Ebook: Advances in Mechanisms, Robotics and Design Education and Research

This book contains papers on a wide range of topics in the area of kinematics, mechanisms, robotics, and design, addressing new research advances and innovations in design education. The content is divided into five main categories headed ‘Historical Perspectives’, ‘Kinematics and Mechanisms’, ‘Robotic Systems’, ‘Legged Locomotion’, and ‘Design Engineering Education’. Contributions take the form of survey articles, historical perspectives, commentaries on trends on education or research, original research contributions, and papers on design education.

This volume celebrates the achievements of Professor Kenneth Waldron who has made innumerable and invaluable contributions to these fields in the last fifty years. His leadership and his pioneering work have influenced thousands of people in this discipline.

This book contains papers on a wide range of topics in the area of kinematics, mechanisms, robotics, and design, addressing new research advances and innovations in design education. The content is divided into five main categories headed ‘Historical Perspectives’, ‘Kinematics and Mechanisms’, ‘Robotic Systems’, ‘Legged Locomotion’, and ‘Design Engineering Education’. Contributions take the form of survey articles, historical perspectives, commentaries on trends on education or research, original research contributions, and papers on design education.

This volume celebrates the achievements of Professor Kenneth Waldron who has made innumerable and invaluable contributions to these fields in the last fifty years. His leadership and his pioneering work have influenced thousands of people in this discipline.

This book contains papers on a wide range of topics in the area of kinematics, mechanisms, robotics, and design, addressing new research advances and innovations in design education. The content is divided into five main categories headed ‘Historical Perspectives’, ‘Kinematics and Mechanisms’, ‘Robotic Systems’, ‘Legged Locomotion’, and ‘Design Engineering Education’. Contributions take the form of survey articles, historical perspectives, commentaries on trends on education or research, original research contributions, and papers on design education.

This volume celebrates the achievements of Professor Kenneth Waldron who has made innumerable and invaluable contributions to these fields in the last fifty years. His leadership and his pioneering work have influenced thousands of people in this discipline.

Content:
Front Matter....Pages 1-21
Design for Inclusivity: Meaningful Collaboration with Differences....Pages 1-16
Computer Aided Mechanism Synthesis: A Historical Perspective....Pages 17-33
An Excellent Adventure....Pages 35-47
Mechanisms and Robotics at the ASME Design Engineering Technical Conferences - The Waldron Years 1986-2012....Pages 49-54
Screws and Robotics for Metrology....Pages 55-66
Mobility Analysis and Type Synthesis with Screw Theory: From Rigid Body Linkages to Compliant Mechanisms....Pages 67-81
How Far are Compliant Mechanisms from Rigid-body Mechanisms and Stiff Structures?....Pages 83-94
On a Compliant Mechanism Design Methodology Using the Synthesis with Compliance Approach for Coupled and Uncoupled Systems....Pages 95-116
Understanding Speed and Force Ratios for Compliant Mechanisms....Pages 117-129
Precision Flexure Mechanisms in High Speed Nanopatterning Systems....Pages 131-144
Decomposition of Planar Burmester Problems Using Kinematic Mapping....Pages 145-157
Kinematics Analysis and Design Considerations of the Gear Bearing Drive....Pages 159-175
A Short Story on Long Pinions....Pages 177-188
Time-Optimal Path Planning for the General Waiter Motion Problem....Pages 189-203
Kinematic Analysis of Quadrotors with Manufacturing Errors....Pages 205-214
Omnicopter: A Novel Overactuated Micro Aerial Vehicle....Pages 215-226
Articulated Wheeled Vehicles: Back to the Future?....Pages 227-238
A Robotic Mobile Platform for Application in Automotive Production Environment....Pages 239-244
Electro-Elastic Model for Dielectric Elastomers....Pages 245-250
Designing Positive Tension for Wire-Actuated Parallel Manipulators....Pages 251-263
Control of Humanoid Hopping Based on a SLIP Model....Pages 265-274
Duty Factor and Leg Stiffness Models for the Design of Running Bipeds....Pages 275-293
Unfinished Business: Impulsive Models of Quadrupedal Running Gaits....Pages 295-304
Automatic Full Body Inverse Dynamic Analysis Based on Personalized Body Model and MoCap Data....Pages 305-322
Lower-Limb Muscle Function in Human Running....Pages 323-327
Toward Broader Education in Control System Design for Mechanical Engineers: Actuation System Selection and Controller Co-design....Pages 329-347
Biologically Oriented Subjects in European Master on Advanced Robotics - Sharing the Teaching Experience....Pages 349-354
From the Tool Room to the Class Room....Pages 355-370
Project-Based Learning in Engineering through Street Performance Robot Contest....Pages 371-385
Research and Science Educations of Lu Ban’s Horse Carriages....Pages 387-397
Back Matter....Pages 399-400

