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

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Singularities of the Typical Collaborative Robot Arm 典型协同机器人手臂的奇异性
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86305
Mohammadhadi Farzanehkaloorazi, I. Bonev
{"title":"Singularities of the Typical Collaborative Robot Arm","authors":"Mohammadhadi Farzanehkaloorazi, I. Bonev","doi":"10.1115/DETC2018-86305","DOIUrl":"https://doi.org/10.1115/DETC2018-86305","url":null,"abstract":"In this paper, the singularities of the typical 6R collaborative robot (such as the cobots made by Universal Robots) are analytically and geometrically described. Since the axes of the last three joints in such a cobot are not concurrent, the singularities are slightly different from those of the PUMA-style manipulator. It is shown that the determinant of the Jacobian matrix of the typical cobot splits into four factors, three of which can vanish. As in the typical PUMA-style manipulator, the three vanishing factors correspond to shoulder, elbow and wrist singularities. However, in a wrist singularity, the redundant motion associated with no end-effector movement is more complex.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"4 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":"114697574","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
Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a 6 DOF Bipedal Robot in a Sagittal Plane 六自由度双足机器人矢状面步态周期运动轮廓的液态机生成
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86206
J. Franco-Robles, A. D. Lucio-Rangel, K. A. Camarillo-Gómez, G. Perez-Soto, J. Rivera-Guillen
{"title":"Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a 6 DOF Bipedal Robot in a Sagittal Plane","authors":"J. Franco-Robles, A. D. Lucio-Rangel, K. A. Camarillo-Gómez, G. Perez-Soto, J. Rivera-Guillen","doi":"10.1115/DETC2018-86206","DOIUrl":"https://doi.org/10.1115/DETC2018-86206","url":null,"abstract":"In this paper, a neuronal system with the ability to generate motion profiles and profiles of the ZMP in a 6DoF bipedal robot in the sagittal plane, is presented. The input time series for LSM training are movement profiles of the oscillating foot trajectory obtained by forward kinematics performed by a previously trained ANN multilayer perceptron. The profiles of objective movement for training are acquired from the analysis of the human walk. Based on a previous simulation of the bipedal robot, a profile of the objective ZMP will be generated for the y–axis and another for the z–axis to know its behavior during the training walk. As an experimental result, the LSM generates new motion profiles and ZMP, given a different trajectory with which it was trained. With the LSM it will be possible to propose new trajectories of the oscillating foot, where it will be known if this trajectory will be stable, by the ZMP, and what movement profile for each articulation will be required to reach this trajectory.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"47 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":"114885274","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
Improvement of the Balancing Accuracy in Gravity Compensators Based on the Inverted Slider Crank Mechanism 基于倒滑块曲柄机构的重力补偿器平衡精度的提高
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85361
V. Arakelyan, Yang Zhang
{"title":"Improvement of the Balancing Accuracy in Gravity Compensators Based on the Inverted Slider Crank Mechanism","authors":"V. Arakelyan, Yang Zhang","doi":"10.1115/DETC2018-85361","DOIUrl":"https://doi.org/10.1115/DETC2018-85361","url":null,"abstract":"The static balancing of mechanical systems is an important issue because it allows significant reduction of torques. However the literature review shows that in many cases the gravity balancing of mechanical systems is carried out by neglecting the masses of auxiliary links associated to the principal mechanism. For many balancing schemes it is the source of errors.\u0000 This paper deals with an improved solution for gravity compensators based on the inverted slider crank mechanism considering the masses of the rocker and the spring. For this purpose, the torques due to auxiliary links are determined. Then, they are introduced into the balancing equation for minimization of the residual unbalance. In this way, a more accurate balancing of gravity compensators is achieved. The efficiency of the suggested approach is illustrated by numerical simulations.","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":"114407650","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
Low-Cost Autonomous Underwater Vehicle (AUV) for Inspection of Water-Filled Tunnels During Operation 低成本自主水下航行器(AUV)在施工过程中检测充水隧道
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85592
Almir Pidić, Egil Aasbøe, Jørgen Simensen Almankaas, A. Wulvik, M. Steinert
