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Bruno Belzile
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Journal Articles

The Modeling of Redundantly Actuated Mechanical Systems

Yaojun Wang, Bruno Belzile, Jorge Angeles, Qinchuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061005.
Paper No: JMR-19-1074
https://doi.org/10.1115/1.4044540
Published Online: October 9, 2019
View Article titled, The Modeling of Redundantly Actuated Mechanical Systems
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Topics: Actuators, Dynamics (Mechanics), Modeling, Robots, Torque, Kinematics, Machinery, Redundancy (Engineering)
Journal Articles

Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots

Peyman Karimi Eskandary, Bruno Belzile, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031001.
Paper No: JMR-18-1184
https://doi.org/10.1115/1.4042631
Published Online: April 8, 2019
View Article titled, Trajectory-Planning and Normalized-Variable Control for Parallel Pick-and-Place Robots
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Topics: Robots, Trajectories (Physics), Cycles, Torque, Control equipment, Actuators
Journal Articles

Reflections Over the Dual Ring—Applications to Kinematic Synthesis

Bruno Belzile, Jorge Angeles
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. July 2019, 141(7): 072302.
Paper No: MD-18-1865
https://doi.org/10.1115/1.4043204
Published Online: March 28, 2019
View Article titled, Reflections Over the Dual Ring—Applications to Kinematic Synthesis
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Topics: Algorithms, Errors, Kinematics, Reflection, Linkages, Approximation, Theorems (Mathematics)
Journal Articles

Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing

Bruno Belzile, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051004.
Paper No: JMR-16-1289
https://doi.org/10.1115/1.4037113
Published Online: August 4, 2017
View Article titled, Optimal Design of Self-Adaptive Fingers for Proprioceptive Tactile Sensing
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Topics: Design, Stiffness, Optimization, Algorithms, Actuators
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47310
https://doi.org/10.1115/DETC2015-47310
View Paper titled, Instantaneous-Stiffness Plane Analysis of Underactuated Fingers
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Topics: Stiffness, Geometry, Actuators, Architecture, Computer simulation, Design, Grasping, Optimization, Springs