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Inertia Matrix Singularity of Series-Chain Spatial Manipulators With Point Masses
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Often, the dynamic behavior of multi-degree-of-freedom mechanical systems such as robots and manipulators is studied by computer simulation. An important step in this simulation is the inversion ...
Band-Limited Trajectory Planning and Tracking for Certain Dynamically Stabilized Mobile Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within ...
Linear Time-Varying Dynamic Systems Optimization via Higher-Order Method Using Shifted Chebyshev’s Polynomials
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: For optimization of classes of linear time-varying dynamic systems with n states and m control inputs, a new higher-order procedure was presented by the authors that does not use Lagrange ...
Linear Time-Varying Dynamic Systems Optimization via Higher-Order Method: A Sub-Domain Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new procedure for optimization of linear time-varying dynamic systems has been proposed that uses transformations to embed the dynamic equations explicitly into the cost functional. This leads ...
On the Design of a Passive Orthosis to Gravity Balance Human Legs
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design of a passive two leg orthosis to gravity balance human legs for use by subjects with both leg impairment. This design combines the use of auxiliary parallelograms ...
On the Design of Cable-Suspended Planar Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper we present a workspace analysis methodology that can be applied for optimal design of cable-suspended planar parallel robots. The significant difference between regular parallel ...
An Approach to Identify Joint Motions for Dynamically Stable Walking
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, ...
An Energy Efficient Manipulator Design Approach: Application to a Leg in Swing Phase
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The importance of energy efficiency of a robotic manipulator is clearly evident when the manipulator has to use on-board power. With miniature machines, this issue is even more important since ...
An Investigation Into the Use of Springs and Wing Motions to Minimize the Power Expended by a Pigeon-Sized Mechanical Bird for Steady Flight
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we investigate the effect of using springs and wing motions to minimize the power required by a mechanical bird to fly. Inertia forces as well as aerodynamic forces on the ...
Closure to “<i>Modified Approach to Evaluate Column Test Data</i>” by Sunil K. Agrawal and Jatinder K. Bewtra (April, 1985, Vol. 111, No. 2)
Publisher: American Society of Civil Engineers