发布求助
文献互助 智能选刊 最新文献

Volume 5A: 43rd Mechanisms and Robotics Conference最新文献

筛选
英文 中文
Additive Manufacturing of a Bistable Mechanism Using Fused Deposition Modeling: Experimental and Theoretical Characterization 使用熔融沉积建模的双稳机构的增材制造:实验和理论表征
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97872
Mouna Ben Salem, Guillaume Aiche, Y. Haddab, L. Rubbert, P. Renaud
{"title":"Additive Manufacturing of a Bistable Mechanism Using Fused Deposition Modeling: Experimental and Theoretical Characterization","authors":"Mouna Ben Salem, Guillaume Aiche, Y. Haddab, L. Rubbert, P. Renaud","doi":"10.1115/detc2019-97872","DOIUrl":"https://doi.org/10.1115/detc2019-97872","url":null,"abstract":"\u0000 Bistable mechanisms can be used for performing specific functions such as locking or negative stiffness generation. These compliant structures are then of interest at different scales, with different corresponding manufacturing technologies. One of them is additive manufacturing, which is interesting for the integration of such structures. Although this technology has undergone a revolution with the development of high-accuracy machines, the manufacturing of small-sized compliant structures is still quite a challenge especially for bistable mechanisms, which was not yet finely characterized. This is the focus of this paper, with presentation of an experimental and analytical confrontation in the case of Fused Deposition Modeling (FDM).","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115439572","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
Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect 考虑热效应的叶弹簧双并联导向机构建模与分析
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97690
Shuaishuai Lu, P. Yan
{"title":"Modeling and Analysis of Leaf Spring Based Double Parallel-Guiding Mechanism Considering Thermal Effect","authors":"Shuaishuai Lu, P. Yan","doi":"10.1115/detc2019-97690","DOIUrl":"https://doi.org/10.1115/detc2019-97690","url":null,"abstract":"\u0000 In the present paper, we take the leaf spring based double parallel-guiding mechanism (DPGM) as a particular case study to investigate a parametric model by considering the stress stiffening effect of the temperature variation based on the beam constraint model (BCM). In particular, a model with the temperature variation term of the DPGM is derived by incorporating the elastic stretch induced by the thermal effect of the leaf spring flexure into the BCM. Different from the traditional BCM, the compliance calculated by the established model is no longer only affected by the external loads, but the thermal deformation generated by the temperature variation. Therefore the derived model can describe both the load-nonlinearity and the thermal-nonlinearity. Based on the analysis results of a basic parallelogram module (BPM), we obtain a model of the DPGM, and the finite element analysis (FEA) method is adopted to verify the proposed model. The proposed model is a general parametric method to characterize the mechanical property of the DPGM, which can be further explored to support the optimization and control of motion systems composed of leaf spring based compliant mechanisms.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115329447","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
Robotics Simulator for Development and Verification of Swarm Behaviors 用于开发和验证群体行为的机器人模拟器
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97622
Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. Mcdonald, M. Neumann, C. Kitts
{"title":"Robotics Simulator for Development and Verification of Swarm Behaviors","authors":"Shae T. Hart, Nathan J. Metzger, Maximilian E. Reese, Robert T. Mcdonald, M. Neumann, C. Kitts","doi":"10.1115/detc2019-97622","DOIUrl":"https://doi.org/10.1115/detc2019-97622","url":null,"abstract":"\u0000 Swarm control strategies allow for decentralized control of many simple robots to perform collective behaviors based on local interactions. We have created a new platform for developing and exploring swarm behaviors, supporting both simulation and experimental verification. The platform, designed entirely in Simulink, provides a simple implementation with satisfactory dynamics to replicate experimental trials on Santa Clara University’s Robotic Systems Laboratory’s Low-Cost Indoor Testbed. The platform allows for seamless transitions from simulation to experimentation on the testbed. The platform is currently equipped with attract, disperse, obstacle avoidance, and go-to behaviors which have been verified both in simulation and on the experimental testbed. Additionally, a composite behavior, flocking, composed of attract and go-to behaviors is presented to demonstrate the flexibility of the simulator. Future work will expand the available behaviors to include swarm adaptive navigation behavior primitives like minima and maxima finding as well as contour and ridge following.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"17 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122373639","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
Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled 一种用于残疾人辅助任务的模块化机器人的设计与运动学
