bluuebunny/crossref_metadata_2025_split huggingface dataset:
On the Applicability of Product Variety Design Concepts to Automotive Platform Commonality
Authors: Siddique Zahed , Rosen David W. , Wang Nanxin 
Published: February 2021

Abstract
The issue of moving from a mass production operating mode to mass customization, or even limited customization, has many companies struggling to reorganize their product architectures. Enabling the production of several related products for different market segments, from a common base, is the focus of the product variety design research area. In this paper, the applicability of product variety design concepts to the design of automotive platforms is explored. Many automotive companies are reducing the number of platforms they utilize across their entire range of cars and trucks in an attempt to reduce development times and costs. To what extent can research on product variety design apply to the problem of platform commonization? This question is explored by comparing product variety design concepts (standardization, modularity, mutability, etc.) to platform structures and requirements. After assessing the applicability of these concepts, a platform representation and methods for measuring platform commonality are proposed that incorporate key characteristics of these concepts. An application to two platforms is included. Although preliminary, this work has led to insight as to why automotive platform commonization is difficult and how product design variety research can potentially aid commonization. The findings are potentially applicable to product platforms in general.
An Overview of Inference Mechanisms for Quantified Relations
Authors: Finch William W. 
Published: February 2021

Abstract
This paper temporarily sheds formal mathematical treatment and presents a more intuitive overview of inference mechanisms for quantified relations. These predicate logic expressions are a new class of design constraint among sets of variations affecting the design and performance of engineering systems. Simple examples illustrate the use of quantified relations to infer constraints on the membership of feasible sets. A small design problem from the electronics domain joins the mathematical tools with engineering concepts. A brief comparison demonstrates the advantages of this approach over conventional interval mathematics. This paper’s objective is to illustrate the application of quantified relations and their associated methods to engineering design problems.
A Graph Grammar Approach for Structure Synthesis of Mechanisms
Authors: Schmidt Linda C. , Shetty Harshawardhan , Chase Scott C. 
Published: February 2021

Abstract
This paper presents a general graph grammar for structure synthesis of mechanisms. Much of current mechanism design is based on a systematic method popularized by Freudenstein, Buchsbaum, Mruthyunjaya and Tsai (among others). Since it relies on algebraic abstractions of graph theoretic principles, a graph grammar is a more natural expression for the method. Our proposed mechanism grammar rules add vertices and loops to a start graph to obtain desired structural requirements. A specialized grammar for the structure synthesis of Epicyclic Gear Trains is presented. As is a grammar adaptation of an existing linear time algorithm for the detection of isomorphism. A valid graph grammar for structure synthesis of mechanisms enables the eventual automation of general atlas construction and atlas construction for specialized mechanism classes.
A Knowledge-Based Engineering (KBE) Graduate Design Class
Authors: Calkins D. E. , Egging Nathaniel , Scholz Christian 
Published: February 2021

Abstract
An emerging technology known as Knowledge-Based Engineering (KBE) is the next step beyond CAD for product representation. KBE allows a true virtual prototype to be developed that represents both the geometric and the non-geometric characteristics of a product. A graduate level design course based on this technology is described. A new version of the design process is presented for the development of a virtual prototype. Examples of a product that was modeled, a hand held vacuum, are also presented.
A Passive Compliant Wrist Design for Robot Manipulators
Authors: Hoffman Christopher D. , Soni A. H. , Thompson David F. 
Published: February 2021

Abstract
Robot assembly in manufacturing systems is still a work-intensive process. A main difficulty that arises when trying to automate an assembly task with a robot is the precision required to position and orient the parts. This difficulty arises in several sources of error, such as robot accuracy, the gripping and presentation precision of pieces, and part tolerance. High requirements for part insertion also present a greater possibility for jamming of parts and bottlenecking of the assembly line. Using a compliant device mounted between the end effector of the robot and the gripper mechanism may relieve this situation.
In order to achieve the reality of cheaper automation solutions by using robots in high precision insertion tasks, a passive compliant gripper device would need to be used. A passive design would supply the user with a “bolt-on” device that did not require any extra controllers or interfacing between the compliant wrist and the robot main controller, as is the case with an active or hybrid design. Using the wrist in operation, the number of damaged parts and the number of crashes by the robot would be reduced. Other compliant devices that are currently offered by commercial companies are compared with the proposed design and debated.
After a study of existing compliant devices, a novel approach is presented. Utilizing an earthquake protection device for buildings as an initial idea fountain, a new compliant wrist design is formulated. The Passive Compliant Wrist design, based on a building support system, is exhibited in detail. A comprehensive discussion of the wrist in operation is also presented. The final design has also been verified using the dynamic motion simulation program, Working Model, by Knowledge Revolution.
The Design of a Novel Mechanical Transmission for Speed Reduction
Authors: González-Palacios Max A. , Angeles Jorge 
Published: February 2021

