Song, S.-.M. & Waldron, K.J. 1989, Machines that Walk The Adaptive Suspension Vehicle, MIT Press.
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What is 16 feet long, 10 feet high, weighs 6,000 pounds, has six legs, and can sprint at 8 mph and step over a 4 foot wall? The Adaptive Suspension Vehicle (ASV) described in this book.
Huang, M. & Waldron, K. 1989, 'An Efficient Rate Allocation Algorithm In Redundant Kinematic Chains', Journal Of Mechanisms Transmissions And Automation In Design-transactions Of The ASME, vol. 111, no. 4, pp. 545-554.
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Huang, M.Z. & Waldron, K.J. 1989, 'Efficient rate allocation algorithm in redundant kinematic chains', Journal of mechanisms, transmissions, and automation in design, vol. 111, no. 4, pp. 545-554.
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This paper addresses a basic problem which arises in the coordination of serial chain manipulators, namely, that of decomposing a given end effector velocity state into a set of joint rates. Such a problem is indeterminate for manipulators with kinematic redundancy. A novel method of solving the rate distribution problem for the class of fully revolute-jointed, serial manipulators is developed. The technique is an extension of the axial field solution scheme developed initially for solving the force allocation problem in a statically indeterminate parallel chain system. The basis of the solution method lies in the dualities of velocity and force systems between series and parallel mechanisms.
Kumar, V. & Waldron, K. 1989, 'Actively Coordinated Vehicle Systems', Journal Of Mechanisms Transmissions And Automation In Design-transactions Of The ASME, vol. 111, no. 2, pp. 223-231.
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Kumar, V. & Waldron, K. 1989, 'Adaptive Gait Control For A Walking Robot', Journal Of Robotic Systems, vol. 6, no. 1, pp. 49-76.
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Kumar, V. & Waldron, K. 1989, 'Suboptimal Algorithms For Force Distribution In Multifingered Grippers', IEEE Transactions On Robotics And Automation, vol. 5, no. 4, pp. 491-498.
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Kumar, V. & Waldron, K.J. 1989, 'Actively coordinated vehicle systems', Journal of mechanisms, transmissions, and automation in design, vol. 111, no. 2, pp. 223-231.
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The use of independent actuation of suspension and locomotion degrees of freedom offers significant potential for improved performance vehicles. In this paper, the mathematics of active coordination of such systems is explored. Two different, actively coordinated mobility system configurations are used as examples to elucidate the principles involved.
Waldron, K.J., Raghavan, M. & Roth, B. 1989, 'Kinematics of a hybrid series-parallel manipulation system', Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 111, no. 2, pp. 211-221.
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In this paper we first derive the coordinate transformations associated with a threedegree-of-freedom in-parallel-actuated micro-manipulator. Then we combine these results with the transformations associated with an in-series three-axis wrist on which the in-parallel micro-manipulator is mounted. The results are the basic transformation equations between joint-space position variables and end-effector (or task space) position variables for a hybrid series/parallel six-degree-of-freedom manipulator system. This structural combination results in a manipulator which exhibits desirable fine and gross motion characteristics as both a stand-alone device or as a sub-system of a more complex system with redundant degrees of freedom. The forward and inverse position kinematics and rate and force decomposition for this hybrid six-degree-of-freedom linkage are presented. © 1989 ASME.
Nanua, P. & Waldron, K.J. 1989, 'Direct kinematic solution of a Stewart platform', pp. 431-437.
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The Stewart platform is a fully parallel, six-degree-of-freedom manipulator mechanism. A solution of the direct kinematics problem for the Stewart platform is presented for the case in which the six limbs form three concurrent pairs at either the base or the hand member. The solution is shown to be reducible to a 24th-order polynomial equation in tan(φr/2). It is also shown that, for a given set of link lengths, the Stewart platform can be assembled in 24 different configurations.
Waldron, M.B., Waldron, K.J. & Abdelhamied, K. 1989, 'Differences in reading schematic drawings of mechanisms by expert and naive mechanical designers', American Society of Mechanical Engineers, Design Engineering Division (Publication) DE, pp. 15-21.
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In order to better understand the conceptual design process and to be able to design better computer aids for conceptual design, a qualitative as well as quantitative body of knowledge must be generated regarding the conceptual design process. This paper is a step in that direction. Results on the knowledge and reasoning used by 15 mechanical engineering designers of different levels of expertise in interpreting 8 mechanical engineering drawings are reported. The results partially support the theory that expert designers recognize drawings from knowledge and experience based on functions they have encountered. In addition, two types of reasoning strategies have been identified and studied; namely: forward and inverse reasoning. Inverse reasoning was used more often and more successfully by expert designers.