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RISDetermination and Stability Analysis of Equilibrium Configurations of Objects Suspended From Multiple Aerial Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work addresses the problem for determining the position and orientation of objects suspended with n cables from n aerial robots. This is actually the direct kinematics problem of the 3D ...
On the Flow Regimes of Downhole Flow of a Gas-Particle Mixture
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Assuming that a gas-particle mixture behaves like a homogeneous gas, in which the slip velocity of the particles is negligible, the various flow regimes in one-dimensional downhole flow, including ...
A Geometrical Approach to the Study of the Cartesian Stiffness Matrix
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The stiffness of a rigid body subject to conservative forces and moments is described by a tensor, whose components are best described by a 6×6 Cartesian stiffness matrix. We derive an ...
Workspaces of Cable-Actuated Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper develops analytical techniques to delineate the workspace boundaries for parallel mechanisms with cables. In such mechanisms, it is not only necessary to solve the closure equations ...
Optimal Motion Generation for Groups of Robots: A Geometric Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper we generate optimal smooth trajectories for a set of fully-actuated mobile robots. Given two end configurations, by tuning one parameter, the user can choose an interpolating ...
Modeling and Analysis of an Optically-Actuated, Bistable MEMS Device
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Bistable microsystems have drawn considerable interest from the MEMS/NEMS research community not only due to their broad applicability in commercial applications, such as switching, but also because ...
Design and Control of a Compliant Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not ...
Analysis of Multirecess Hydrostatic Journal Bearing Operating With Micropolar Lubricant
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a theoretical study of the performance characteristics of a constant flow valve compensated multirecess hydrostatic journal bearings operating with micropolar lubricant. The ...
Experimental Investigation of Heat Transfer and Friction Characteristics of Arc Shaped Roughness Elements Having Central Gaps on the Absorber Plate of Solar Air Heater
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Thermal performance of solar air heater does not take into account the energy loss due to friction for propelling air through the duct. In this work, an experimental investigation has been carried out to study the effect ...
Kinematic and Kinetostatic Synthesis of Planar Coupled Serial Chain Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms form a novel class of modular and compact mechanisms with a single degree-of-freedom, suitable for a number of manipulation tasks. ...