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Sunil K. Agrawal
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Proceedings Papers

Synthesis of a 3-RPS Parallel Manipulator Based on Axodes

Latifah Nurahmi, Dongming Gan, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A028, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91025
https://doi.org/10.1115/DETC2022-91025
View Paper titled, Synthesis of a 3-RPS Parallel Manipulator Based on Axodes
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Topics: Manipulators, Reactor protection systems, Design, Orthotics, Trajectories (Physics), Dimensions, Displacement, Kinematics, Rotation, Screws
Proceedings Papers

Multibody Dynamic Analysis of a 6-DOF Parallel Robot

Miguel Almonacid, Sunil K. Agrawal, Rafael Aracil, Roque J. Saltarén
Proc. ASME. IMECE2001, Dynamic Systems and Control, 845-851, November 11–16, 2001
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24605
https://doi.org/10.1115/IMECE2001/DSC-24605
View Paper titled, Multibody Dynamic Analysis of a 6-DOF Parallel Robot
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Topics: Dynamic analysis, Robots, Engineering simulation, Multibody dynamics, Simulation, Virtual work principle
Journal Articles

Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism

Latifah Nurahmi, Pradiktio Putrayudanto, Guowu Wei, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021017.
Paper No: JMR-20-1279
https://doi.org/10.1115/1.4049879
Published Online: March 4, 2021
View Article titled, Geometric Constraint-Based Reconfiguration and Self-Motions of a Four-CRU Parallel Mechanism
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Topics: Design, Parallel mechanisms, Additive manufacturing, Printing, Shapes
Proceedings Papers

Analytical Dynamics of Unrooted Multibody-Systems With Symmetries

Felix M. J. Pfister, Sunil K. Agrawal
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A067, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5869
https://doi.org/10.1115/DETC98/MECH-5869
View Paper titled, Analytical Dynamics of Unrooted Multibody-Systems With Symmetries
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Topics: Dynamics (Mechanics), Multibody systems, Equations of motion, Linkages
Proceedings Papers

Mass Center of Planar Mechanisms Using Auxiliary Parallelograms

Ali Gökçe, Sunil K. Agrawal
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A062, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5938
https://doi.org/10.1115/DETC98/MECH-5938
View Paper titled, Mass Center of Planar Mechanisms Using Auxiliary Parallelograms
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Topics: Biomechanics, Center of mass, Degrees of freedom, Gravity (Force), Machinery
Proceedings Papers

Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms

Sunil K. Agrawal, Glenn Gardner, Stephen Pledgie
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 217-221, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14073
https://doi.org/10.1115/DETC2000/MECH-14073
View Paper titled, Design and Fabrication of a Gravity Balanced Planar Mechanism Using Auxiliary Parallelograms
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Topics: Design, Gravity (Force), Manufacturing, Actuators, Center of mass, Machinery, Railroad passenger cars, Feedforward control, Patient treatment, Stress
Journal Articles

Design of a Wheelchair Robot for Active Postural Support

Rosemarie C. Murray, Chawin Ophaswongse, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020911.
Paper No: JMR-18-1382
https://doi.org/10.1115/1.4042544
Published Online: February 25, 2019
View Article titled, Design of a Wheelchair Robot for Active Postural Support
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Topics: Design, Kinematics, Robots, Wheelchairs, End effectors, Degrees of freedom, Optimization
Proceedings Papers

Design of a Wheelchair Robot for Active Postural Support

Rosemarie C. Murray, Chawin Ophaswongse, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A059, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85393
https://doi.org/10.1115/DETC2018-85393
View Paper titled, Design of a Wheelchair Robot for Active Postural Support
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Topics: Design, Robots, Wheelchairs, Degrees of freedom, Exoskeleton devices, Motor controls, Robotics
Journal Articles

Wrench Capability of a Stewart Platform With Series Elastic Actuators

Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021002.
Paper No: JMR-17-1309
https://doi.org/10.1115/1.4038976
Published Online: January 29, 2018
View Article titled, Wrench Capability of a Stewart Platform With Series Elastic Actuators
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Topics: Actuators, Kinematics, Springs, Robots, Seas
Proceedings Papers

Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators

Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A065, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67842
https://doi.org/10.1115/DETC2017-67842
View Paper titled, Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators
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Topics: Actuators, Design, Exoskeleton devices, Robotics, Degrees of freedom, Energy consumption, Kinematics, Machinery
Journal Articles

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

Saeed Abdolshah, Damiano Zanotto, Giulio Rosati, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031004.
Paper No: JMR-16-1119
https://doi.org/10.1115/1.4035681
Published Online: March 20, 2017
View Article titled, Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots
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Topics: Cables, Design, Robots, Stiffness, Pulleys, End effectors
Journal Articles

MAXFAS: Mechatronic Arm Exoskeleton for Firearm Aim Stabilization

Daniel M. Baechle, Eric D. Wetzel, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061013.
Paper No: JMR-16-1004
https://doi.org/10.1115/1.4034015
Published Online: September 8, 2016
View Article titled, MAXFAS: Mechatronic Arm Exoskeleton for Firearm Aim Stabilization
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Topics: Cables, Exoskeleton devices, Guns, Bracing (Construction), Motors, Design
Journal Articles

Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators

Joshua T. Bryson, Xin Jin, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061006.
Paper No: JMR-15-1321
https://doi.org/10.1115/1.4033695
Published Online: September 6, 2016
View Article titled, Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators
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Topics: Cables, Design, Robots, Robustness, Optimization
Journal Articles

Reducing Dynamic Loads From a Backpack During Load Carriage Using an Upper Body Assistive Device

Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051017.
Paper No: JMR-15-1272
https://doi.org/10.1115/1.4032214
Published Online: May 4, 2016
View Article titled, Reducing Dynamic Loads From a Backpack During Load Carriage Using an Upper Body Assistive Device
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Topics: Railroad passenger cars, Stress, Control equipment, Design
Journal Articles

Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization

Joshua T. Bryson, Xin Jin, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041003.
Paper No: JMR-15-1197
https://doi.org/10.1115/1.4032103
Published Online: March 7, 2016
View Article titled, Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization
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Topics: Cables, Design, Particle swarm optimization, Robots, Optimization, Tension, Algorithms, Manipulators
Proceedings Papers

Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms

Zhiyu Sheng, Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A048, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47976
https://doi.org/10.1115/DETC2015-47976
View Paper titled, Analytic Determination of Wrench Closure Workspace of Spatial Cable Driven Parallel Mechanisms
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Topics: Cables, Parallel mechanisms, Simulation, Redundancy (Engineering), Tension
Proceedings Papers

Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

Joshua T. Bryson, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A055, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46837
https://doi.org/10.1115/DETC2015-46837
View Paper titled, Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
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Topics: Cables, Design, Particle swarm optimization, Robots, Tension, Optimization, Actuators, Architecture, Manipulators
Proceedings Papers

Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators

Joshua T. Bryson, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A056, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46842
https://doi.org/10.1115/DETC2015-46842
View Paper titled, Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators
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Topics: Algorithms, Cables, Design, Manipulators, Uncertainty, Robots, Actuators, Errors, Inertia (Mechanics)
Proceedings Papers

Wearable Upper Body Suit for Assisting Human Load Carriage

Joon-Hyuk Park, Paul Stegall, Sunil K. Agrawal, Shridhar Yarlagadda, John Tierney, Shashank Sharma, John Gillespie
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A024, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47973
https://doi.org/10.1115/DETC2015-47973
View Paper titled, Wearable Upper Body Suit for Assisting Human Load Carriage
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Topics: Railroad passenger cars, Stress, Cables, Actuators, Control equipment, Tension, Bearings, Belts, Force sensors, Load bearing capacity
Journal Articles

Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables

Jingli Du, Sunil K. Agrawal
Journal: Journal of Vibration and Acoustics
Publisher: ASME
Article Type: Research-Article
J. Vib. Acoust. April 2015, 137(2): 021020.
Paper No: VIB-13-1392
https://doi.org/10.1115/1.4029486
Published Online: April 1, 2015
View Article titled, Dynamic Modeling of Cable-Driven Parallel Manipulators With Distributed Mass Flexible Cables
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Topics: Cables