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Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022

Paper No: DETC2022-91025

DOI: https://doi.org/10.1115/DETC2022-91025

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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws

Proceedings Papers

Multibody Dynamic Analysis of a 6-DOF Parallel Robot

Miguel Almonacid, Sunil K. Agrawal, Rafael Aracil, Roque J. Saltarén

Proc. ASME. IMECE2001, Dynamic Systems and Control, 845-851, November 11–16, 2001

Paper No: IMECE2001/DSC-24605

DOI: https://doi.org/10.1115/IMECE2001/DSC-24605

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Topics: Dynamic analysis, Robots, Engineering simulation, Multibody dynamics, Simulation, Virtual work principle

Journal Articles

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Latifah Nurahmi, Pradiktio Putrayudanto, Guowu Wei, Sunil K. Agrawal

J. Mechanisms Robotics. April 2021, 13(2): 021017.

Paper No: JMR-20-1279

DOI: https://doi.org/10.1115/1.4049879

Published Online: March 4, 2021

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Topics: Design, Parallel mechanisms, Additive manufacturing, Printing, Shapes

Proceedings Papers

Analytical Dynamics of Unrooted Multibody-Systems With Symmetries

Felix M. J. Pfister, Sunil K. Agrawal

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A067, September 13–16, 1998

Paper No: DETC98/MECH-5869

DOI: https://doi.org/10.1115/DETC98/MECH-5869

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Topics: Dynamics (Mechanics), Multibody systems, Equations of motion, Linkages

Proceedings Papers

Mass Center of Planar Mechanisms Using Auxiliary Parallelograms

Ali Gökçe, Sunil K. Agrawal

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A062, September 13–16, 1998

Paper No: DETC98/MECH-5938

DOI: https://doi.org/10.1115/DETC98/MECH-5938

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Topics: Biomechanics, Center of mass, Degrees of freedom, Gravity (Force), Machinery

Proceedings Papers

Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms

Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 217-221, September 10–13, 2000

Paper No: DETC2000/MECH-14073

DOI: https://doi.org/10.1115/DETC2000/MECH-14073

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Topics: Design, Gravity (Force), Manufacturing, Actuators, Center of mass, Machinery, Railroad passenger cars, Feedforward control, Patient treatment, Stress

Journal Articles

Design of a Wheelchair Robot for Active Postural Support

Rosemarie C. Murray, Chawin Ophaswongse, Sunil K. Agrawal

J. Mechanisms Robotics. April 2019, 11(2): 020911.

Paper No: JMR-18-1382

DOI: https://doi.org/10.1115/1.4042544

Published Online: February 25, 2019

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Topics: Design, Kinematics, Robots, Wheelchairs, End effectors, Degrees of freedom, Optimization

Proceedings Papers

Design of a Wheelchair Robot for Active Postural Support

Rosemarie C. Murray, Chawin Ophaswongse, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A059, August 26–29, 2018

Paper No: DETC2018-85393

DOI: https://doi.org/10.1115/DETC2018-85393

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Topics: Design, Robots, Wheelchairs, Degrees of freedom, Exoskeleton devices, Motor controls, Robotics

Journal Articles

Wrench Capability of a Stewart Platform With Series Elastic Actuators

Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal

J. Mechanisms Robotics. April 2018, 10(2): 021002.

Paper No: JMR-17-1309

DOI: https://doi.org/10.1115/1.4038976

Published Online: January 29, 2018

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Topics: Actuators, Kinematics, Springs, Robots, Seas

Proceedings Papers

Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators

Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A065, August 6–9, 2017

Paper No: DETC2017-67842

DOI: https://doi.org/10.1115/DETC2017-67842

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Topics: Actuators, Design, Exoskeleton devices, Robotics, Degrees of freedom, Energy consumption, Kinematics, Machinery

Journal Articles

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

Saeed Abdolshah, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal

J. Mechanisms Robotics. June 2017, 9(3): 031004.

Paper No: JMR-16-1119

DOI: https://doi.org/10.1115/1.4035681

Published Online: March 20, 2017

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Topics: Cables, Design, Robots, Stiffness, Pulleys, End effectors

