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Journal Articles

Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects

Nicolas Mouazé, Lionel Birglen

J. Mechanisms Robotics. February 2021, 13(1): 011009.

Paper No: JMR-20-1116

DOI: https://doi.org/10.1115/1.4047988

Published Online: October 7, 2020

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Topics: Deformation, Grasping, Modeling, Robotics, Simulation, Springs, Grippers, Shapes, Finite element analysis, Engineering simulation

Proceedings Papers

Deformation Analysis of a Compliant Underactuated Finger Grasping a Soft Object

Nicolas Mouazé, Lionel Birglen

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A001, August 26–29, 2018

Paper No: DETC2018-85226

DOI: https://doi.org/10.1115/DETC2018-85226

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Topics: Deformation, Grasping, Approximation, Engineering simulation, Finite element analysis, Simulation, Springs

Proceedings Papers

Kinematic and Potential Energy Analysis of Self-Adaptive Robotic Legs

Dmitri Fedorov, Lionel Birglen

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A041, August 26–29, 2018

Paper No: DETC2018-85824

DOI: https://doi.org/10.1115/DETC2018-85824

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Topics: Kinematics, Potential energy, Robotics, Trajectories (Physics), Degrees of freedom, Grasping, Linkages, Sensors, Shapes, Stability

Proceedings Papers

Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell

Mohammad H. FarzanehKaloorazi, Ilian A. Bonev, Lionel Birglen

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A087, August 26–29, 2018

Paper No: DETC2018-86336

DOI: https://doi.org/10.1115/DETC2018-86336

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Topics: Optimization, Robotics, Manipulators, Redundancy (Engineering), Reactor protection systems

Journal Articles

Differential Noncircular Pulleys for Cable Robots and Static Balancing

Dmitri Fedorov, Lionel Birglen

J. Mechanisms Robotics. December 2018, 10(6): 061001.

Paper No: JMR-18-1051

DOI: https://doi.org/10.1115/1.4041213

Published Online: September 7, 2018

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Topics: Cables, Pulleys, Robots, Rotation, Pendulums

Journal Articles

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Bruno Belzile, Lionel Birglen

J. Mechanisms Robotics. October 2017, 9(5): 051004.

Paper No: JMR-16-1289

DOI: https://doi.org/10.1115/1.4037113

Published Online: August 4, 2017

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Topics: Design, Stiffness, Optimization, Algorithms, Actuators

Journal Articles

Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

Jean-Michel Boucher, Lionel Birglen

J. Mechanisms Robotics. August 2017, 9(4): 041003.

Paper No: JMR-16-1236

DOI: https://doi.org/10.1115/1.4036220

Published Online: April 27, 2017

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Topics: Actuators, Degrees of freedom, Design, Grasping, Linkages, Optimization, Stiffness, Torque

Proceedings Papers

Analysis and Design of a Remote Center Compliance Universal Joint

Pierre-Olivier Dubois, Lionel Birglen

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A019, August 2–5, 2015

Paper No: DETC2015-47749

DOI: https://doi.org/10.1115/DETC2015-47749

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Topics: Design, Universal joints, Mechanical admittance, Finite element analysis, Design engineering, Genetic algorithms, Jacobian matrices, Linkages, Optimization, Screws

Proceedings Papers

Underactuated Finger Closing Motion Control Using Dual Drive Actuation

Jean-Michel Boucher, Lionel Birglen

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A005, August 2–5, 2015

Paper No: DETC2015-46626

DOI: https://doi.org/10.1115/DETC2015-46626

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Topics: Actuators, Degrees of freedom, Design, Design engineering, Genetic algorithms, Geometry, Kinematics, Linkages, Motion control, Motors

Proceedings Papers

Instantaneous-Stiffness Plane Analysis of Underactuated Fingers

Bruno Belzile, Lionel Birglen

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A078, August 2–5, 2015

Paper No: DETC2015-47310

DOI: https://doi.org/10.1115/DETC2015-47310

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Topics: Stiffness, Geometry, Actuators, Architecture, Computer simulation, Design, Grasping, Optimization, Springs

Proceedings Papers

Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism

Dmitri Fedorov, Lionel Birglen

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A079, August 2–5, 2015

Paper No: DETC2015-47330

DOI: https://doi.org/10.1115/DETC2015-47330

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Topics: Degrees of freedom, Design, Linkages, Biomimetics, Equations of motion, Optimization, Screws

Journal Articles

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

Hamed Khakpour, Lionel Birglen, Souheil-Antoine Tahan

J. Mechanisms Robotics. August 2015, 7(3): 034503.

Paper No: JMR-13-1172

DOI: https://doi.org/10.1115/1.4028931

Published Online: August 1, 2015

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Topics: Cables, Robots, Optimization

