constraint manifold of the planar RR dyad. The constraint manifold is an analytical representation of the workspace of the dyad. We then derive a technique, utilizing the constraint manifold, for performing the dimensional synthesis of planar RR dyads for approximate rigid body guidance through n positions. Finally, we present the implementation of the design methodology in the software VISSYN and discuss its use in a design case study.
A Closed Form Method for Backtracking From a Modified Burmester Curve to a Set of Precision Positions
Authors: Watkins Derek , Nisbett J. Keith 
Published: February 2021

Abstract
A method is presented, in the context of Burmester theory, which backtracks from a modified set of poles to a set of precision positions which is likely to satisfy the original precision position tolerances. The motivation is to provide a means of manipulating the Burmester curves into desired regions by moving the poles rather than the precision positions directly. The procedure correlates a movement of a pole to a new set of precision positions which are determined to be more than likely nearest to the original set of precision positions. By checking the most likely precision positions, it is not necessary to check the remaining infinite possible sets of precision positions. Thus, even though it is theoretically impossible to backtrack from four poles to a unique set of precision positions, with this method it is practically possible to do so.
Closed-Form Displacement Analysis of SDOF 8 Link Mechanisms
Authors: Almadi Abdulaziz N. , Dhingra Anoop K. , Kohli Dilip 
Published: February 2021

Abstract
This paper presents closed-form solutions to the displacement analysis problem of planar 8-link mechanisms with a single degree of freedom (SDOF). The degrees of I/O polynomials as well as the number of possible assembly configurations for all 71 8-link mechanisms resulting from 16 8-link kinematic chains are presented. Three numerical examples illustrating the applicability of the successive elimination procedure to the displacement analysis of 8-link mechanisms are presented. The first example deals with the determination of I/O polynomial for an 8-link mechanism containing no four-bar loops. The second and third examples, address in detail, some of the problems associated with the conversion of transcendental loop-closure equations into an algebraic form using tangent half-angle substitutions. These examples illustrate how extraneous roots can get introduced during the displacement analysis of mechanisms, and how one can derive an I/O polynomial devoid of the extraneous roots. Extensions of the proposed approach to the displacement analysis of SDOF spherical 8-link mechanisms is also presented.
Case Studies and a Note on the Degrees-of-Freedom in Compliant Mechanisms
Authors: Ananthasuresh G. K. , Howell Larry L. 
Published: February 2021

Abstract
The presence of compliant members in a mechanism makes the determination of its degrees-of-freedom out of reach of the traditional Grübler’s formula, as this formula does not account for the additional mobility allowed by compliance. Recent research efforts have led to a generalization of Grübler’s formula that encompasses compliant mechanisms as well. The objective of this work is to apply the formula to a set of practical compliant devices, and further clarify and simplify the approach. This is accomplished as follows: i) The concept of “virtual rigid segments” is introduced to facilitate the identification of the segment compliance of distributed segments with forces applied to them. ii) The motion of compliant devices is interpreted by identifying the inputs equal in number to the calculated possible degrees of freedom. iii) A wide variety of case studies are presented to illustrate the method of application and the value of the approach.
Constraint Manifold Synthesis of Planar Linkages
Authors: Murray A. P. , McCarthy J. M. 
Published: February 2021

Abstract
This paper formulates the design theory of planar four-bar linkages using the planar form of dual quaternions known as planar quaternions. The set of positions reachable by the floating link of a dyad is a quadratic algebraic surface called a constraint manifold. Determining the coefficients of the quadratic form defining this manifold is equivalent to setting the design parameters of the linkage. If the task of the linkage is specified as geometric constraints on the location of the floating link, then algebraic constraints are obtained on the quaternion components. We seek the coefficients of the constraint manifold that satisfies these constraints. The result is an algebraic formulation that is symmetric in its characterization of the linkage and task, and provides a versatile tool for the formulation and solution of linkage design problems.
Trajectory Planning Methods for Conservative Motion of Redundant Manipulators
Authors: Chyu Younker , Song Shin-Min 
Published: February 2021