Journal Articles

MAXFAS: Mechatronic Arm Exoskeleton for Firearm Aim Stabilization

Daniel M. Baechle, Eric D. Wetzel, Sunil K. Agrawal

J. Mechanisms Robotics. December 2016, 8(6): 061013.

Paper No: JMR-16-1004

DOI: https://doi.org/10.1115/1.4034015

Published Online: September 8, 2016

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Topics: Cables, Exoskeleton devices, Guns, Bracing (Construction), Motors, Design

Journal Articles

Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators

Joshua T. Bryson, Xin Jin, Sunil K. Agrawal

J. Mechanisms Robotics. December 2016, 8(6): 061006.

Paper No: JMR-15-1321

DOI: https://doi.org/10.1115/1.4033695

Published Online: September 6, 2016

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Topics: Cables, Design, Robots, Robustness, Optimization

Journal Articles

Reducing Dynamic Loads From a Backpack During Load Carriage Using an Upper Body Assistive Device

Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal

J. Mechanisms Robotics. October 2016, 8(5): 051017.

Paper No: JMR-15-1272

DOI: https://doi.org/10.1115/1.4032214

Published Online: May 4, 2016

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Topics: Railroad passenger cars, Stress, Control equipment, Design

Journal Articles

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization

Joshua T. Bryson, Xin Jin, Sunil K. Agrawal

J. Mechanisms Robotics. August 2016, 8(4): 041003.

Paper No: JMR-15-1197

DOI: https://doi.org/10.1115/1.4032103

Published Online: March 7, 2016

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Topics: Cables, Design, Particle swarm optimization, Robots, Optimization, Tension, Algorithms, Manipulators

Proceedings Papers

Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

Joshua T. Bryson, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A055, August 2–5, 2015

Paper No: DETC2015-46837

DOI: https://doi.org/10.1115/DETC2015-46837

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Topics: Cables, Design, Particle swarm optimization, Robots, Tension, Optimization, Actuators, Architecture, Manipulators

Proceedings Papers

Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators

Joshua T. Bryson, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A056, August 2–5, 2015

Paper No: DETC2015-46842

DOI: https://doi.org/10.1115/DETC2015-46842

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Topics: Algorithms, Cables, Design, Manipulators, Uncertainty, Robots, Actuators, Errors, Inertia (Mechanics)

Proceedings Papers

Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms

Zhiyu Sheng, Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A048, August 2–5, 2015

Paper No: DETC2015-47976

DOI: https://doi.org/10.1115/DETC2015-47976

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Topics: Cables, Parallel mechanisms, Simulation, Redundancy (Engineering), Tension

Proceedings Papers

Wearable Upper Body Suit for Assisting Human Load Carriage

Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal, Shridhar Yarlagadda, John Tierney, Shashank Sharma, John Gillespie

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A024, August 2–5, 2015

Paper No: DETC2015-47973

DOI: https://doi.org/10.1115/DETC2015-47973

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Topics: Railroad passenger cars, Stress, Cables, Actuators, Control equipment, Tension, Bearings, Belts, Force sensors, Load bearing capacity

Journal Articles

Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

Jingli Du, Sunil K. Agrawal

J. Vib. Acoust. April 2015, 137(2): 021020.

Paper No: VIB-13-1392

DOI: https://doi.org/10.1115/1.4029486

Published Online: April 1, 2015

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Topics: Cables

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Journal citation

NARROW

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Multibody Dynamic Analysis of a 6-DOF Parallel Robot

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Analytical Dynamics of Unrooted Multibody-Systems With Symmetries

Mass Center of Planar Mechanisms Using Auxiliary Parallelograms

Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms

Design of a Wheelchair Robot for Active Postural Support

Design of a Wheelchair Robot for Active Postural Support

Wrench Capability of a Stewart Platform With Series Elastic Actuators

Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

MAXFAS: Mechatronic Arm Exoskeleton for Firearm Aim Stabilization

Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators

Reducing Dynamic Loads From a Backpack During Load Carriage Using an Upper Body Assistive Device

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization

Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators

Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms

Wearable Upper Body Suit for Assisting Human Load Carriage

Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

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