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Proceedings Papers

Investigation of a Special 6-6 Parallel Platform for Contour Milling

Waheed A. Abbasi, Shannon C. Ridgeway, Phillip D. Adsit, Carl D. Crane, Joseph Duffy
Proc. ASME. IMECE97, Manufacturing Science and Engineering: Volume 2, 373-380, November 16–21, 1997
Paper No: IMECE1997-1174
DOI: https://doi.org/10.1115/IMECE1997-1174
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Topics: Milling, Parallel mechanisms, Design, Engineering prototypes, Actuators, Computer numerical control machine tools, Deflection, Design methodology, Dynamics (Mechanics), Machining centers
Proceedings Papers

Path Planning for Spatial Robots With Multiple Spherical and Cylindrical Obstacles Inside the Workspace

Menq-Dar Shieh, Carl Crane, Joseph Duffy
Proc. ASME. CIE92, ASME 1992 International Computers in Engineering Conference: Volume 2 — Finite Element Techniques; Computers in Education; Robotics and Controls, 355-362, August 2–6, 1992
Paper No: CIE1992-0133
DOI: https://doi.org/10.1115/CIE1992-0133
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Topics: Path planning, Robots, Algorithms, Collisions (Physics), Manipulators, Information Analysis Centers, Computation, Cross section (Physics), End effectors, Geometry
Proceedings Papers

Path Planning for an Articulated Transporter/Manipulator System

Shih-chien Chiang, Carl D. Crane, III, Joseph Duffy
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 405-412, September 13–16, 1992
Paper No: DETC1992-0240
DOI: https://doi.org/10.1115/DETC1992-0240
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Topics: Manipulators, Path planning, Collisions (Physics)
Proceedings Papers

Path Generation for Two Cooperative Puma Robots

Jau-Liang Chen, Joseph Duffy
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 195-201, September 13–16, 1992
Paper No: DETC1992-0215
DOI: https://doi.org/10.1115/DETC1992-0215
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Topics: Robots, Collisions (Physics), Algorithms, Computers, End effectors, Manipulators, Silicon
Proceedings Papers

Unique Joint Displacement Generation for Redundant Robotic Systems

Y. S. Chung, M. Griffis, Joseph Duffy
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 637-641, September 13–16, 1992
Paper No: DETC1992-0268
DOI: https://doi.org/10.1115/DETC1992-0268
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Topics: Displacement, End effectors, Kinematics, Manipulators, Potential energy, Robotics, Springs, Stiffness
Proceedings Papers

Chaotic Behavior of a Two Mass Bouncing System

Chi-Wook Lee, Ali Seireg, Joseph Duffy
Proc. ASME. DETC92, 18th Design Automation Conference: Volume 2 — Geometric Modeling, Mechanisms, and Mechanical Systems Analysis, 361-368, September 13–16, 1992
Paper No: DETC1992-0185
DOI: https://doi.org/10.1115/DETC1992-0185
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Topics: Chaos, Damping, Elastic constants, Emission spectroscopy, Flight, Robots, Spectroscopy, Stability
Proceedings Papers

Methodology for Comparing Stiffness Mappings Using Geometric Invariants

Chin-Huang Sun, Michael W. Griffis, Joseph Duffy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 177-183, September 11–14, 1994
Paper No: DETC1994-0321
DOI: https://doi.org/10.1115/DETC1994-0321
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Topics: Stiffness, Eigenvalues, Screws, Manipulators
Proceedings Papers

An Inverse Force Analysis of a Planar Two-Spring System

Thomas M. Pigoski, Joseph Duffy
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Mechanism Synthesis and Analysis, 397-404, September 11–14, 1994
Paper No: DETC1994-0218
DOI: https://doi.org/10.1115/DETC1994-0218
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Topics: Springs, Manufacturing, Polynomials, Stability, Stiffness, Stress
Proceedings Papers

An Efficient Inverse Acceleration Analysis of In-Parallel Manipulators

José María Rico Martínez, Joseph Duffy
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A002, August 18–22, 1996
Paper No: 96-DETC/MECH-1005
DOI: https://doi.org/10.1115/96-DETC/MECH-1005
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Topics: Manipulators, Chain, Actuators, Degrees of freedom, Dynamics (Mechanics)
Proceedings Papers

The Optimum Quality Index for the Stability of In-Parallel Planar Platform Devices

