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Volume 5B: 42nd Mechanisms and Robotics Conference最新文献

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Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators 机械臂弹丸捕获机动的轨迹规划
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85395
Mark Charlet, Élodie Marcellini, C. Gosselin
{"title":"Trajectory Planning of Projectile Catching Maneuvers for Robotic Manipulators","authors":"Mark Charlet, Élodie Marcellini, C. Gosselin","doi":"10.1115/DETC2018-85395","DOIUrl":"https://doi.org/10.1115/DETC2018-85395","url":null,"abstract":"This article introduces a trajectory planning approach for the catching of projectiles with a serial robotic manipulator. A description of the trajectory of the projectiles to be caught is first given. Then, a heuristic approach is introduced in order to determine the interception (catching) point. The planning of the robot trajectory that is required to reach the interception point with the proper velocity is then presented, based on polynomial interpolation. Finally, the trajectory of the robot used to decelerate and stop the projectile is planned. Examples of catching maneuvers are provided in order to illustrate the proposed trajectory planning technique.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116681320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and Prototyping of a Shape-Changing Rigid-Body Human Foot in Gait 一种可变形刚体人足步态的设计与原型
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85630
Tanner N. Rolfe, A. Murray, D. Myszka
{"title":"Design and Prototyping of a Shape-Changing Rigid-Body Human Foot in Gait","authors":"Tanner N. Rolfe, A. Murray, D. Myszka","doi":"10.1115/DETC2018-85630","DOIUrl":"https://doi.org/10.1115/DETC2018-85630","url":null,"abstract":"Traditional ankle-foot devices such as prostheses or robotic feet seek to replicate the physiological change in shape of the foot during gait using compliant mechanisms. In comparison, rigid-body feet tend to be simplistic and largely incapable of accurately representing the geometry of the human foot. Rigidbody mechanisms offer certain advantages over compliant mechanisms which may be desirable in the design of ankle-foot devices, including the ability to withstand greater loading, the ability to achieve more drastic shape-change, and the ability to be synthesized from their kinematics, allowing for realistic functionality without a priori characterization of the external loading conditions of the foot. This work focuses on applying the methodology of shape-changing kinematic synthesis to design and prototype a multi-segment rigid-body foot device capable of matching the dynamic change in shape of the human foot in gait.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"244 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122635122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Modelling of Continuous Contact-Based Skating Technique 基于连续接触的滑冰技术建模
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85598
Varan Gupta, Rohit Patel, J. P. Khatait, I. Kar
{"title":"Modelling of Continuous Contact-Based Skating Technique","authors":"Varan Gupta, Rohit Patel, J. P. Khatait, I. Kar","doi":"10.1115/DETC2018-85598","DOIUrl":"https://doi.org/10.1115/DETC2018-85598","url":null,"abstract":"Quick locomotion has always been a challenge for humanoid robots. Most of the work has been done to improve the efficiency of the walking gaits. Recently, additional equipment like skates are increasingly being used to speed up location, but they also make the system highly unstable. This paper describes the development of a statically stable skating gait to facilitate movement across plain surfaces, such as roads and hard ice. The new gait utilises the non-holonomic nature of a wheel (or blade of an ice skate). The proposed motion of the skates on the ground plane enables it to propel the robot forward without lifting its leg. Kinematic and dynamic equations of an equivalent model are formulated. Further, the paper discusses the relationship between different input signals and their corresponding output gaits. Multibody dynamics software is then used to simulate and verify the results for various scenarios. The design of an equivalent model with three degrees of freedom is then analysed and discussed for practical testing. Finally, the algorithm was tested on a fabricated robot.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129549934","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design of a Novel Torsional Spring for the Next Generation Compliant Actuators 新一代柔性作动器的新型扭簧设计
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86374
J. Yoon, D. Hong