This book contains papers on a wide range of topics in the area of kinematics, mechanisms, robotics, and design, addressing new research advances and innovations in design education. The content is divided into five main categories headed ‘Historical Perspectives’, ‘Kinematics and Mechanisms’, ‘Robotic Systems’, ‘Legged Locomotion’, and ‘Design Engineering Education’. Contributions take the form of survey articles, historical perspectives, commentaries on trends on education or research, original research contributions, and papers on design education.

This volume celebrates the achievements of Professor Kenneth Waldron who has made innumerable and invaluable contributions to these fields in the last fifty years. His leadership and his pioneering work have influenced thousands of people in this discipline.

Content:
Front Matter....Pages 1-21
Design for Inclusivity: Meaningful Collaboration with Differences....Pages 1-16
Computer Aided Mechanism Synthesis: A Historical Perspective....Pages 17-33
An Excellent Adventure....Pages 35-47
Mechanisms and Robotics at the ASME Design Engineering Technical Conferences - The Waldron Years 1986-2012....Pages 49-54
Screws and Robotics for Metrology....Pages 55-66
Mobility Analysis and Type Synthesis with Screw Theory: From Rigid Body Linkages to Compliant Mechanisms....Pages 67-81
How Far are Compliant Mechanisms from Rigid-body Mechanisms and Stiff Structures?....Pages 83-94
On a Compliant Mechanism Design Methodology Using the Synthesis with Compliance Approach for Coupled and Uncoupled Systems....Pages 95-116
Understanding Speed and Force Ratios for Compliant Mechanisms....Pages 117-129
Precision Flexure Mechanisms in High Speed Nanopatterning Systems....Pages 131-144
Decomposition of Planar Burmester Problems Using Kinematic Mapping....Pages 145-157
Kinematics Analysis and Design Considerations of the Gear Bearing Drive....Pages 159-175
A Short Story on Long Pinions....Pages 177-188
Time-Optimal Path Planning for the General Waiter Motion Problem....Pages 189-203
Kinematic Analysis of Quadrotors with Manufacturing Errors....Pages 205-214
Omnicopter: A Novel Overactuated Micro Aerial Vehicle....Pages 215-226
Articulated Wheeled Vehicles: Back to the Future?....Pages 227-238
A Robotic Mobile Platform for Application in Automotive Production Environment....Pages 239-244
Electro-Elastic Model for Dielectric Elastomers....Pages 245-250
Designing Positive Tension for Wire-Actuated Parallel Manipulators....Pages 251-263
Control of Humanoid Hopping Based on a SLIP Model....Pages 265-274
Duty Factor and Leg Stiffness Models for the Design of Running Bipeds....Pages 275-293
Unfinished Business: Impulsive Models of Quadrupedal Running Gaits....Pages 295-304
Automatic Full Body Inverse Dynamic Analysis Based on Personalized Body Model and MoCap Data....Pages 305-322
Lower-Limb Muscle Function in Human Running....Pages 323-327
Toward Broader Education in Control System Design for Mechanical Engineers: Actuation System Selection and Controller Co-design....Pages 329-347
Biologically Oriented Subjects in European Master on Advanced Robotics - Sharing the Teaching Experience....Pages 349-354
From the Tool Room to the Class Room....Pages 355-370
Project-Based Learning in Engineering through Street Performance Robot Contest....Pages 371-385
Research and Science Educations of Lu Ban’s Horse Carriages....Pages 387-397
Back Matter....Pages 399-400
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