Page 133 - ASME AM3D/IDETC/CIE 2015 Program
P. 133
TUESDAY TECHNICAL PROGRAM IDETC/CIE
Robot Kinematics and Motion Planning Technical Publication. DETC2015-47950
Cuong Trinh, Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino,
MR-3-1 University of Genova, Genova, Italy
ROBOT KINEMATICS
Level 2, Hynes CC, Room 206 9:30am – 11:10am
Session Chair: Dimiter Zlatanov, University of Genoa, Genoa, Italy
Session Co-Chair: Damien Chablat, CNRS, Nantes, France MR-8
Novel Mechanisms, Robots and Applications
AN ALGEBRAIC METHOD TO CHECK THE SINGULARI-
TY FREE PATHS FOR PARALLEL ROBOTS MR-8-1
COMPLIANCE
Technical Publication. DETC2015-46230
Level 2, Hynes CC, Room 202 9:30am – 11:10am
Session Chair: Hai-Jun Su, The Ohio State University, Columbus,
Ranjan Jha, IRCCyN, Nantes, France, Damien Chablat, CNRS, OH, United States
Nantes, France, Fabrice Rouillier, Guillaume Moroz, INRIA, Paris,
France Session Co-Chair: Jian Dai, Kings College-University of London,
London, United Kingdom
KINEMATIC ANALYSIS AND TRAJECTORY PLANNING
OF THE ORTHOGLIDE 5-AXIS SHAPE OPTIMIZATION OF 2D COMPLIANT LINKS FOR
DESIGN OF INHERENTLY SAFE ROBOTS
Technical Publication. DETC2015-46292
Technical Publication. DETC2015-46622
Stephane Caro, Damien Chablat, CNRS, Nantes, France, Philippe
Lemoine, Ecole Centrale de Nantes, Nantes, France, Philippe Yu She, Hai-Jun Su, Carter J. Hurd, The Ohio State University,
Wenger, IRCCYN, Nantes, France Columbus, OH, United States
REPRESENTATION OF 3D ANGULAR MOTION BY ANALYSIS AND DESIGN OF A REMOTE CENTER COM-
PROJECTIVE ANGLES PLIANCE UNIVERSAL JOINT
Technical Publication. DETC2015-46242 Technical Publication. DETC2015-47749
Giovanni Legnani, University of Brescia, Brescia, Italy, Irene Fassi, Pierre-Olivier Dubois, Lionel Birglen, Polytechnique Montreal,
Institute of Industrial Technologies and Automation, Milano, Italy Montreal, QC, Canada
OPERATION MODES AND SINGULARITIES OF 3-PRS STIFFNESS ANALYSIS, DESIGN AND VALIDATION OF A
PARALLEL MANIPULATORS WITH DIFFERENT AR- PARALLEL-MECHANISM EQUIVALENT SUSPENSION
RANGEMENTS OF P-JOINTS SYSTEM
Technical Publication. DETC2015-47935 Technical Publication. DETC2015-46641
Latifah Nurahmi, IRCCyN – Ecole Centrale de Nantes, France, Chen Qiu, Ketao Zhang, King’s College London, London, United
France, Stephane Caro, CNRS – IRCCYN, Nantes, France, Philippe Kingdom, Jing-Shan Zhao, Tsinghua University, Beijing, China, Jian
Wenger, IRCCYN, Nantes, France Dai, Kings College-London, London, United Kingdom
A GEOMETRICAL APPROACH TO THE INVERSE KINE- DESIGN OF A NOVEL FLEXIBLE ENDOSCOPE: CARDIO-
MATICS OF 6R SERIAL ROBOTS WITH OFFSET SCOPE
WRISTS
Technical Publication. DETC2015-46123
133
Robot Kinematics and Motion Planning Technical Publication. DETC2015-47950
Cuong Trinh, Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino,
MR-3-1 University of Genova, Genova, Italy
ROBOT KINEMATICS
Level 2, Hynes CC, Room 206 9:30am – 11:10am
Session Chair: Dimiter Zlatanov, University of Genoa, Genoa, Italy
Session Co-Chair: Damien Chablat, CNRS, Nantes, France MR-8
Novel Mechanisms, Robots and Applications
AN ALGEBRAIC METHOD TO CHECK THE SINGULARI-
TY FREE PATHS FOR PARALLEL ROBOTS MR-8-1
COMPLIANCE
Technical Publication. DETC2015-46230
Level 2, Hynes CC, Room 202 9:30am – 11:10am
Session Chair: Hai-Jun Su, The Ohio State University, Columbus,
Ranjan Jha, IRCCyN, Nantes, France, Damien Chablat, CNRS, OH, United States
Nantes, France, Fabrice Rouillier, Guillaume Moroz, INRIA, Paris,
France Session Co-Chair: Jian Dai, Kings College-University of London,
London, United Kingdom
KINEMATIC ANALYSIS AND TRAJECTORY PLANNING
OF THE ORTHOGLIDE 5-AXIS SHAPE OPTIMIZATION OF 2D COMPLIANT LINKS FOR
DESIGN OF INHERENTLY SAFE ROBOTS
Technical Publication. DETC2015-46292
Technical Publication. DETC2015-46622
Stephane Caro, Damien Chablat, CNRS, Nantes, France, Philippe
Lemoine, Ecole Centrale de Nantes, Nantes, France, Philippe Yu She, Hai-Jun Su, Carter J. Hurd, The Ohio State University,
Wenger, IRCCYN, Nantes, France Columbus, OH, United States
REPRESENTATION OF 3D ANGULAR MOTION BY ANALYSIS AND DESIGN OF A REMOTE CENTER COM-
PROJECTIVE ANGLES PLIANCE UNIVERSAL JOINT
Technical Publication. DETC2015-46242 Technical Publication. DETC2015-47749
Giovanni Legnani, University of Brescia, Brescia, Italy, Irene Fassi, Pierre-Olivier Dubois, Lionel Birglen, Polytechnique Montreal,
Institute of Industrial Technologies and Automation, Milano, Italy Montreal, QC, Canada
OPERATION MODES AND SINGULARITIES OF 3-PRS STIFFNESS ANALYSIS, DESIGN AND VALIDATION OF A
PARALLEL MANIPULATORS WITH DIFFERENT AR- PARALLEL-MECHANISM EQUIVALENT SUSPENSION
RANGEMENTS OF P-JOINTS SYSTEM
Technical Publication. DETC2015-47935 Technical Publication. DETC2015-46641
Latifah Nurahmi, IRCCyN – Ecole Centrale de Nantes, France, Chen Qiu, Ketao Zhang, King’s College London, London, United
France, Stephane Caro, CNRS – IRCCYN, Nantes, France, Philippe Kingdom, Jing-Shan Zhao, Tsinghua University, Beijing, China, Jian
Wenger, IRCCYN, Nantes, France Dai, Kings College-London, London, United Kingdom
A GEOMETRICAL APPROACH TO THE INVERSE KINE- DESIGN OF A NOVEL FLEXIBLE ENDOSCOPE: CARDIO-
MATICS OF 6R SERIAL ROBOTS WITH OFFSET SCOPE
WRISTS
Technical Publication. DETC2015-46123
133