{"title":"Design of a Novel Torsional Spring for the Next Generation Compliant Actuators","authors":"J. Yoon, D. Hong","doi":"10.1115/DETC2018-86374","DOIUrl":"https://doi.org/10.1115/DETC2018-86374","url":null,"abstract":"Series Elastic Actuators (SEA) are one of the most widely studied compliant actuators in anthropomorphic robots and prostheses. However, due to the nature of its unique configuration, an unavoidable trade-off has to be made between compliance and bandwidth performance. In this paper, we show that by adopting a hypocycloid mechanism in rotary actuator designs, compliance and high force control bandwidth can be achieved at the same time, while reaping all the benefits of energy storage and shock absorption characteristics of mechanical springs.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129949126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Transmission Errors and Backlash Analysis of a Single-Stage Cycloidal Drive Using Tooth Contact Analysis 基于齿接触分析的单级摆线针轮传动误差及间隙分析
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85558
Yi-Pei Shih, Bor-Tyng Sheen, Kun Wu, J. Lee
{"title":"Transmission Errors and Backlash Analysis of a Single-Stage Cycloidal Drive Using Tooth Contact Analysis","authors":"Yi-Pei Shih, Bor-Tyng Sheen, Kun Wu, J. Lee","doi":"10.1115/DETC2018-85558","DOIUrl":"https://doi.org/10.1115/DETC2018-85558","url":null,"abstract":"Cycloidal gear drives possess compact sizes, large reduction ratios, and low backlash. They are particularly suitable for applications in precise positioning and large output torque, for example, industrial robots and machine tools. Two main dynamic performances, transmission accuracy and backlash, is directly influenced by manufacturing errors. This paper aims to provide a direct method to effectively evaluate both performances. The mathematical models of transmission errors and backlash are established using the theory of gearing as well as tooth contact analysis. Three cases, considering profile modifications of the cycloidal gear and manufacturing errors, are evaluated to verify the correctness of the mathematical models.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"71 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113999606","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Compact Directional and Frictional Hinges for Flat Folding Applications 紧凑型定向和摩擦铰链，用于平面折叠应用
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86225
Patrick D. Shemenski, B. Trease
{"title":"Compact Directional and Frictional Hinges for Flat Folding Applications","authors":"Patrick D. Shemenski, B. Trease","doi":"10.1115/DETC2018-86225","DOIUrl":"https://doi.org/10.1115/DETC2018-86225","url":null,"abstract":"Thick-rigid deployable origami structures make use of compliant mechanisms to create folds and hinging surfaces. This paper examines the potential types of compact directional and frictional hinges to supplement the usage of compliant mechanisms in flat-folding applications. Rigid motioncontrolling hinges offer many opportunities to deployable origami. Hinges, in the form of hard stops, ratchets, or spring detents can allow for complex shape generation through kinematic manipulation. Hinged origami lends itself well to the creation of origami robotics, deployable structures, and arrays. With the ability to offer a high packing factor and create a self-supporting deployable structure, further research should be conducted into the application and development of hinged origami.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128009341","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Vibration Analysis of a Long Boom for a Farm Machine 农用机械长臂的振动分析
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86188
Qianwei Zhang, R. Fotouhi
{"title":"Vibration Analysis of a Long Boom for a Farm Machine","authors":"Qianwei Zhang, R. Fotouhi","doi":"10.1115/DETC2018-86188","DOIUrl":"https://doi.org/10.1115/DETC2018-86188","url":null,"abstract":"Crop phenotyping is frequently used by breeders and crop scientists to monitor growth of plants and to relate them to plants genotypes. Seemingly, this contributes to better crop growth and results in higher yield. Instead of traditional crop monitoring, which is labor intensive, high-throughput phenotyping (HTP) platforms using ground-based vehicle have several advantages (in speed, efficiency, and cost) over manual methods. A wheeled mobile platform for HTP was developed, and automated data collection were performed for different traits of canola and wheat. These data were compared with manual measured data. In this paper, vibration analysis of a relatively long cantilever boom attached to a vehicle is reported. The paper investigates how different factors influence the boom attached to a regular farming machine, its vibration, and effects on phenotyping sensors attached to the boom.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122285389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame 部分力平衡对柔性框架中Delta型机器人机械臂的振动力矩、接触力和精度的影响
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86189
J. J. D. Jong, J. Meijaard, V. Wijk