Jaehoon Lee, Joseph Duffy, Max Keler
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A068, August 18–22, 1996
Paper No: 96-DETC/MECH-1135
DOI: https://doi.org/10.1115/96-DETC/MECH-1135
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Topics: Design, Jacobian matrices, Shapes, Stability
Proceedings Papers

Dynamic Modeling of Parallel Manipulators

Ivan J. Baiges, Joseph Duffy
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A069, August 18–22, 1996
Paper No: 96-DETC/MECH-1136
DOI: https://doi.org/10.1115/96-DETC/MECH-1136
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Topics: Dynamic modeling, Manipulators, Equations of motion, Dynamic response, Design, Dynamic analysis, Gravity (Force), Simulation
Proceedings Papers

Screw Polygons, Finite Screws, and Biquaternions

José María Rico M., Victor Gallegos J., Joseph Duffy
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A006, September 13–16, 1998
Paper No: DETC98/MECH-5892
DOI: https://doi.org/10.1115/DETC98/MECH-5892
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Topics: Screws, Inverse problems
Proceedings Papers

The Optimum Quality Index for a Spatial Redundant 8-8 In-Parallel Manipulator

Yu Zhang, Joseph Duffy, Carl D. Crane, III
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 443-450, September 10–13, 2000
Paper No: DETC2000/MECH-14097
DOI: https://doi.org/10.1115/DETC2000/MECH-14097
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Topics: Manipulators, Design, Jacobian matrices, Space frame structures, Static stability, Symmetry (Physics)
Proceedings Papers

In-Parallel Passive Compliant Coupler for Robot Force Control

T. A. Dwarakanath, Carl D. Crane, III, Joseph Duffy, Chad Tyler
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 587-593, September 10–13, 2000
Paper No: DETC2000/MECH-14114
DOI: https://doi.org/10.1115/DETC2000/MECH-14114
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Topics: Force control, Robots, Design, Signal to noise ratio, Compliant mechanisms, Displacement, Shape optimization
Proceedings Papers

Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications

Abdul Ghafoor, Jian S. Dai, Joseph Duffy
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 551-560, September 10–13, 2000
Paper No: DETC2000/MECH-14110
DOI: https://doi.org/10.1115/DETC2000/MECH-14110
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Topics: Robotics, Stiffness, Springs, Screws
Proceedings Papers

A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight

Joseph Duffy, Carl D. Crane, III
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1267-1278, September 10–13, 2000
Paper No: DETC2000/MECH-14186
DOI: https://doi.org/10.1115/DETC2000/MECH-14186
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Topics: Dynamic analysis, Stress, Trenching machinery, Weight (Mass), Center of mass, Optimization, Rotational inertia
Proceedings Papers

Inverse Static Analysis of a Planar System With Spiral Springs

Marco Carricato, Joseph Duffy, Vincenzo Parenti-Castelli
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1323-1332, September 10–13, 2000
Paper No: DETC2000/MECH-14199
DOI: https://doi.org/10.1115/DETC2000/MECH-14199
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Topics: Springs, Compliant mechanisms, Degrees of freedom, Design, Equilibrium (Physics), Reliability, Stress
Proceedings Papers

Static Analysis of Tensegrity Structures: Part 1 — Equilibrium Equations

Carl D. Crane, III, Joseph Duffy, Julio C. Correa
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 671-680, September 29–October 2, 2002
Paper No: DETC2002/MECH-34276
DOI: https://doi.org/10.1115/DETC2002/MECH-34276
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Topics: Equilibrium (Physics), Tensegrity structures, Newton's laws of motion, Stress, Tensegrity
Proceedings Papers

Static Analysis of Tensegrity Structures: Part 2 — Numerical Examples

Carl D. Crane, III, Joseph Duffy, Julio C. Correa
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 681-687, September 29–October 2, 2002
Paper No: DETC2002/MECH-34277
DOI: https://doi.org/10.1115/DETC2002/MECH-34277
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Topics: Tensegrity, Tensegrity structures
Proceedings Papers

Static Analysis of Prestressed Tensegrity Structures

Carl D. Crane, III, Joseph Duffy, Julio C. Correa
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 689-695, September 29–October 2, 2002
Paper No: DETC2002/MECH-34278
DOI: https://doi.org/10.1115/DETC2002/MECH-34278
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Topics: Tensegrity structures, Equilibrium (Physics), Tensegrity