Proceedings Papers

Fuzzy Decision Making for Conceptual Design of a Visual Servoing System Using Mechatronic Multi-Criteria Profile (MMP)

Abolfazl Mohebbi, Sofiane Achiche, Luc Baron, Lionel Birglen

Proc. ASME. IMECE2014, Volume 11: Systems, Design, and Complexity, V011T14A055, November 14–20, 2014

Paper No: IMECE2014-40442

DOI: https://doi.org/10.1115/IMECE2014-40442

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Topics: Conceptual design, Decision making, Design, Design methodology, Fittings, Performance evaluation, Robotics, Simulation results

Journal Articles

Analysis and Optimization of One-Degree of Freedom Robotic Legs

Lionel Birglen, Carlos Ruella

J. Mechanisms Robotics. November 2014, 6(4): 041004.

Paper No: JMR-13-1094

DOI: https://doi.org/10.1115/1.4027234

Published Online: June 5, 2014

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Topics: Optimization, Robotics, Robots, Simulation, Trajectories (Physics), Engineering prototypes

Proceedings Papers

Traversability Analysis of a Novel One-DOF Robotic Leg

Lionel Birglen, Carlos Ruella

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A010, August 4–7, 2013

Paper No: DETC2013-12898

DOI: https://doi.org/10.1115/DETC2013-12898

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Topics: Robotics, Design, Actuators, Algorithms, Architecture, Degrees of freedom, Robustness, Simulation, Surface roughness

Journal Articles

Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger

Hamed Khakpour, Lionel Birglen

J. Comput. Nonlinear Dynam. April 2013, 8(2): 021010.

Paper No: CND-12-1041

DOI: https://doi.org/10.1115/1.4007359

Published Online: August 31, 2012

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Topics: Algorithms, Equilibrium (Physics), Linkages, Numerical analysis, Simulation, Torque, Grasping, Springs

Proceedings Papers

Self-Adaptive Compliant Grippers Capable of Pinch Preshaping

Lionel Birglen, Francois Herbecq

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 249-257, August 30–September 2, 2009

Paper No: DETC2009-87067

DOI: https://doi.org/10.1115/DETC2009-87067

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Topics: Grippers, Pinch effect, Computer software, Design, Finite element analysis, Linkages, Stiffness

Journal Articles

Robust Design of Inertial Measurement Units Based on Accelerometers

Zhongkai Qin, Luc Baron, Lionel Birglen

J. Dyn. Sys., Meas., Control. May 2009, 131(3): 031010.

DOI: https://doi.org/10.1115/1.3072157

Published Online: March 20, 2009

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Topics: Accelerometers, Design, Sensors, Errors

Journal Articles

Design of an Underactuated Compliant Gripper for Surgery Using Nitinol

Mario Doria, Lionel Birglen

J. Med. Devices. March 2009, 3(1): 011007.

DOI: https://doi.org/10.1115/1.3089249

Published Online: March 17, 2009

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Topics: Design, Grippers, Nickel titanium alloys, Optimization, Surgery

Journal Articles

Type Synthesis of Linkage-Driven Self-Adaptive Fingers

Lionel Birglen

J. Mechanisms Robotics. May 2009, 1(2): 021010.

DOI: https://doi.org/10.1115/1.3046139

Published Online: January 12, 2009

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Topics: Architecture, Linkages, Robotics, Design, Engineering prototypes, Actuators, Kinematics, Torque

Journal citation

NARROW

Deformation Modeling of Compliant Robotic Fingers Grasping Soft Objects

Deformation Analysis of a Compliant Underactuated Finger Grasping a Soft Object

Kinematic and Potential Energy Analysis of Self-Adaptive Robotic Legs

Parameters Identification of the Path Placement Optimization Problem for a Redundant Coordinated Robotic Workcell

Differential Noncircular Pulleys for Cable Robots and Static Balancing

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Performance Augmentation of Underactuated Fingers' Grasps Using Multiple Drive Actuation

Analysis and Design of a Remote Center Compliance Universal Joint

Underactuated Finger Closing Motion Control Using Dual Drive Actuation

Instantaneous-Stiffness Plane Analysis of Underactuated Fingers

Analysis and Design of a Two Degree of Freedom Hoeckens-Pantograph Leg Mechanism

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

Fuzzy Decision Making for Conceptual Design of a Visual Servoing System Using Mechatronic Multi-Criteria Profile (MMP)

Analysis and Optimization of One-Degree of Freedom Robotic Legs

Traversability Analysis of a Novel One-DOF Robotic Leg

Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger

Self-Adaptive Compliant Grippers Capable of Pinch Preshaping

Robust Design of Inertial Measurement Units Based on Accelerometers

Design of an Underactuated Compliant Gripper for Surgery Using Nitinol

Type Synthesis of Linkage-Driven Self-Adaptive Fingers

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