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98011
C. Nelson, Mitchell Bruckner, Jay S. Chae, J. Burnfield, Thad W. Buster, G. Cesar, Chase M. Pfeifer, P. Dasgupta
{"title":"Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled","authors":"C. Nelson, Mitchell Bruckner, Jay S. Chae, J. Burnfield, Thad W. Buster, G. Cesar, Chase M. Pfeifer, P. Dasgupta","doi":"10.1115/detc2019-98011","DOIUrl":"https://doi.org/10.1115/detc2019-98011","url":null,"abstract":"This paper presents a modular robot for adaptively providing assistance to individuals with spinal cord injury or other similar physical limitations. The design rationale is given, and details of prototyping are described. The robot’s kinematic model is elaborated, and preliminary testing and validation are presented.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114599027","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, Modeling, and Optimization of a Hopping Robot Platform 跳跃机器人平台的设计、建模与优化
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98109
Jacob W. Knaup, Daniel M. Aukes
{"title":"Design, Modeling, and Optimization of a Hopping Robot Platform","authors":"Jacob W. Knaup, Daniel M. Aukes","doi":"10.1115/detc2019-98109","DOIUrl":"https://doi.org/10.1115/detc2019-98109","url":null,"abstract":"\u0000 Laminate devices have the potential to lower the cost and complexity of robots. Taking advantage of laminate materials’ flexibility, a high-performance jumping platform has been developed with the goal of optimizing jump ground clearance. Four simulations are compared in order to understand which dynamic model elements (leg flexibility, motor dynamics, contact, joint damping, etc.) must be included to accurately model jumping performance. The resulting simulations have been validated with experimental data gathered from a small set of physical leg prototypes spanning design considerations such as gear ratio and leg length, and one in particular was selected for the fidelity of performance trends against experimental results. This simulation has subsequently been used to predict the performance of new leg designs outside the initial design set. The design predicted to achieve the highest jump ground clearance was then built and tested as a demonstration of the usefulness of this simulation.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123194706","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
An Improved Unified Solution for a Vibration Equation of Tension-Stiffening Beam Using Extended Rayleigh Energy Method 用扩展瑞利能量法改进拉筋梁振动方程的统一解
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97767
Zhijun Yang, Li Ruiqi, Youdun Bai
{"title":"An Improved Unified Solution for a Vibration Equation of Tension-Stiffening Beam Using Extended Rayleigh Energy Method","authors":"Zhijun Yang, Li Ruiqi, Youdun Bai","doi":"10.1115/detc2019-97767","DOIUrl":"https://doi.org/10.1115/detc2019-97767","url":null,"abstract":"\u0000 The tension-stiffening effect is very important for physical science, which has been widely used in MEMS, sensors and micro-motion stages. The analytical solutions of the tension-stiffening beam are extremely significant, in consideration of the inefficiency of finite element analysis (FEA) for the design and optimization. Commonly, there are three typical types of boundary conditions for tension-stiffening (or stress-induced) beams, i.e., clamped-clamped, clamped-hinged, and hinged-hinged. But only the hinged-hinged beam has an analytical solution. Therefore, a method based on extended Rayleigh energy method is proposed in this paper to deduce the analytical solutions of three boundary conditions. The predictions are verified to be in good agreement with FEA and experiment results.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114109170","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 Design of Robust Phase Oscillator for Wearable Robotic Systems 可穿戴机器人系统的鲁棒相位振荡器设计
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97453
J. D. L. Fuente, S. Subramanian, Prudhvi Tej Chinimilli, S. Redkar, T. Sugar
{"title":"The Design of Robust Phase Oscillator for Wearable Robotic Systems","authors":"J. D. L. Fuente, S. Subramanian, Prudhvi Tej Chinimilli, S. Redkar, T. Sugar","doi":"10.1115/detc2019-97453","DOIUrl":"https://doi.org/10.1115/detc2019-97453","url":null,"abstract":"\u0000 This paper presents the design of a phase-based robust oscillator for wearable robots that assists the human performing periodic or repetitive tasks. The robustness of the phase oscillator controller is evaluated by finding bounds for perturbations that guaranteed the stability of the output. Then, the Lyapunov redesign method is applied to construct a robust controller using a bounding function which can handle the uncertainties such as noise and perturbations in the overall human-robot system. The robust controller produces a bounded control signal to modify the amplitude and frequency of the resulting second-order oscillator to modulate the stiffness and damping properties. In this paper, the focus is put on the wearable robot that assists human hip joint while performing periodic activities such as walking. The proposed approach is verified through a simple pendulum experiment. The results show that a better limit cycle can be obtained with Lyapunov redesigned phase oscillator which controls the radial spread of the steady state. Finally, the potential of the proposed approach for hip assistance in a healthy subject wearing HeSa (Hip Exoskeleton for Superior Assistance) during periodic activities are discussed.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116302413","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 a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method 基于直线运动机构的新型全柔性平移关节设计
