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.
Novel and original contributions in the areas of kinematics, mechanisms, robotics, and design that are of interest to the international research and development community
Contributions include innovations in design education of interest to all university educators
The contributors are leading world-wide experts in these areas
Foreword.- My Professional Career: A Summary by Kenneth Waldron.- Table of Contents.-
Part 1 Historical Perspective: 1. Design for Inclusivity: Meaningful Collaboration with Differences, by Manjula and Kenneth Waldron.- 2. Computer Aided Mechanism Synthesis:A Historical Perspective, by Thomas R. Chase, Gary L. Kinzel and Arthur G. Erdman.- 3. An Excellent Adventure, by Vincent J. Vohnout.- 4. Mechanisms and Robotics at the ASME Design Engineering Technical Conferences The Waldron Years 1986-2012, by Steven A. Velinsky.- Part 2 Kinematics and Mechanisms: 5. Screws and robotics for metrology, by Joseph K. Davidson, Samir Savaliya, and Jami J. Shah.- 6. Mobility Analysis and Type Synthesis with Screw Theory: from Rigid Body Linkages to Compliant Mechanisms, by Hai-Jun Su, Lifeng Zhou and Ying Zhang.- 7. How far are compliant mechanisms from rigid-body mechanisms and stiff structures?, by G. K. Ananthasuresh.- 8. On a compliant mechanism design methodology using the synthesis with compliance approach for coupled and uncoupled systems, by Ashok Midha , Yuvaraj Annamalai , Sharath K. Kolachalam , Ashish B. Koli and Sushrut G. Bapat.- 9. Understanding Speed and Force Ratios for Compliant Mechanisms, by Thomas G. Sugar and Matthew Holgate.- 10. Precision Flexure Mechanisms in High Speed Nanopatterning Systems, by M.J. Meissl, B.J. Choi and S.V. Sreenivasan.- 11. Decomposition of Planar Burmester Problems Using Kinematic Mapping, by Q. J. Ge, Ping Zhao, Anurag Purwar.- 12. Kinematics Analysis and Design Considerations of the Gear Bearing Drive, by Elias Brassitos and Constantinos Mavroidis.- 13. A Short Story on Long Pinions, by Madhusudan Raghavan.- Part 3 Robotic Systems: 14. Time-optimal path planning for the general waiter motion problem, by Francisco Geu Flores, Andrés Kecskeméthy.- 15. Kinematic Analysis of Quadrotors with Manufacturing Errors, by Yash Mulgaonkar, Caitlin Powers and Vijay Kumar.- 16. Omnicopter: A Novel Overactuated Micro Aerial Vehicle, by Yangbo Long and David J. Cappelleri.- 17. Articulated Wheeled Vehicles: Back to the Future?, by Xiaobo Zhou, Aliakbar Alamdari and Venkat Krovi.- 18. A Robotic Mobile Platform for Application in Automotive Production Environment, by Alberto Rovetta.- 19. Electro-Elastic Model for Dielectric Elastomers, by Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti Castelli.- 20. Designing Positive Tension for Wire-Actuated Parallel Manipulators, by Leila Notash.- Part 4 Legged Locomotion: 21. Control of Humanoid Hopping Based on a SLIP Model, by Patrick M. Wensing and David E. Orin.- 22. Duty Factor and Leg Stiffness Models for the Design of Running Bipeds, by Muhammad E. Abdallah and Kenneth J. Waldron.- 23. Unfinished Business: Impulsive Models of Quadrupedal Running Gaits, by James P. Schmiedeler and Lawrence Funke.- 24. Automatic Full Body Inverse Dynamic Analysis Based on Personalized Body Model and MoCap Data, by M.J. Tsai, Allen Lee, H.W. Lee.- 25. Lower-limb muscle function in human running, by Anthony G. Schache, Tim W. Dorn, and Marcus G. Pandy.- Part 5 Design Education and Research: 26. Toward Broader Education in Control System Design for Mechanical Engineers: Actuation System Selection and Controller Co-Design, by K. Srinivasan.- 27. Biologically Oriented Subjects in European Master on Advanced Robotics Sharing the Teaching Experience, by Teresa Zielinska and Krzysztof Kedzior.- 28. From the Tool Room to the Class Room, by Blaine W. Lilly.- 29. Project-Based Learning in Engineering through Street Performance Robot Contest, by Shigeo Hirose, Gen Endo and Edwardo F. Fukushima.- 30. Research and Science Education of Lu Ban's Horse Carriages, by Hong-Sen Yan.