Abstract
The design of a novel transmission for speed reduction is reported in this paper. The transmission is based on the layout of pure-rolling indexing cam mechanisms, and hence, eliminates backlash and friction, which are the main drawbacks of gear transmissions. The design relies on a unified methodology for indexing cam mechanisms, whereby the same procedure is used to design planar, spherical, and spatial mechanisms. Two versions of the speed reducer, that we term Speed-o-Cam, are described here, namely, planar, to couple shafts of parallel axes, and spherical, to couple shafts of intersecting axes. By means of a cascade of two planar versions of Speed-o-Cam, moreover, coaxial shafts can be coupled. The proposed design thus eliminates the drawbacks of gear transmissions without bringing about those of harmonic drives or epicyclic transmissions, which nevertheless work only for coaxial shafts.
Determination of Follower Motions Using Measured Cam Profiles
Authors: Tsay Der Min , Huang Meng Hung , Ho Hui Chun 
Published: February 2021

Abstract
A versatile, systematic procedure that can be used to determine follower motions from measured discrete planar cam profile data is presented. Based on the geometric relationship at the contact point between a cam and its follower system, the reverse functions for planar cams with various types of followers are established. Then, a periodic B-spline approximation in a form of least squares is introduced to approximate the measured data and to generate the data derivatives required in finding their corresponding follower motions. The accuracy and reliability of this method is verified, and furthermore, a practical example is given to show the application of this procedure.
Design and Control of a Compliant Parallel Manipulator for a Mobile Platform
Authors: Sugar Thomas , Kumar Vijay 
Published: February 2021

Abstract
We describe a novel design for a compliant arm that can be mounted on a mobile robot. The main features of the arm are the in-parallel architecture of the arm and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane.
Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. Further, a mobile robot equipped with such an arm can cooperate with other mobile robots in manipulation tasks. For example, two such arms can hold an object in a stable grasp by applying and maintaining appropriate contact forces with the appropriate stiffness. We present experimental results that show the performance of the compliant arm and the use of the arm while two platforms cooperate in a manipulation task.
Analytical Foundations for Modeling Interactions in Dynamic Systems Based on Impulsive Constraints
Authors: Kövecses J. , Cleghorn W. L. , Fenton R. G. 
Published: February 2021

Abstract
In this paper we outline the analytical foundations of an approach for modeling interactions in dynamic systems. The method is based on impulsive constraints which can be employed to represent time-varying interaction of dynamic subsystems, and the transition between different phases of motion. Besides impulsive constraints, the analysis is based on Jourdain’s principle, and a kinematic representation of constrained mechanical systems which is related to this principle. Both finite and impulsive constraints are considered in a general manner, assuming that those can be nonlinear in velocities. It will be shown that Jourdain’s principle can create a simple and physically clear basis for such constrained motion problems. A classification of motions constrained by finite or impulsive constraints is discussed. An impulse-momentum level form of Jourdain’s principle is presented to handle impulsive constraints. An example of two robotic arms in cooperation is employed to illustrate the material presented.
Dual Properties for Vibration Analysis via Screw Theory
Authors: Blanchet Pat , Lipkin Harvey 
Published: February 2021

Abstract
Recent discoveries about the structure of stiffness and inertia are combined to analyze free linear vibrations. It is shown that the dual to a pure translation mode is a pure couple mode. The analysis is performed for the general case and then specialized to more simple problems. The results also develop the conditions for the existence of pure translation and couple modes. Examples illustrate the results.
A Comparative Study on Some Modular Approaches for Analysis and Synthesis of Planar Linkages: Part I — Modular Structural Analysis and Modular Kinemaic Analysis
Authors: Yang Ting-Li , Yao Fang-Hua , Zhang Ming 
Published: February 2021

