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TECHNICAL PAPERS

Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping

[+] Author and Article Information
Constantinos Mavroidis, Kathryn J. DeLaurentis, Jey Won, Munshi Alam

Robotics and Mechatronics Laboratory, Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Rd., Piscataway, NJ 08854-8058

J. Mech. Des 123(4), 516-524 (Aug 01, 2000) (9 pages) doi:10.1115/1.1415034 History: Received August 01, 2000
Copyright © 2001 by ASME
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References

Ashley,  S., 1995, “Rapid Prototyping is Coming of Age,” Mech. Eng. (Am. Soc. Mech. Eng.), 117, No. 7, pp. 63–68.
Ashley,  S., 1998, “RP Industry’s Growing Pains,” Mech. Eng. (Am. Soc. Mech. Eng.), 120, No. 7, pp. 64–67.
Tse, W. C., and Chen, Y. H., 1997, “A Robotic System for Rapid Prototyping,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 1815–1820.
Vergeest,  J., and Tangelder,  W., 1996, “Robot Machines Rapid Prototype, ” Ind. Robot, 23, No. 5, pp. 17–20.
Laliberté, T., Gosselin, C., and Co⁁té, G., 1999, “Rapid Prototyping of Mechanisms,” Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, Vol. 3, pp. 959–964.
Laliberté, T., Gosselin, C., and Co⁁té, G., 2000, “Rapid Prototyping of Lower-Pair, Geared-Pair and Cam Mechanisms,” Proceedings of the 200 ASME Mechanisms and Robotics Conference, Baltimore MD, September 10–13, 2000, Paper DETC2000/MECH-14202.
Cham, J. G., Pruitt, B. L., Cutkosky, M. R., Binnard, M., Weiss, L., and Neplotnik, G., 1999, “Layered Manufacturing with Embedded Components: Process Planning Issues,” Proceedings of the 1999 ASME DETC/DFM Conference, Las Vegas, NV, Sept 12–15, 1999, Paper DETC99/DFM-8910.
Bailey, S. A., Cham, J. G., Cutkosky, M. R., and Full, R. J., 2000, “Biomimetic Robotic Mechanisms via Shape Deposition Manufacturing,” Robotics Research: The Ninth International Symposium, John Hollerbach and Dan Koditschek (Eds), Springer-Verlag, London.
Rejagopalan, S., and Cutkosky, M. R., 1998, “Tolerance Representation for Mechanism Assemblies in Layered Manufacturing,” Proceedings of the 1998 ASME DETC/DFM Conference, Atlanta, GA, Sept 13–16, 1998, Paper DETC98/DFM-5726.
Rajagopalan, S., and Cutkosky, M. R., 1999, “Optimal Pose Selection for In-Situ Fabrication of Planar Mechanisms,” Proceedings of the 1999 ASME, DETC/DFM Conference, Las Vegas, NV, Sept 12–15, 1999, Paper DETC99/DFM-8958.
Goel, P., Rajagopalan, S., and Cutkosky, M. R., 2000, “Error Analysis for the In-Situ Fabrication of Mechanisms,” Proceedings of the 2000 ASME DETC/DFM Conference, Baltimore, MD, Sept 13–16, 2000, Paper DETC2000/DFM-14019.
Binnard, M., 1999, Design by Composition for Rapid Prototyping, Kluwer Academic Press.
Kataria, A., and Rosen, D., 2000, “Building Around Inserts: Methods for Fabricating Complex Devices in Stereolithography,” Proceedings of the 2000 ASME Mechanisms and Robotics Conference, Baltimore MD, September 10–13, 2000. Paper DETC2000/MECH-14206.
Geving, B., and Ebert-Uphoff, I., 2000, “Enhancement of Stereo-Lithography Technology to Support Building Around Inserts,” Procedings of the 2000 ASME Mechanism and Robotics Conference, Baltimore MD, September 10–13, 2000. Paper DETC2000/MECH-14207.
Alam, M., Mavroidis, C., Langrana, N., and Bidaud, P., 1999, “Mechanism Design Using Rapid Prototyping,” Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, 3 , pp. 930–938.
Won, J., DeLaurentis, K., and Mavroidis, C., “Rapid Prototyping of Robotic Systems,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation, April 24–28 2000, San Francisco, CA, pp. 3077–3082.
Won, J., DeLaurentis, K., and Mavroidis, C., “Fabrication of a Robotic Hand Using Rapid Prototyping,” Proceedings of the 2000 ASME Mechanisms and Robotics Conference, Baltimore, MD, September 10–13, 2000. Paper DETC2000/MECH-14203.
Dolenc, A., “An Overview of Rapid Prototyping Technologies in Manufacturing,” http//www.cs.hut.fi/∼ado/rp/rp.html, Helsinki Univ. of Technology, 1994.
Crawford, R., and Beaman, J., 1999, “Solid Freeform Fabrication: A New Manufacturing Paradigm,” IEEE Spect., February 1999, pp. 34–43.
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Figures

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Stereolithography joint fabrications
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Revolute joint built with SL (all dimensions are in mm)
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Type I of spherical joint built with SL (all dimensions are in mm)
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Type II of spherical joints built with SL (all dimensions are in mm)
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Prismatic joint built with SL (all dimensions are in mm)
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Universal joint built with SL
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Views of (a) modified socket and (b) modified ball
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Modified spherical “Knuckle” joint
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A leg of the parallel manipulator
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Three legged parallel manipulator
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CAD rendering of robotic hand
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CAD view of a robotic finger
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Cable channels in SLS finger
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Robotic finger built with SLS and actuated with SMA wires
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Brief comparison of two RP processes
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Summary of experimental results

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