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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
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1997-1174
https://doi.org/10.1115/IMECE1997-1174
View Paper titled, Investigation of a Special 6-6 Parallel Platform for Contour Milling
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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

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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0185
https://doi.org/10.1115/DETC1992-0185
View Paper titled, Chaotic Behavior of a Two Mass Bouncing System
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Topics: Chaos, Damping, Elastic constants, Emission spectroscopy, Flight, Robots, Spectroscopy, Stability
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
Publisher: American Society of Mechanical Engineers
Paper No: CIE1992-0133
https://doi.org/10.1115/CIE1992-0133
View Paper titled, Path Planning for Spatial Robots With Multiple Spherical and Cylindrical Obstacles Inside the Workspace
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0240
https://doi.org/10.1115/DETC1992-0240
View Paper titled, Path Planning for an Articulated Transporter/Manipulator System
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0215
https://doi.org/10.1115/DETC1992-0215
View Paper titled, Path Generation for Two Cooperative Puma Robots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0268
https://doi.org/10.1115/DETC1992-0268
View Paper titled, Unique Joint Displacement Generation for Redundant Robotic Systems
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Topics: Displacement, End effectors, Kinematics, Manipulators, Potential energy, Robotics, Springs, Stiffness
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0218
https://doi.org/10.1115/DETC1994-0218
View Paper titled, An Inverse Force Analysis of a Planar Two-Spring System
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Topics: Springs, Manufacturing, Polynomials, Stability, Stiffness, Stress
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0321
https://doi.org/10.1115/DETC1994-0321
View Paper titled, Methodology for Comparing Stiffness Mappings Using Geometric Invariants
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Topics: Stiffness, Eigenvalues, Screws, Manipulators
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
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1005
https://doi.org/10.1115/96-DETC/MECH-1005
View Paper titled, An Efficient Inverse Acceleration Analysis of In-Parallel Manipulators
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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
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1135
https://doi.org/10.1115/96-DETC/MECH-1135
View Paper titled, The Optimum Quality Index for the Stability of In-Parallel Planar Platform Devices
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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
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1136
https://doi.org/10.1115/96-DETC/MECH-1136
View Paper titled, Dynamic Modeling of Parallel Manipulators
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5892
https://doi.org/10.1115/DETC98/MECH-5892
View Paper titled, Screw Polygons, Finite Screws, and Biquaternions
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Topics: Screws, Inverse problems
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14114
https://doi.org/10.1115/DETC2000/MECH-14114
View Paper titled, In-Parallel Passive Compliant Coupler for Robot Force Control
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14110
https://doi.org/10.1115/DETC2000/MECH-14110
View Paper titled, Grasp Stiffness Matrix for Soft Finger Contact Model in Robotic Applications
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14186
https://doi.org/10.1115/DETC2000/MECH-14186
View Paper titled, A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14199
https://doi.org/10.1115/DETC2000/MECH-14199
View Paper titled, Inverse Static Analysis of a Planar System With Spiral Springs
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Topics: Springs, Compliant mechanisms, Degrees of freedom, Design, Equilibrium (Physics), Reliability, Stress
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14097
https://doi.org/10.1115/DETC2000/MECH-14097
View Paper titled, The Optimum Quality Index for a Spatial Redundant 8-8 In-Parallel Manipulator
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Topics: Manipulators, Design, Jacobian matrices, Space frame structures, Static stability, Symmetry (Physics)
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34276
https://doi.org/10.1115/DETC2002/MECH-34276
View Paper titled, Static Analysis of Tensegrity Structures: Part 1 — Equilibrium Equations
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34277
https://doi.org/10.1115/DETC2002/MECH-34277
View Paper titled, Static Analysis of Tensegrity Structures: Part 2 — Numerical Examples
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34278
https://doi.org/10.1115/DETC2002/MECH-34278
View Paper titled, Static Analysis of Prestressed Tensegrity Structures
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Topics: Tensegrity structures, Equilibrium (Physics), Tensegrity