Abstract
This paper presents a systematical comparative study of various modular methods based on the different module types: basic kinematic chains (BKCs), single opened chains (SOCs), loops (or a tree and co-tree), links-joints, etc. for analysis and synthesis of structure, kinematics and dynamics of planar linkages. The basic idea is that any linkage can be divided into (or built up by) some modular components in sequence, and based on the component constraints and network entirty constraints of the linkage, the unified modular approaches have been used for analysis and synthesis. In the systematical comparative study, the main issues of a modular method have been discussed, such as: the topological characteristics revealed via different module types; the dimension of a set of kinematic equations; the automated generation and solution of kinematic equations; the dimension and automated generation of dynamical equations, and computation complexity for generating and solving dynamical equation; the automated generation of structural analysis and type synthesis; the generation of kinematic synthesis equations etc.. This paper gives a summary of the use of modular techniques for analyzing and synthesizing planar linkages in the recently thirty years. This comparative study includes two parts: part I — modular structural analysis and modular kinematic analysis; part II — modular dynamics analysis, modular structural synthesis and modular kinematic synthesis. This paper is the first part.
Compliant Pantographs via the Pseudo-Rigid-Body Model
Authors: Nielson Andrew J. , Howell Larry L. 
Published: February 2021

Abstract
This paper uses a familiar classical mechanism, the pantograph, to demonstrate the utility of the pseudo-rigid-body model in the design of compliant mechanisms to replace rigid-link mechanisms, and to illustrate the advantages and limitations of the resulting compliant mechanisms. To demonstrate the increase in design flexibility, three different compliant mechanism configurations were developed for a single corresponding rigid-link mechanism. The rigid-link pantograph consisted of six links and seven joints, while the corresponding compliant mechanisms had no more than two links and three joints (a reduction of at least four links and four joints). A fourth compliant pantograph, corresponding to a rhomboid pantograph, was also designed and tested. The test results showed that the pseudo-rigid-body model predictions were accurate over a large range, and the mechanisms had displacement characteristics of rigid-link mechanisms in that range. The limitations of the compliant mechanisms included reduced range compared to their rigid-link counterparts. Also, the force-deflection characteristics were predicted by the pseudo-rigid-body model, but they did not resemble those for a rigid-link pantograph because of the energy storage in the flexible segments.
Identification and Compensation of Geometric and Elastic Errors in Large Manipulators: Application to a High Accuracy Medical Robot
Authors: Meggiolaro Marco A. , Mavroidis Constantinos , Dubowsky Steven 
Published: February 2021

Abstract
A method is presented to identify the source of end-effector positioning errors in large manipulators using experimentally measured data. Both errors due to manufacturing tolerances and other geometric errors and elastic structural deformations are identified. These error sources are used to predict, and compensate for, the end-point errors as a function of configuration and measured forces. The method is applied to a new large high accuracy medical robot. Experimental results show that the method is able to effectively correct for the errors in the system.
Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators
Authors: Wang Jiegao , Gosselin Clément M. 
Published: February 2021

Abstract
The static balancing of spatial six-degree-of-freedom parallel mechanisms or manipulators with revolute actuators is studied in this paper. Two static balancing methods, namely, using counterweights and using springs, are used. The first method leads to mechanisms with a stationary global center of mass while the second approach leads to mechanisms whose total potential energy (including the elastic potential energy stored in the springs as well as the gravitational potential energy) is constant. The position vector of the global center of mass and the total potential energy of the manipulator are first expressed as functions of the position and orientation of the platform. Then, conditions for static balancing are derived from the resulting expressions. Finally, examples are given in order to illustrate the design methodologies.
Kinematic Study of a New Type of Spatial Parallel Platform Mechanism
Authors: Ebert-Uphoff Imme , Gosselin Clément M. 
Published: February 2021

Abstract
This article is based on the observation that spatial parallel platform mechanisms of a certain architecture that use five-bar-linkages as legs can be statically balanced. Static balancing is a very important property for many applications, since it means that the mechanism is statically stable for any configuration, i.e. zero actuator forces are required whenever the manipulator is at rest. Static balancing is achieved by attaching springs to the two bottom links of each five-bar-linkage.
In another article also presented at this conference (MECH-5964) it is shown that a certain class of mechanisms can be statically balanced. This article follows up with a kinematic study of that mechanism class. The following results are obtained in this article: (1) the inverse kinematics are derived in closed form for the mechanism class, (2) the Jacobian matrix is derived in a general form for the mechanism class, (3) a sample mechanism is selected for which the forward kinematics problem is equivalent to the forward kinematics of the MSSM mechanism, (4) a method for the determination of singularity-free half-cylinders is presented for the sample mechanism, and (5) its workspace is briefly discussed.
Creating Highly Dexterous Manipulators Using Nonlinear Input Transmission
Authors: Canfield Stephen L. , Soper R. Randall , Reinholtz Charles F. 
Published: February 2021

