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

Modelling and Evaluation of the Friction in Robotic Joints Considering Thermal Effects 考虑热效应的机器人关节摩擦建模与评价

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97545

G. Legnani, G. Incerti, R. Pagani, M. Gheza

引用次数: 3

Performance Comparison of Inertial Measurement Units Fused With Odometry in Extended Kalman Filter for Dead-Reckoning Navigation 扩展卡尔曼滤波中惯性测量单元与里程计融合的航位推算导航性能比较

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98184

Kevin Carey, Benjamin Abruzzo, D. Harvie, C. Korpela

{"title":"Performance Comparison of Inertial Measurement Units Fused With Odometry in Extended Kalman Filter for Dead-Reckoning Navigation","authors":"Kevin Carey, Benjamin Abruzzo, D. Harvie, C. Korpela","doi":"10.1115/detc2019-98184","DOIUrl":"https://doi.org/10.1115/detc2019-98184","url":null,"abstract":"\u0000 This paper aims to aid robot and autonomous vehicle designers by providing a comparison between four different inertial measurement units (IMUs) which could be used to aid in vehicle navigation in a GPS-denied or inertial-only scenario. A differential-drive ground vehicle was designed to carry the multiple different IMUs, mounted coaxially, to enable direct comparison of performance in a planar environment. The experiments focused on the growth of pose error of the ground vehicle originating from the odometry senors and the IMUs. An extended Kalman Filter was developed to fuse the odometry and inertial measurements for this comparison. The four specific IMUs evaluated were: CNS 5000, Xsens 300, Microstrain GX5-35, and Phidgets 1044 and the ground truth for experiments was provided by an Optitrack motion capture system (MCS). Finally, metrics for choosing IMUs, merging cost and performance considerations, are proposed and discussed. While the CNS 5000 has the best objective error specifications, based on these metrics the Xsens 300 exhibits the best absolute performance while the Phidgets 1044 provides the best performance-per-dollar.","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":"115797718","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 Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely 行走辅助装置在平地和楼梯间安全行走的自动变换方法

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97796

Bo-Rong Yang, Yu Cheng Zhang, Hee-Hyol Lee, Eiichirou Tanaka

{"title":"An Automatic Transformation Method for the Walking Assistive Device to Walk Between Flat Ground and Stairs Safely","authors":"Bo-Rong Yang, Yu Cheng Zhang, Hee-Hyol Lee, Eiichirou Tanaka","doi":"10.1115/detc2019-97796","DOIUrl":"https://doi.org/10.1115/detc2019-97796","url":null,"abstract":"\u0000 The main target of this research is to assist the elderly people to walk on different road conditions independently. A method that can transform the walking motion of a walking assistive device between level walking and stair climbing automatically was proposed. To teach the target user how to walk correctly, we defined a trajectory that belongs to healthy people to help the user exercise. Stairs are common in various indoor situations and become a huge challenge for people with gait disorders. To extend the range of physical activity, walking trajectories in different surroundings were imported on the assistive device. Ultrasonic sensors were utilized to detect the distance between stairs and the swing foot. Based on the measured distance, the gait was modified according to a predefined safety distance that was determined experimentally. We also designed trajectory combination methods for changing the device motion patterns between ascending and descending stairs as the walking conditions change. The effectiveness of the system was tested through simulation. The results showed that the device smoothly shifted gait with the proposed methods in this paper. This method has the potential to solve the adaptability of various walking devices to different surroundings.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"23 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":"114751946","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

Efficient Development of Continuum/Compliant Planar Linkage Mechanisms 连续/柔性平面连杆机构的高效开发

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97299

Woo Rib Suh, J. McCarthy, E. Hernandez

{"title":"Efficient Development of Continuum/Compliant Planar Linkage Mechanisms","authors":"Woo Rib Suh, J. McCarthy, E. Hernandez","doi":"10.1115/detc2019-97299","DOIUrl":"https://doi.org/10.1115/detc2019-97299","url":null,"abstract":"\u0000 This paper presents a method to develop continuum/compliant mechanisms based on planar bar-node linkage precursors. The method takes as inputs the initial node positions and connectivity data of a given bar-node linkage and converts it into a continuum/compliant mechanism having the same targeted motion. The line bars of the given bar-node linkage are thickened into trapezoidal planar members and the nodes are thickened by introducing fillets at each intersection of bars. The thicknesses of the bars and the shape parameters of the fillets in the continuum/compliant linkage are optimized to obtain the same targeted motion of the given bar-node linkage while keeping stresses below a maximum allowable value. Each design generated during the optimization process is evaluated using finite element analysis. The present method allows for the synthesis of mechanisms having the following advantages over conventional bar-node linkages: 1) They do not require complex ball or pin joints; 2) they can be readily 3-D printed and size-scaled, and 3) they can be optimized to decrease stresses below a maximum allowable value. Furthermore, the method uses a relatively small number of optimization variables (thicknesses of the members, shape-parameters of the fillets), making it an efficient alternative to more complex and computationally intensive methods for synthesizing compliant mechanisms such as those incorporating topology optimization.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116654166","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

