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

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Optimizing Cable Arrangement in Cable-Driven Parallel Robots to Improve the Range of Available Wrenches 优化缆索驱动并联机器人的缆索排列以提高可用扳手的范围
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85905
K. Kamali, Ahmed Joubair, I. Bonev
{"title":"Optimizing Cable Arrangement in Cable-Driven Parallel Robots to Improve the Range of Available Wrenches","authors":"K. Kamali, Ahmed Joubair, I. Bonev","doi":"10.1115/DETC2018-85905","DOIUrl":"https://doi.org/10.1115/DETC2018-85905","url":null,"abstract":"This paper presents a new method for maximizing the range of wrenches that a cable-driven parallel robot (CDPR) can apply on its moving-platform. In this problem, the optimization parameters are the attachment positions of the cables to the moving platform. It is supposed that the attachment points are selected from a set of candidate points. The combinatorial nature of this problem makes it non-trivial and complicated, especially when the whole workspace of the robot is considered in the optimization problem. In this paper, it is shown that this cable arrangement problem can be represented mathematically by a zero-one multi-dimensional knapsack problem. Then, a core concept method is used to find the optimal solution. As an example, the proposed method is applied to a 6-DOF CDPR with eight cables. Experimental results show that the proposed approach can efficiently solves the cable arrangement problem in polynomial time.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"30 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":"129237573","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
Geometric Design With Multiple Realizable Motion Directions in the Vicinity of a Planar Mechanism-Environment Contact 平面机构附近具有多个可实现运动方向的几何设计——环境接触
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85952
N. Robson, Binyun Chen
{"title":"Geometric Design With Multiple Realizable Motion Directions in the Vicinity of a Planar Mechanism-Environment Contact","authors":"N. Robson, Binyun Chen","doi":"10.1115/DETC2018-85952","DOIUrl":"https://doi.org/10.1115/DETC2018-85952","url":null,"abstract":"This paper applies geometric design principles to planar mechanical systems, attempting to explain complex motion in mechanism-(virtual) object/environment interaction for achieving a variety of kinematic tasks in the vicinity of a contact location, a critical feature not fully captured in existing design methodologies. This is realized through the development of a general planar mechanism-object/environment geometric model, that allows the derivation of multiple velocity and acceleration specifications imposed by contact with (virtual) objects/environment. By incorporating these higher order kinematic specifications into the design task formulation, contemporary planar kinematic synthesis could be generalized allowing robust designs. The kinematic synthesis of planar RR and four-bar linages to follow two different paths in the vicinity of a mechanism-object contact location is used to illustrate the results.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"37 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":"124582847","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
A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms 空间柔性和形状变形机构综合的概念设计工具
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86375
Sreekalyan Patiballa, Kazuhiro Uchikata, R. Ranganath, Girish Krishnan
{"title":"A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms","authors":"Sreekalyan Patiballa, Kazuhiro Uchikata, R. Ranganath, Girish Krishnan","doi":"10.1115/DETC2018-86375","DOIUrl":"https://doi.org/10.1115/DETC2018-86375","url":null,"abstract":"Synthesis of spatial compliant mechanisms for morphing surfaces in three dimensions is challenging as it not only involves meeting the kinematic requirement for spatial shape change, but also providing support against external loads. In three dimensions, there are no existing insightful techniques for synthesis, and the computational approaches are rendered complex. This paper builds on a new insightful technique to synthesize compliant mechanism topologies by visualizing a kinetostatic field of forces that flow through the mechanism geometry. Such a framework when extended to three dimensions, enables a maximally decoupled synthesis framework of shape morphing compliant surfaces, where a primary mechanism meets the shape change requirement, and an auxiliary mechanism provides the required support under external loads. The preliminary design guidelines are implemented using an immersive Virtual Reality based design tool, and verified using finite element simulations for several spatial compliant mechanisms. This design framework is deemed useful for a larger class of shape morphing structures beyond the examples presented in the paper.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"3 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":"130205718","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
Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism 6-PUS并联机构的运动与工作空间建模
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86122
Jérôme Landuré, C. Gosselin
{"title":"Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism","authors":"Jérôme Landuré, C. Gosselin","doi":"10.1115/DETC2018-86122","DOIUrl":"https://doi.org/10.1115/DETC2018-86122","url":null,"abstract":"This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"48 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":"128865600","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
Data Driven Virtual Fixtures for Improved Shared Control 改进共享控制的数据驱动虚拟装置
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86209
Andrew Sharp, M. Pryor
{"title":"Data Driven Virtual Fixtures for Improved Shared Control","authors":"Andrew Sharp, M. Pryor","doi":"10.1115/DETC2018-86209","DOIUrl":"https://doi.org/10.1115/DETC2018-86209","url":null,"abstract":"The Department of Energy desires to increase radioactive waste treatment automation in order to minimize radiation worker exposure. Many treatment processes require maintaining tool orientation and surface distance including inspection and dismantling tasks. This paper expands on previous shape primitive virtual fixture generation techniques to increase their expressiveness based on surface models. A robotic hardware-agnostic virtual fixture generation pipeline is constructed and tested with varied superellipsoid and supertoroid models. The pipeline converts surface models into a bi-directional graphs representing layers of offset guidance virtual fixtures. Surface models function as forbidden region virtual fixtures and are combined with the graph structure into task virtual fixtures. Results show a correlation between distance to the surface and graph layer vertices. Surface model concavity also affects the growth of offset layer vertices. Incorrect model surface normals do result in irregular graph layers and the pipeline has been tested on CAD models.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"7 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":"121133294","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
Sliding Mode Set Point Control of a Six-DOF Cable-Suspended Parallel Robot With Tension Constraints and Uncertain Disturbances 具有张力约束和不确定扰动的六自由度悬索并联机器人滑模设定点控制
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85742
Ping Ren, Yunlong Sun
{"title":"Sliding Mode Set Point Control of a Six-DOF Cable-Suspended Parallel Robot With Tension Constraints and Uncertain Disturbances","authors":"Ping Ren, Yunlong Sun","doi":"10.1115/DETC2018-85742","DOIUrl":"https://doi.org/10.1115/DETC2018-85742","url":null,"abstract":"This paper presents the design of a robust sliding mode controller for a six-degree-of-freedom cable-suspended parallel robot under uncertain disturbances. The control of cable-suspended parallel robots is quite challenging due to the unidirectional constraint of cable tensions. With the aid of interval analysis, a set of algebraic inequalities is obtained to establish the relationship between the cables’ tension constraints and the controller parameters. The sufficient conditions of the controller parameters satisfying the constraints are obtained for the set point motion within the robot’s static workspace. Numerical simulations are presented to verify the effectiveness of the proposed approach.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"41 1 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":"133567180","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: 2
Folding a Rigid Flat Surface Around a Square Hub 围绕方形轮毂折叠刚性平面
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85791
Runping Xu, Xiao Zhang, Jiayao Ma, Yan Chen, Yue Cao, Z. You
{"title":"Folding a Rigid Flat Surface Around a Square Hub","authors":"Runping Xu, Xiao Zhang, Jiayao Ma, Yan Chen, Yue Cao, Z. You","doi":"10.1115/DETC2018-85791","DOIUrl":"https://doi.org/10.1115/DETC2018-85791","url":null,"abstract":"In the paper we investigate rigid origami patterns that enables a zero-thickness rigid flat surface to wrap around a square hub with the objective to package solar panels around a cubesat. After a detailed analysis on the rigid foldability of two known patterns, namely the winding membrane and box patterns, we conclude that neither of the patterns can be directly applied to wrap a solar panel, and thus a number of modified patterns are proposed that are capable of rigid folding with one or two degrees of freedom. Their folding sequences are presented and the advantages and shortcomings of the modified patterns are discussed so that designers can make an informed decision when making the selection. Finally we summarised our approach and briefly discussed the possibility to extend our approach to accommodate thick panels.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"10 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":"123896079","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
Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism 一种新型三自由度并联机构的受力分析与机构设计
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85280
Dongsheng Zhang, Yundou Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao
{"title":"Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism","authors":"Dongsheng Zhang, Yundou Xu, Jiantao Yao, Yulin Zhou, Yongsheng Zhao","doi":"10.1115/DETC2018-85280","DOIUrl":"https://doi.org/10.1115/DETC2018-85280","url":null,"abstract":"Parallel mechanisms (PMs) with two rotational degrees-of-freedom (DOF) and one translational DOF (2R1T) have gained much attention in recent years. In this paper, different from type synthesis method, inner properties of PMs (motion characteristics, type of joints and arrangement way of joints) are used to deduce PMs; and two novel 3-DOF PMs are presented using this method. Aiming at 2UPU/SP PM, the constraint force/torque generated on the moving platform (MP) are analysed; here, P, U and S denote prismatic, universal and spherical joints, respectively. The driving force and the constraint force/torque are drawn, which show good distribution of the constraint wrench. After that, a novel 5-DOF hybrid manipulator is constructed on the basis of the 2UPU/SP PM; according to different demands, two alternative designs of the 5-DOF hybrid manipulator are presented. The study in this paper will enhance the research applications of the 2UPU/SP PM.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"130 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":"116035933","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
Motion Analysis and Experiments of Reducer-Integrated Motor Using Strain Wave Gearing System 基于应变波传动系统的减速器集成电机运动分析与实验
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85299
Tatsuro Terakawa, M. Komori, Y. Morita
{"title":"Motion Analysis and Experiments of Reducer-Integrated Motor Using Strain Wave Gearing System","authors":"Tatsuro Terakawa, M. Komori, Y. Morita","doi":"10.1115/DETC2018-85299","DOIUrl":"https://doi.org/10.1115/DETC2018-85299","url":null,"abstract":"Industrial robots need motors with high-precision positioning, large torque output, and small size. However, the conventional motors combined with reducers tend to be large. To solve the problem, we proposed the motor integrated with reducer that could output reduced rotation directly by using the strain wave gearing system. The proposed motor is thought to have advantages not only in downsizing but also in high load-supporting capacity and high stiffness because of the simultaneous engagement of three gear pairs. In this paper, we derive the theoretical input-output relation in the proposed motor with a focus on the deformation of the elastic gear in the motor. The result gives the pushing force of the linear actuators at an arbitrary output rotation angle of the motor. We conduct the experiments to clarify the optimal input pattern for the accurate rotation by using the prototype of the proposed motor. Through the observation and measurement, the optimal input pattern is suggested.","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":"114313042","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: 2
Robot Evidence Based Search for a Dynamic User in an Indoor Environment 室内环境下基于机器人证据的动态用户搜索
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86295
Shayne Lin, G. Nejat
{"title":"Robot Evidence Based Search for a Dynamic User in an Indoor Environment","authors":"Shayne Lin, G. Nejat","doi":"10.1115/DETC2018-86295","DOIUrl":"https://doi.org/10.1115/DETC2018-86295","url":null,"abstract":"In this paper we present the development of an evidence-based search planner for a mobile assistive robot to autonomously search for a dynamic person in a multi-room home environment in order to provide assistance. We solve the dynamic person search problem by uniquely considering evidence of household objects along with a user spatial-temporal model to increase the probability of finding the user. Our planner utilizes a Partially Observable Markov Decision Process (POMDP) to plan optimal robot search paths in the environment as the user and evidence locations are partially observable. Extensive simulated experiments in a home environment were conducted to compare our proposed evidence-based search approach with 1) a search technique without prior user information, and 2) a search technique that only uses a user model. The results show that our proposed search technique has higher success rates for finding the user and is more robust to the dynamic behaviors of the user.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"15 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":"127523014","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: 3
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