Abstract
The extra degrees of freedom of a redundant manipulator can be used to improve dexterity, to avoid singularity and to optimize certain performance criterion such as energy consumption. However, the motion of a redundant manipulator is usually not conservative while it is tracking a repetitive task. That is, it requires re-calculation of its motion at each increment in a repetitive task. Therefore, conservative motion has been a research topic of redundant manipulators. In this paper, two trajectory-planning methods based on the pseudo-inverse method and Euler Taylor-series are presented. These two methods enable us to obtain a convergent configuration(s) after repetitive motion cycles and the motions become conservative after the manipulator reaches the convergent configuration(s). The required number of iterations could be exceedingly large for certain trajectories. Two methods which are able to efficiently identify the convergent configuration(s) are also presented. This study is based on a three-linked planar manipulator tracking four trajectories: circles, ellipses, squares and line segments.
Simulation and Design of Two-Degree-of-Freedom Underactuated Mechanical Fingers
Authors: Laliberté Thierry , Gosselin Clément M. 
Published: February 2021

Abstract
The design of underactuated mechanical fingers is addressed in this article. The objective of the research is to design a robust mechanical hand capable of performing industrial tasks involving the grasping of a wide variety of objects with large forces. To this end, the taxonomy of the grasps is first reviewed. Then, the principle of underactuation — which leads to shape adaptation of the hands — is introduced and a review of the existing underactuated mechanical hands is provided. Architectures of two-degree-of-freedom underactuated fingers are then proposed and a simulation tool is designed to analyze their behavior. It is shown that underactuation is a very promising avenue when only grasping is required (no manipulation). Simulation results are given and discussed in order to illustrate the usefulness of the simulator and general design guidelines are proposed. Finally, a design of an underactuated finger is presented as an example. The design presented here demonstrates that the use of underactuation can lead to versatile grasping capabilities with reduced complexity.
Analysis and Synthesis of Underactuated Force Generating Mechanisms
Authors: Gosselin Clément M. 
Published: February 2021

Abstract
In this paper, the analysis and synthesis of underactuated mechanisms used to generate prescribed external forces is addressed. The main objective of the article is to introduce the concept of mechanism synthesis for force generation, as opposed to motion generation. Underactuated mechanisms are first defined and their analysis is formulated. Then, passive mechanisms obtained from architectures of parallel manipulators are introduced and the analysis is repeated for this particular class of mechanisms. The synthesis problem is then formulated for passive mechanisms and for mechanisms with actuators, in a general framework. Finally, simple examples of the analysis and synthesis of passive mechanisms are given in order to illustrate the concepts.
Modeling, Simulation and Realization of an Autonomous Six Legged Walking Machine
Authors: Bührle Peter , Cordes Stefan 
Published: February 2021

Abstract
In the following paper, the realization of a six legged walking machine is presented, using the benefits of a dynamic simulation of an abstracted model. In order to ensure the success of such a complex system, the suitability of single components (geometry, drives, gears, control algorithm) as well as of the entire system has to be examined in the pre-manufacturing phase. For that reason the walking machine is modeled as a multibody system and simulated in a developed program package, taking the dynamics of the drives into consideration. In a second part, the realization of the robot is described, presenting the used drives, sensors and control architecture.
Stability Analysis of Multi-Bar Elastic Linkage Mechanisms
Authors: Xianmin Zhang , Caoweiqing Liu Hongzhao 
Published: February 2021

Abstract
An important question facing a designer is wether a certain machine system will have a stable operating condition. In this paper, the distributions of the critical running speeds of flexible linkage mechanisms are investigated theoretically by utlizing the Floquet theory. The explicit relationships between the critical running speeds and the average frequencies of the linkage mechanisms in a period are presented. The relationships are suitable for the linkage mechanisms with all links considered as elastic members and having large number of elastic degrees of freedom. Numerical verifications for the relationships are provided.