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

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Modeling and Machine Learning Aided Analysis of a Claw-Less Magnetically Coupled Ball-Drive Design 无爪磁耦合球传动设计建模与机器学习辅助分析
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86202
Biruk A. Gebre, K. Pochiraju
{"title":"Modeling and Machine Learning Aided Analysis of a Claw-Less Magnetically Coupled Ball-Drive Design","authors":"Biruk A. Gebre, K. Pochiraju","doi":"10.1115/DETC2018-86202","DOIUrl":"https://doi.org/10.1115/DETC2018-86202","url":null,"abstract":"Ball-driven mobility platforms have shown that spherical wheels can enable substantial freedom of mobility for ground vehicles. Accurate and robust actuation of spherical wheels for high acceleration maneuvers and graded terrains can, however, be challenging. In this paper, a novel design for a magnetically coupled ball drive is presented. The proposed design utilizes an internal support structure and magnetic coupling to eliminate the need for an external claw-like support structure. A model of the proposed design is developed and used to evaluate the slip/no-slip operational window. Due to the high-dimensional nature of the model, the design space is sampled using randomly generated design instances and the data is used to train a support vector classification machine. Principal component analysis and feature importance detection are used to identify critical parameters that control the slip behavior and the feasible (no-slip) design space. The classification shows an increase in the feasible design space with the addition of, and increase in, the magnetic coupling force. Based on the results of the machine learning algorithm, FEA design tools and experimental testing are used to design a spherical magnetic coupler array configuration that can realize the desired magnetic coupling force for the ball drive.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"44 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114130541","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
Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method 缆索质量不可忽略的缆索驱动机器人工作空间研究及对映法
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85300
L. Notash, D. McColl
{"title":"Workspace Investigation of Cable-Driven Robots With Non-Negligible Cable Mass and Antipodal Method","authors":"L. Notash, D. McColl","doi":"10.1115/DETC2018-85300","DOIUrl":"https://doi.org/10.1115/DETC2018-85300","url":null,"abstract":"The significance of gravity, cable density and elasticity on cable tension and manipulator workspace is investigated. Formulations of the cable tension vector are discussed. In addition, implementation of the antipodal theorem criteria for the workspace boundary characterization of planar cable-driven robot manipulators is presented when the mass and elasticity of cables are included. It is demonstrated that unlike the linear model, the external force could have more prominent effect on the workspace. Specifically, depending on the cable properties, platform orientation and manipulator design constraints, for the catenary cable model, the extended workspace due to external wrench may be divided into disjoint regions.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"55 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":"128257092","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 Constant-Force Mechanisms Based on Straight-Line Linkages 基于直线连杆机构的恒力机构设计
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85241
Hsin-Ting Huang, C. Kuo
{"title":"Design of Constant-Force Mechanisms Based on Straight-Line Linkages","authors":"Hsin-Ting Huang, C. Kuo","doi":"10.1115/DETC2018-85241","DOIUrl":"https://doi.org/10.1115/DETC2018-85241","url":null,"abstract":"This paper presents two novel constant-force mechanisms (CFMs) based on Scott-Russell and Hart’s straight-line linkages with mechanical springs. By articulating either two compression springs (type C-C) or one compression spring with another one extension spring (type C-E) onto each of these two CFMs, the point(s) which trace straight-line trajectories can illustrate a constant force within the mechanism workspace. We also show that the preload of the extension spring for type C-E CFMs will not affect its constant-force property but can define the amount of the output force. The proposed concepts of CFMs are relatively simple and concise, which could be useful for the complex mechanical systems that request a constant output force. A constant-force robotic gripper is illustrated by using the proposed Scott-Russell-type CFM.","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":"128464405","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 Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF 具有相同瞬时自由度但不同有限自由度的三种运动模式的单回路7R空间机构
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85125
X. Kong, A. Müller