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97091
Sonia C. García, J. A. Gallego-Sanchez
{"title":"Design of a New Fully Compliant Translational Joint via Straight-Line Motion Mechanism Based Method","authors":"Sonia C. García, J. A. Gallego-Sanchez","doi":"10.1115/detc2019-97091","DOIUrl":"https://doi.org/10.1115/detc2019-97091","url":null,"abstract":"\u0000 A Compliant Translational Joint (CTJ) is designed via Straight-Line Motion Mechanism Method. The designed CTJ is based on the Pseudo-Rigid-Body-Model (PRBM) of a modified Scott-Russell Mechanism. The precision of the straight-line motion of the rigid-body mechanism adjusts to a straight-line to a 99.6% while the compliant version adjusts to a 99.9%. The novelty of the design is given by the way the CTJ is designed, the performance of the CTJ is achieved by mirroring the mechanism about an axis tangent to the path of the mechanism and that passes through the initial position of the coupler point at the symmetry axis of the path. The CTJ motion is predicted by the PRBM. The force-displacement relations and the frequency modes of the CTJ are analyzed using finite element analysis (FEA).","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121797479","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
A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives 基于非重叠视角的低成本异构机器人团队协同视觉定位方案
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97377
Benjamin Abruzzo, D. Cappelleri, Philippos Mordohai
{"title":"A Collaborative Visual Localization Scheme for a Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives","authors":"Benjamin Abruzzo, D. Cappelleri, Philippos Mordohai","doi":"10.1115/detc2019-97377","DOIUrl":"https://doi.org/10.1115/detc2019-97377","url":null,"abstract":"\u0000 This paper presents and evaluates a relative localization scheme for a heterogeneous team of low-cost mobile robots. An error-state, complementary Kalman Filter was developed to fuse analytically-derived uncertainty of stereoscopic pose measurements of an aerial robot, made by a ground robot, with the inertial/visual proprioceptive measurements of both robots. Results show that the sources of error, image quantization, asynchronous sensors, and a non-stationary bias, were sufficiently modeled to estimate the pose of the aerial robot. In both simulation and experiments, we demonstrate the proposed methodology with a heterogeneous robot team, consisting of a UAV and a UGV tasked with collaboratively localizing themselves while avoiding obstacles in an unknown environment. The team is able to identify a goal location and obstacles in the environment and plan a path for the UGV to the goal location. The results demonstrate localization accuracies of 2cm to 4cm, on average, while the robots operate at a distance from each-other between 1m and 4m.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130273724","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
Topology Optimization of Compliant Mechanisms Based on Interpolation Meshless Method and Geometric Nonlinearity 基于无网格插值和几何非线性的柔性机构拓扑优化
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97412
Yonghong Zhang, Zhenfei Zhao, Yaqing Zhang, W. Ge
{"title":"Topology Optimization of Compliant Mechanisms Based on Interpolation Meshless Method and Geometric Nonlinearity","authors":"Yonghong Zhang, Zhenfei Zhao, Yaqing Zhang, W. Ge","doi":"10.1115/detc2019-97412","DOIUrl":"https://doi.org/10.1115/detc2019-97412","url":null,"abstract":"\u0000 In order to prevent mesh distortion problem arising in topology optimization of compliant mechanism with massive displacement, a meshless Galerkin method was proposed and studied in this paper. The element-free Galerkin method (EFG) is more accurate than the finite element method, and it does not need grids. However, it is difficult to impose complex boundaries. This paper presents a topology optimization method based on interpolation meshless method, which retains the advantages of the finite element method (FEM) that is easy to impose boundary conditions and high accuracy of the meshless method. At the same time, a method of gradually reducing step is proposed to solve the problem of non-linear convergence caused by low-density points in topology optimization. Numerical example shows that these techniques are valid in topology optimization of compliant mechanism considering the geometric nonlinearity, and simultaneously these techniques can also improve the convergence of nonlinearity.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131046823","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信