Kalman Filter Based Sensor Fusion for a Mobile Manipulator 基于卡尔曼滤波的移动机械臂传感器融合

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97241

Barnaba Ubezio, Shashank Sharma, Guglielmo van der Meer, M. Taragna

引用次数: 3

Bi-Material Re-Entrant Triangle Structures Incorporating Tailorable Thermal Expansion and Tunable Poisson’s Ratio 结合可调整热膨胀和可调泊松比的双材料可重入三角形结构

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97686

He Xiaobing, Xie Yan, Yu Jingjun

引用次数: 0

A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model (PRBM) Concept and the Degrees-of-Freedom Analysis 基于伪刚体模型和自由度分析的柔顺机构静力模态振型确定方法

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98497

Sushrut G. Bapat, Pratheek Bagivalu Prasanna, A. Midha

{"title":"A Methodology for Determining Static Mode Shapes of a Compliant Mechanism Using the Pseudo-Rigid-Body Model (PRBM) Concept and the Degrees-of-Freedom Analysis","authors":"Sushrut G. Bapat, Pratheek Bagivalu Prasanna, A. Midha","doi":"10.1115/detc2019-98497","DOIUrl":"https://doi.org/10.1115/detc2019-98497","url":null,"abstract":"\u0000 Traditionally, the deflected configuration of compliant segments is determined through rigorous mathematical analysis using Newtonian mechanics. Application of these principles in evaluating the deformed configuration of compliant mechanisms, containing a variety of segment types, becomes cumbersome. This paper introduces a methodology to determine the expected deflected configuration(s) of a compliant mechanism, for a given set of load and/or displacement boundary conditions. The method utilizes the principle of minimum total potential energy, in conjunction with the degrees-of-freedom analysis and the pseudo-rigid-body model concept. The static mode shape(s) of compliant segments are integrated in identifying the possible functional configuration(s) of a given compliant mechanism’s structural configuration. The methodology, in turn, also facilitates the in situ determination of the deformed configuration of the constituent compliant segments. It thus assists in the identification of an appropriate pseudo-rigid-body model for design and analysis of a compliant mechanism.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125216053","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

Actuated Dual-Slip Model of Planar Slope Walking 平面斜坡行走驱动双滑移模型

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97601

R. Galindo, Elise Weimholt, J. Schmiedeler

{"title":"Actuated Dual-Slip Model of Planar Slope Walking","authors":"R. Galindo, Elise Weimholt, J. Schmiedeler","doi":"10.1115/detc2019-97601","DOIUrl":"https://doi.org/10.1115/detc2019-97601","url":null,"abstract":"\u0000 The planar dual spring-loaded inverted pendulum (dual-SLIP) model is a well-established passive template of human walking on flat ground. This paper applies an actuated extension of the model to walking on inclines and declines to evaluate how well it captures the behavior observed in human slope walking. The motivation is to apply the template to improve control of humanoid robot walking and/or intent detection in exoskeleton-assisted walking. Gaits of the actuated planar dual-SLIP model are found via the solution of a constrained nonlinear optimization problem in ten parameters. The majority of those parameters define the actuation scheme that injects energy for incline walking and absorbs energy for decline walking to achieve periodic, nonconservative gaits. Solution gaits across the speed range of 1.0 to 1.6 ms and slope range of −10 to 10 degrees exhibit some of the characteristics of human walking, such as the effect of slope on stance duration, step frequency, and step length. Efforts to reduce the number of parameters optimized by enforcing relationships observed in the solution gaits proved unsuccessful, suggesting that future work must trade off model complexity with fidelity of representation of human behavior.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131105386","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

Sliding Mode Set-Point Control of a Three-DOF Cable-Suspended Parallel Robot With Uncertain Mass and Disturbances 具有不确定质量和扰动的三自由度悬索并联机器人滑模设定点控制

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97275

Ping Ren, Xu Sheng

引用次数: 0

Upper Limb Rehabilitation and Mobility Assistance Using Robotic Devices: A Review 使用机器人设备进行上肢康复和活动辅助:综述

Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98063

AmirHossein Majidirad, Yimesker Yihun

引用次数: 3