{"title":"A Single-Loop 7R Spatial Mechanism That Has Three Motion Modes With the Same Instantaneous DOF but Different Finite DOF","authors":"X. Kong, A. Müller","doi":"10.1115/DETC2018-85125","DOIUrl":"https://doi.org/10.1115/DETC2018-85125","url":null,"abstract":"Multi-mode mechanisms, including kinematotropic mechanisms, are a class of reconfigurable mechanisms that can switch motion modes with the same or different DOF (degree-of-freedom). For most of the multi-mode mechanisms reported in the literature, the instantaneous (or differential) DOF and finite DOF in a motion mode are equal. In this paper, we will discuss the construction, reconfiguration analysis, and higher-order mobility analysis of a multi-mode single-loop 7R mechanism that has three motion modes with the same instantaneous DOF but different finite DOF. Firstly, the novel multi-mode single-loop 7R spatial mechanism is constructed by inserting one revolute (R) joint into a plane symmetric Bennett joint-based 6R mechanism for circular translation. The reconfiguration analysis is then carried out in the configuration space by solving a set of kinematic loop equations based on dual quaternions and the natural exponential function substitution using tools from algebraic geometry. The analysis shows that the multi-mode single-loop 7R spatial mechanism has three motion modes, including a 2-DOF planar 5R mode and two 1-DOF spatial 6R modes and can transit between each pair of motion modes through two transition configurations. The higher-order mobility analysis shows that the 7R mechanism has two-instantaneous DOF at a regular configuration of any motion mode and three instantaneous DOF in a transition configuration. The infinitesimal motions that are not tangential to finite motions are of second-order in transition configurations between 2-DOF motion mode 1 and 1-DOF motion modes 2 or 3 or first-order in transition configurations between 1-DOF motion modes 2 and 3.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"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":"128477995","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
Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism 利用6+3自由度并联机构的运动冗余
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85322
Louis-Thomas Schreiber, C. Gosselin
{"title":"Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism","authors":"Louis-Thomas Schreiber, C. Gosselin","doi":"10.1115/DETC2018-85322","DOIUrl":"https://doi.org/10.1115/DETC2018-85322","url":null,"abstract":"This paper presents trajectory planning methods for a kinematically redundant parallel mechanism. The architecture of the mechanism is similar to the well-known Gough-Stewart platform and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The kinematic redundancy is exploited to avoid singularities and extend the rotational workspace. The architecture is described and the associated kinematic relationships are presented. Solutions for the inverse kinematics are given, as well as strategies to take into account the limitations of the mechanism such as mechanical interferences and velocity limits of the actuators while controlling the redundant degrees of freedom.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"101 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":"131259441","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
Design of Hinge-Line Geometry to Facilitate Non-Plastic Folding in Thin Metallic Origami-Inspired Devices 在薄金属折纸启发装置中促进非塑料折叠的折页线几何设计
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86267
Miaomiao Zhang, B. Trease
{"title":"Design of Hinge-Line Geometry to Facilitate Non-Plastic Folding in Thin Metallic Origami-Inspired Devices","authors":"Miaomiao Zhang, B. Trease","doi":"10.1115/DETC2018-86267","DOIUrl":"https://doi.org/10.1115/DETC2018-86267","url":null,"abstract":"Origami is the traditional art of paper folding, which yields objects that in engineering terms can be considered as mechanisms with relative motion between panels (paper) constrained by hinges (folds). Non-paper materials are often studied for origami-inspired applications in engineering. This article is concerned with material selection appropriate for the hinge function, for which most non-paper materials are lacking either in strength or range of motion. The proposed hinge material of interest is bulk metallic glass (BMG) for its low stiffness, wear and corrosion resistance, biocompatibility, and extreme capacity for elastic deformation. In this paper, panel spacing and geometry are examined to provide insight for designing thin BMG folding membrane hinges that connect larger regions of thicker material (panels). Finite element analysis is performed to study the stress variation, distribution, and displacement along the hinge for several design variations, and several loading profiles are discussed to determine the necessity of modified rounded-edge panels. The results will directly aid in creating origami-inspired designs with membrane hinges and further help with designing devices such as foldable electronics, optical systems, and deployable solar arrays.","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":"123800907","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
Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist 基于神经网络的六自由度非球面腕关节串联机械臂反运动学研究
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86093
Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, S. Canfield