{"title":"The Influence of Partial Force Balancing on the Shaking Moments, Contact Forces, and Precision of a Delta Robot-Like Manipulator in a Compliant Frame","authors":"J. J. D. Jong, J. Meijaard, V. Wijk","doi":"10.1115/DETC2018-86189","DOIUrl":"https://doi.org/10.1115/DETC2018-86189","url":null,"abstract":"For the Delta robot, a high-speed parallel pick-and-place manipulator, base vibrations are a significant problem. Especially since the Delta robot is suspended above its workpiece, it requires a large, stiff, and heavy base frame for fast and accurate motions. Dynamic balancing of the shaking forces and the shaking moments is a known technique to reduce the dynamic loads on the base frame and to the surroundings. In this paper it is investigated how solely with partial force balancing, dynamic loads and pick-and-place accuracy of a Delta robot-like manipulator can be improved, considering also the compliance of the base frame. This is done since partial force balance solutions can be implemented relatively simply in the current Delta robot designs, whereas full force and moment balance solutions are complex to apply in practice. Numerical simulations with a representative planar model of a Delta robot-like manipulator with a compliant base frame show that with an increasing amount of force balance the shaking moments increase up to 16% for full force balance. The floor contact forces first reduce and then increase with increasing force balance. With 43% force balance the floor contact forces are minimal, giving a 63% reduction. The end-effector accuracy slightly improves with increasing force balance until full force balance yields a 31% accuracy improvement. A further increase of the force (over) balance shows a 59% improvement of end-effector accuracy for 350% force balance. These effects are mainly due to the typical design of the Delta robot base frame and the way the robot is mounted to it.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127939495","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation 下肢康复机器人系统的建模与仿真
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85872
B. Gherman, I. Birlescu, P. Tucan, C. Vaida, A. Pîslă, D. Pisla
{"title":"Modelling and Simulation of a Robotic System for Lower Limb Rehabilitation","authors":"B. Gherman, I. Birlescu, P. Tucan, C. Vaida, A. Pîslă, D. Pisla","doi":"10.1115/DETC2018-85872","DOIUrl":"https://doi.org/10.1115/DETC2018-85872","url":null,"abstract":"As the life span increases and the availability of physicians becomes more and more scarce, robotic rehabilitation for post-stroke patients becomes more and more demanding, especially due to the repeatability character of the rehabilitation exercises. Both lower and upper limb rehabilitation using robotic systems have proved to be very successful in different stages of the rehabilitation process, but only a few address the immediate (critical) post-stroke phase, especially when the patient is hemiplegic and is unable to stand. The paper presents the kinematic modelling, singularity analysis and gait simulation for a new 4-DOF parallel robot named RECOVER used for lower limb rehabilitation for bedridden patients. The robotic system has been designed for the mobilization of the lower limb, namely the following motions: the hip and knee flexion and the plantar adduction/abduction and flexion/dorsiflexion. The kinematics has been studied and the singularity configurations have been determined to achieve a failsafe rehabilitation robot. Numerical simulations prove that the system can be used for gait training exercises in safe conditions.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115186480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Part Monitoring and Quality Assessment of Conformal Additive Manufacturing Using Image Reconstruction 基于图像重建的共形增材制造零件监控与质量评估
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85370
M. Kutzer, Levi D. DeVries, C. D. Blas
{"title":"Part Monitoring and Quality Assessment of Conformal Additive Manufacturing Using Image Reconstruction","authors":"M. Kutzer, Levi D. DeVries, C. D. Blas","doi":"10.1115/DETC2018-85370","DOIUrl":"https://doi.org/10.1115/DETC2018-85370","url":null,"abstract":"Additive manufacturing (AM) technologies have become almost universal in concept development, prototyping, and education. Advances in materials and methods continue to extend this technology to small batch and complex part manufacturing for the public and private sectors. Despite the growing popularity of digital cameras in AM systems, use of image data for part monitoring is largely unexplored. This paper presents a new method for estimating the 3D internal structure of fused deposition modeling (FDM) processes using image data from a single digital camera. Relative transformations are established using motion capture, and the 3D model is created using knowledge of the deposition path coupled with assumptions about the deposition cross-section. Results show that part geometry can be estimated and visualized using the methods presented in this work.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123730304","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
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