{"title":"Low-Cost Autonomous Underwater Vehicle (AUV) for Inspection of Water-Filled Tunnels During Operation","authors":"Almir Pidić, Egil Aasbøe, Jørgen Simensen Almankaas, A. Wulvik, M. Steinert","doi":"10.1115/DETC2018-85592","DOIUrl":"https://doi.org/10.1115/DETC2018-85592","url":null,"abstract":"This paper presents a new low-cost autonomous underwater vehicle (AUV) for inspection of water-filled tunnels. Deployment in flowing water tunnels and later retrieval at the tunnel exit produces a two-dimensional height vs. time plot of the tunnel, which can be compared to tunnel schematics. The resultant contour data is useful for maintenance planning and tunnel assessment in terms of internal clogging. This paper presents a proof-of-concept for traversing water filled tunnels by using water flow and variable buoyancy. Empirical data is collected in a scaled down version of one specific water supply tunnel in Norway.","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":"122282554","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: 4
Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot 固定作动器三足六自由度机器人的原型设计与验证
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85261
N. Jensen, C. Nelson
{"title":"Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot","authors":"N. Jensen, C. Nelson","doi":"10.1115/DETC2018-85261","DOIUrl":"https://doi.org/10.1115/DETC2018-85261","url":null,"abstract":"While 6-leg, 6 DOF parallel robots offer advantages over serial mechanisms in many applications, they suffer from mobility limitation pertaining to both the maximum extension of links and link interference. The latter of these can be mitigated by a reduction of the number of links in the mechanism. The end-effector’s degrees of freedom are maintained by adding controllable degrees of freedom to the remaining legs. This paper presents a prototype of a previously proposed 3-leg, 6-DOF parallel robot. A measure of its workspace is also shown and compared to that of a similarly sized 6-leg parallel mechanism. Analysis of partial derivatives of Cartesian points with respect to joint angles is also explored to give a metric of expected performance in different regions of workspace.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"34 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":"133665037","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
Preventing Tumbling With a Twisting Trunk for the Quadruped Robot: Origaker I 四足机器人用扭转躯干防止翻滚:Origaker I
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85053
Chunsong Zhang, Xuheng Chai, J. Dai
{"title":"Preventing Tumbling With a Twisting Trunk for the Quadruped Robot: Origaker I","authors":"Chunsong Zhang, Xuheng Chai, J. Dai","doi":"10.1115/DETC2018-85053","DOIUrl":"https://doi.org/10.1115/DETC2018-85053","url":null,"abstract":"The tumble stability indicates the capability to resist the tumble caused by disturbances. For a quadruped robot, the tumble is mainly about the line segment connecting two supporting feet. The tumble stability of quadruped robots is evaluated by various stability criteria based on forces, moments or energies. Work has been done to improve the tumble stability of quadruped robots. Nevertheless, the previous work to achieve this goal relied on motion of legs. No trunk motions were considered. As a matter of fact, trunk motion is widely utilized by natural quadrupeds. By utilizing trunk motion, the quadrupeds are able to regulate the center of gravity to improve the tumble stability level. This paper for the first time investigates the effect of the twisting trunk on the tumble stability of quadruped robots from the viewpoint of energy. Thus it can be seen that the twisting trunk help improve the tumble stability level of quadruped robots. The relationship between the tumble stability and trunk twisting is to be analyzed mathematically, and help find the maximum disturbing energy that the quadruped robot can bear with a twisting trunk and further direct motion of the trunk twisting during tumbles to prevent any overturning.","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":"116165820","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
Operational Space Formulation Under Joint Constraints 联合约束下的作战空间公式
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86058
J. D. M. Osorio, M. D. Fiore, F. Allmendinger
{"title":"Operational Space Formulation Under Joint Constraints","authors":"J. D. M. Osorio, M. D. Fiore, F. Allmendinger","doi":"10.1115/DETC2018-86058","DOIUrl":"https://doi.org/10.1115/DETC2018-86058","url":null,"abstract":"In this paper, the problem of including hard constraints in the stack of tasks for torque-controlled serial manipulators is treated. The classic potential field approach is studied and a novel implementation of it is proposed. This implementation reduces the kinetic energy in the proximity of joint limits. Furthermore, a novel approach is proposed in order to include not only joint positions but also joint velocities and acceleration limits. This approach is called “Saturation in Joint Space” (SJS). The algorithm proceeds by creating a task with the highest priority in a stack of tasks scheme. This high priority task saturates the acceleration of the joints that would exceed their motion limits. The methods are tested and compared in simulation for the KUKA LBR iiwa. The SJS approach presents smoother behaviour near to the joint limits, while a Cartesian trajectory is traced. Experiments are performed to test the efficiency of this method in a real environment and under interaction with a human. The on-line saturation of the joint acceleration generates a friendly behaviour with the human even when he pushes the robot towards its limits.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"14 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":"128375782","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
Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation 利用变刚度弹簧和最优运动生成提高高速并联机器人的能量效率
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85090
R. Hill, S. Briot, A. Chriette, P. Martinet
{"title":"Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation","authors":"R. Hill, S. Briot, A. Chriette, P. Martinet","doi":"10.1115/DETC2018-85090","DOIUrl":"https://doi.org/10.1115/DETC2018-85090","url":null,"abstract":"The classical approach to decrease the energy consumption of high-speed robots is by lowering the moving elements mass in order to have a lightweight structure. Even if this allows reducing the energy consumed, the lightweight architecture affects the robot stiffness, worsening the accuracy of the mechanism. Recently, variable stiffness actuators (VSAs) have been used in order to reduce the energy consumption of high-speed pick-and-place robots. The idea is to smartly tune online the stiffness of VSA springs so that the robot is put in near a resonance mode, thus considerably decreasing the energy consumption during fast pseudo-periodic pick-and-place motions. However, the serial configuration of springs and motors in the VSA leads to uncontrolled robot deflections at high-speeds and, thus, to a poor positioning accuracy of its end-effector.\u0000 In order to avoid these drawbacks and to increase the energy efficiency while ensuring the accuracy, this paper proposes the use of parallel arrangement of variable stiffness springs (VSS) and motors, combined with an energy-based optimal trajectory planner. The VSS are used as energy storage for carrying out the reduction of the energy consumption and their parallel configuration with the motors ensure the load balancing at high-speed without losing the accuracy of the robot. Simulations of the suggested approach on a five-bar mechanism are performed and show the increase on energy efficiency.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"42 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":"123335436","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: 4
Topology Optimization for Discovery of Auxetic Origami Structures 基于拓扑优化的辅助折纸结构发现
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85732
A. Gillman, K. Fuchi, Alexander Cook, Alexander M. Pankonien, P. Buskohl
{"title":"Topology Optimization for Discovery of Auxetic Origami Structures","authors":"A. Gillman, K. Fuchi, Alexander Cook, Alexander M. Pankonien, P. Buskohl","doi":"10.1115/DETC2018-85732","DOIUrl":"https://doi.org/10.1115/DETC2018-85732","url":null,"abstract":"Origami, as it moves from an art to a scientifically useful technology, enables a rich design space given the numerous bifurcations that exist off the flat state. In this work, we utilize origami as a platform for design of auxetic metamaterials and employ topology optimization for the automated robust discovery of these structures. In particular, the mechanical analysis is performed with an efficient and accurate nonlinear truss element model that captures the geometric nonlinearities associated with origami folding, and modal analysis off the flat state enables access to the many bifurcating branches of folding. Here, objective functions are explored that target a desired in-plane Poisson’s ratio. The Miura-ori fold pattern, a commonly studied flat-foldable pattern, is considered as a verification study for the framework presented.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"95 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":"116079593","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
Investigation of Impact Hammering Task of Musical Saw With a Humanoid Robot for Industrial Automation 面向工业自动化的仿人机器人音乐锯冲击锤击任务研究
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85600
Yusuke Fuke, T. Hirogaki, E. Aoyama, A. Mishima
{"title":"Investigation of Impact Hammering Task of Musical Saw With a Humanoid Robot for Industrial Automation","authors":"Yusuke Fuke, T. Hirogaki, E. Aoyama, A. Mishima","doi":"10.1115/DETC2018-85600","DOIUrl":"https://doi.org/10.1115/DETC2018-85600","url":null,"abstract":"This study aimed to automate the hammering action and dual arm coordination of a humanoid robot using percussion instruments such as musical saw. In this report, we examined the hammering motion of the robot by using its elastic stiffness, the vibration reduction method of the hitting tool caused by the movement of the robot arm, and dual arm cooperative motion based on hammering sound feedback. The experimental results show that the humanoid robot can play the musical saw without making an S-shaped curve, as performed by humans. By considering these nonlinearities through the mathematical expression of the relationship among frequency, deflection, length of beam, and fulcrum deviation, an arbitrary scale can be generated in the saw. Based on the hammering task and acoustic recognition system, we developed an impact sound feedback system. It was possible to converge to the target frequency of the musical saw through the hammering sound feedback operation.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"60 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":"129744921","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
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