{"title":"Investigation of Neural-Network-Based Inverse Kinematics for a 6-DOF Serial Manipulator With Non-Spherical Wrist","authors":"Benjamin E. Hargis, Wesley A. Demirjian, Matthew W. Powelson, S. Canfield","doi":"10.1115/DETC2018-86093","DOIUrl":"https://doi.org/10.1115/DETC2018-86093","url":null,"abstract":"This study proposes using an Artificial Neural Network (ANN) to train a 6-DOF serial manipulator with a non-spherical wrist to solve the inverse kinematics problem. In this approach, an ANN has been trained to determine the configuration parameters of a serial manipulator that correspond to the position and pose of its end effector. The network was modeled after the AUBO-i5 robot arm, and the experimental results have shown the ability to achieve millimeter accuracy in tool space position with significantly reduced computational time relative to an iterative kinematic solution when applied to a subset of the workspace. Furthermore, a separate investigation was conducted to quantify the relationship between training example density, training set error, and test set error. Testing indicates that, for a given network, sufficient example point density may be approximated by comparing the training set error with test set error. The neural network training was performed using the MATLAB Neural Network Toolbox.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"120 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":"133963902","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
L-System-Generated Topology Optimization of Compliant Mechanisms Using Graph-Based Interpretation 基于图解释的柔性机构l -系统生成拓扑优化
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85225
Brent R. Bielefeldt, D. Hartl, E. Akleman
{"title":"L-System-Generated Topology Optimization of Compliant Mechanisms Using Graph-Based Interpretation","authors":"Brent R. Bielefeldt, D. Hartl, E. Akleman","doi":"10.1115/DETC2018-85225","DOIUrl":"https://doi.org/10.1115/DETC2018-85225","url":null,"abstract":"Traditional topology optimization techniques, such as density-based and level set methods, have proven successful in identifying potential design configurations but suffer from rapidly increasing design space dimensionality and convergence to local minima. A heuristic alternative to these approaches couples a genetic algorithm with a Lindenmayer System (L-System), which encodes design variables and governs the development of the structure when coupled with some sort of interpreter. This work discusses the development of a graph-based interpretation scheme referred to as Spatial Interpretation for the Development of Reconfigurable Structures (SPIDRS). This framework allows for the effective exploration of the design space using a limited number of design variables. The theory and implementation of this method are detailed, and a compliant mechanism case study is presented to demonstrate the ability of SPIDRS to generate structures capable of achieving multiple design goals.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"54 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":"114606475","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
Design of Planar Shape-Morphing Mechanism Arrays Using Harmonic Mechanisms 基于谐波机构的平面变形机构阵列设计
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-86086
C. Lusk
{"title":"Design of Planar Shape-Morphing Mechanism Arrays Using Harmonic Mechanisms","authors":"C. Lusk","doi":"10.1115/DETC2018-86086","DOIUrl":"https://doi.org/10.1115/DETC2018-86086","url":null,"abstract":"is paper introduces a design concept for planar mechanism arrays using an interesting property of mechanisms that I have termed mechanism harmony. Just as a theory of musical harmony allows for a large number of notes to be played without harsh-sounding interference, mechanism harmony allows mechanism links to be arrayed so that they move coherently and with a small degree of freedom. The concept of mechanism harmony is based on permuting the arrangement of the moving links. For a four-bar mechanism, this yields six (3!) different harmonic permutations of the link arrangement, and there are numerous ways that these six different mechanisms can be grouped together to tile the plane. This paper presents early findings on these groups, some prototypes showing arrays with harmonic motion, and discusses the possible significance of harmonic mechanisms for shape morphing mechanisms.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"24 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":"122569506","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
Three Approaches for Managing Stiffness in Origami-Inspired Mechanisms 折纸型机构中刚度管理的三种方法
Volume 5B: 42nd Mechanisms and Robotics Conference Pub Date : 2018-08-26 DOI: 10.1115/DETC2018-85450
Alden Yellowhorse, L. Howell
{"title":"Three Approaches for Managing Stiffness in Origami-Inspired Mechanisms","authors":"Alden Yellowhorse, L. Howell","doi":"10.1115/DETC2018-85450","DOIUrl":"https://doi.org/10.1115/DETC2018-85450","url":null,"abstract":"Ensuring that deployable mechanisms are sufficiently rigid is a major challenge due to their large size relative to their mass. This paper examines three basic types of stiffener that can be applied to light, origami-inspired structures to manage their stiffness. These stiffeners are modeled analytically to enable prediction and optimization of their behavior. The results obtained from this analysis are compared to results from a finite-element analysis and experimental data. After verifying these models, the advantages and disadvantages of each stiffener type are considered. This comparison will facilitate stiffener selection for future engineering applications.","PeriodicalId":132121,"journal":{"name":"Volume 5B: 42nd Mechanisms and Robotics Conference","volume":"55 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":"132000662","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
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