An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms

Mohammad Sharifzadeh, Roozbeh Khodambashi, Daniel Aukes

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Laminate mechanisms are a reliable concept in producing low-cost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and are more accessible to novices and hobbyists. However, iterating through the design space to come up with the best design for a robot is still a time consuming and rather expensive task and therefore, there is still a need for model-based analysis before manufacturing. Until now, there has been no integrated design and analysis software for laminate robots. This paper addresses some of the issues surrounding laminate analysis by introducing a companion to an existing laminate design tool that automates the generation of dynamic equations and produces simulation results via rendered plots and videos. We have validated the accuracy of the software by comparing the position, velocity and acceleration of the simulated mechanisms with the measurements taken from physical laminate prototypes using a motion capture system.

    Original languageEnglish (US)
    Title of host publication42nd Mechanisms and Robotics Conference
    PublisherAmerican Society of Mechanical Engineers (ASME)
    Volume5B-2018
    ISBN (Electronic)9780791851814
    DOIs
    StatePublished - Jan 1 2018
    EventASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018 - Quebec City, Canada
    Duration: Aug 26 2018Aug 29 2018

    Other

    OtherASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018
    CountryCanada
    CityQuebec City
    Period8/26/188/29/18

    Fingerprint

    Rapid Prototyping
    Laminates
    Rapid prototyping
    Simulation Environment
    Robotics
    Robot
    Robots
    Manufacturing
    Motion Capture
    Software
    Dynamic Equation
    Costs
    Design
    Prototype
    Model-based
    Simulation

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Computer Graphics and Computer-Aided Design
    • Computer Science Applications
    • Modeling and Simulation

    Cite this

    Sharifzadeh, M., Khodambashi, R., & Aukes, D. (2018). An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms. In 42nd Mechanisms and Robotics Conference (Vol. 5B-2018). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2018-86359

    An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms. / Sharifzadeh, Mohammad; Khodambashi, Roozbeh; Aukes, Daniel.

    42nd Mechanisms and Robotics Conference. Vol. 5B-2018 American Society of Mechanical Engineers (ASME), 2018.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Sharifzadeh, M, Khodambashi, R & Aukes, D 2018, An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms. in 42nd Mechanisms and Robotics Conference. vol. 5B-2018, American Society of Mechanical Engineers (ASME), ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018, Quebec City, Canada, 8/26/18. https://doi.org/10.1115/DETC2018-86359
    Sharifzadeh M, Khodambashi R, Aukes D. An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms. In 42nd Mechanisms and Robotics Conference. Vol. 5B-2018. American Society of Mechanical Engineers (ASME). 2018 https://doi.org/10.1115/DETC2018-86359
    Sharifzadeh, Mohammad ; Khodambashi, Roozbeh ; Aukes, Daniel. / An integrated design and simulation environment for rapid prototyping of laminate robotic mechanisms. 42nd Mechanisms and Robotics Conference. Vol. 5B-2018 American Society of Mechanical Engineers (ASME), 2018.
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