Abstract
It has been demonstrated that a uniform relationship between input actuation velocity and output manipulator velocity, i.e., a constant dexterity, over the workspace is desirable. When a manipulator demonstrates the desired uniformity in dexterity, the level or magnitude of dexterity for a given task is easily selected through a constant gearing ratio applied between the actuators and manipulator input. However, many of the manipulator architectures commonly used in robotic systems lack uniformity in dexterity over their available workspace. This results in a large variation in input motor speed when trying to perform a constant output velocity task, as well as a loss in fidelity of motion or response speed over the workspace. Additionally, a large variation in required input torque occurs when traversing a path with constant payload. This paper proposes a means of improving the uniformity of dexterity (input to output velocity or force ratio) of non-dexterous manipulator devices, such as the serial pitch-yaw wrist, through the application of nonlinear transmission elements located between the actuators and the manipulator input joints. The proposed method is presented for application to general manipulator systems.
The Design and Development of an Animatronic Eye
Authors: Sanders John K. , Shooter Steven B. 
Published: February 2021

Abstract
Animatronics creatively applies the skills of mechanical, electrical, and software engineering in order to recreate the movements of the creatures they replace. This paper discusses the design and development of an animatronic eye actuation and control system that reproduces realistic eye movements and expressions by drawing from the biomechanics of the human eye. Three modular, yet well integrated, eye components were developed to reproduce the movements of the eyeballs, the eyelids, and the eyebrows. The mechanical eyeballs mimic a human’s saccadic, convergence, and tracking movements. The eyelids can be programmed to move both slowly and rapidly to adjust for the proper range of expressions. The eyebrows can convey a variety of emotions by wrinkling the forehead in a fashion similar to the human eyebrows. A widely adaptable PC software interface controls the system’s servo motors to recreate human-like facial expressions ranging from sleepy and slow moving to rapid, alert behaviors. Discussed is the design process that brought the extremely complex roles of the eye muscles, tissues, and tendons to a cleverly adapted and easily constructed mechanical eye system. Careful analysis of the biomechanical function of the human eye structure was conducted, and a model that could most effectively recreate similar movements was developed.
Optimal Configurations for Flexible Redundant Robot Manipulators
Authors: Shigang Yue 
Published: February 2021

Abstract
The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial configuration with lower vibrations is found based on analysis before the manipulator starts to move. Only small and acceptable vibrations can be stimulated if the flexible redundant manipulator starts to move from the optimal configuration. Lots of computer time can be saved compared with optimal joint planning method. The method can be used in real-time control.
Workcell Based Robot Design Methodologies
Authors: Derby Stephen 
Published: February 2021

Abstract
This paper details a set of methodologies to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. A computer program was written to implement these methods.
Single Flank Test, Structure-Borne Noise Analysis and Digital Imaging of Tooth Contact
Authors: Stadtfeld Hermann J. 
Published: February 2021

Abstract
The innovative new measuring and testing machine is not only a high-precision measurement for the laboratory, but also a 100% inspection tool for the production environment or for quality control. It is incorrect to currently assume that a production tester can be less precise and should be without advanced measurement and analysis features. Today’s quality standards demand a full-featured production test machine, which brings lab-testing abilities to the shop floor. The laboratory investigation can establish the combination of criteria to be fulfilled by an individual gear set in order to pass acceptance in the vehicle. This can include requirements related to tooth contact, structure-borne noise emission or single flank variations. It is not necessarily evident, beforehand, if criteria for all three test types can be established or are even mandatory.
It is quite possible, for instance, that the analysis of vibrations a gear set transmits to the spindle housing of the testing machine does not reveal a correlation with the noise in the vehicle. The noise levels of a “quiet” gear set may well be higher on the testing machine than those of a “loud” gear. In this case, the single flank test or a combination of single flank test and structure-borne noise analysis will provide a criterion for testing.
All options and features described are equally important in both laboratory and production use. Specific software and electronic hardware components for single flank testing and structure-borne noise analyses are and commanded by the part program executed in the machine controller. The use of the video equipment on the tester can recognize and evaluate the contact position.