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Monday Technical Program

IDETC/CIE

40th Mechanisms and Robotics Conference MR-8
(MR) NOVEL MECHANISMS, ROBOTS AND APPLICATIONS
Conference Chair: Hai-Jun Su, Ohio State University, Columbus, OH,
United States MR-8-1
Program Chair: Craig Lusk, University of South Florida, Tampa, FL, United Mobile Robots
States
Program Co-Chair: Jonathan Hopkins, University of California, Los Ange-
les, Los Angeles, CA, United States 202-A 8:00am–9:40am

Session Chair: Pinhas Ben-Tzvi, Virginia Tech, Blacksburg, VA, United
MR-1 States
PLANAR MECHANISM ANALYSIS AND SYNTHESIS Session Co-Chair: Zirong Luo, National University of Defense Technology,
ChangSha, China
MR-1-1
Planar Type and Dimensional Synthesis DESIGN AND ANALYSIS OF A MINIATURE MODULAR INCHWORM ROBOT
Technical Paper Publication. IDETC2016-59386

202-B 8:00am–9:40am Wael Saab, Anil Kumar, Pinhas Ben-Tzvi, Virginia Tech, Blacksburg, VA,
United States
Session Organizer: Nina Robson, California State University, Fullerton,
Fountain Valley, CA, United States
Session Co-Chair: James Schmiedeler, University of Notre Dame, Notre DESIGN AND ANALYSIS OF A DISCRETE MODULAR SERPENTINE
Dame, IN, United States ROBOTIC TAIL FOR IMPROVED PERFORMANCE OF MOBILE ROBOTS
Technical Paper Publication. IDETC2016-59387

SIMULTANEOUS TOPOLOGICAL AND DIMENSIONAL SYNTHESIS OF Wael Saab, Pinhas Ben-Tzvi, Virginia Tech, Blacksburg, VA, United States
PLANAR MORPHING MECHANISMS
Technical Paper Publication. IDETC2016-59618
KINEMATICS ANALYSIS OF A SNAKE ROBOT MODULE USING SCREW THEORY
Lawrence Funke, James Schmiedeler, University of Notre Dame, Notre Technical Paper Publication. IDETC2016-59273
Dame, IN, United States
Qing Xiao, Zhengcai Cao, Beijing University of Chemical Technology, Bei-
jing, Beijing, China, Jian Dai, Kings College-University of London, London,
DIMENSIONAL SYNTHESIS OF A PASSIVE EIGHT-BAR SLIDER EXO-LIMB United Kingdom
FOR GRASPING TASKS
Technical Paper Publication. IDETC2016-59711
SIMULATION AND EXPERIMENT OF A HIGH SPEED GROUND MOBILE
Guan Rong Tan, Singapore University of Technology and Design, Sin- ROBOT WITH NOVEL SUSPENSION
gapore, Singapore, Nina Robson, California State University, Fullerton, Technical Paper Publication. IDETC2016-59568
Fountain Valley, CA, United States, Gim Song Soh, Singapore University of
Technology and Design, Singapore, Singapore Yiming Zhu, National University of Defense Technology, Changsha, Hu-
nan, China, zirong luo, National University of Defence Technology, Chang-
Sha, China, Yunkai Yang, Jianzhong Shang, College of Mechatronics and
MECHANISM DESIGN FOR AUTOMATED HANDLING AND MULTIAXIAL Automation, Changsha, Hunan, China
DRAPING OF REINFORCING TEXTILES
Technical Paper Publication. IDETC2016-59788
MOBILITY SYSTEM ADOPTING A ROCKER BOGIE MECHANISM TO
Jan Brinker, Mario Müller, Jascha Paris, Mathias Hüsing, Burkhard OPTIMIZE MOTOR TORQUE FOR INCLINED PLANE MANEUVERING
Corves, RWTH Aachen University, Aachen, Germany Technical Paper Publication. IDETC2016-59894

Siddharth Banerjee, College of Engineering, Pune, Pune, India, Shantipal
CONSTRUCTION OF BARANOV TRUSSES USING A SINGLE UNIVERSAL Ohol, Abhijit Shirude, Shreyas Kulkarni, Sarang Junghare, College of
CONSTRUCTION RULE Engineering Pune, Pune, Maharashtra, India
Technical Paper Publication. IDETC2016-59134

Elad Hahn, Offer Shai, Tel Aviv University, Tel Aviv, Israel MR-9
MOBILE ROBOTS, MOTION PLANNING, DYNAMICS AND
CONTROL
A GRAPHICAL PIN-POINT METHOD FOR NUMBER STRUCTURAL
SYNTHESIS OF MULTILOOP PLANAR NON-FRACTIONATED KINEMATIC
CHAINS WITH VARIOUS MULTIPLE JOINTS APPLIED TO MECHANISMS MR-9-1
AND ROBOTICS Robot Planning and Trajectory Generation
Technical Paper Publication. IDETC2016-59237

Vladimir Pozhbelko, Ekaterina Ermoshina, South Ural State University, 201-B 8:00am–9:40am
Chelyabinsk, Russia
Session Chair: Damien Chablat, CNRS / IRCCyN, Nantes, France 73
Session Co-Organizer: Ping Ren, Ocean University of China, Qingdao,
Shandong, China