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

Using Inertial Control to Improve Maneuverability of Propeller-Assisted Flapping Wing Aerial Vehicle 利用惯性控制提高螺旋桨辅助扑翼飞行器的机动性

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97854

A. Holness, H. Solheim, Hugh Alan Bruck, S. K. Gupta

{"title":"Using Inertial Control to Improve Maneuverability of Propeller-Assisted Flapping Wing Aerial Vehicle","authors":"A. Holness, H. Solheim, Hugh Alan Bruck, S. K. Gupta","doi":"10.1115/detc2019-97854","DOIUrl":"https://doi.org/10.1115/detc2019-97854","url":null,"abstract":"\u0000 Biological creatures demonstrate tremendous feats of maneuverability and dexterity. Some of these feats are achieved by intelligent usage of mass and inertia. For example, lizards use their tail mass and inertia to change body pose during jumping to self-right in mid-air. In a similar fashion, having shown passive mass position effects during flight tests of both flapping only and propeller-assisted flapping platforms, usage of an actuated reaction mass is proposed as a means of improving the maneuverability of a propeller-assisted flapping wing aerial vehicle. A simplified model for equations of motion, utilized successfully for autonomous diving, is presented and adapted to describe the aerodynamic forces on the wings and other surfaces. A model to approximate the change in the center of mass to be used with the equations of motion is also described. A design using a linear actuator in concert with the platform battery as a reaction mass system was prototyped and flight tested. Using the prototype design, flight characteristics for improved maneuverability were demonstrated via both video footage and data gathered by an inertial measurement unit during the same flight.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"61 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":"126699304","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 New Robotic Hand for Automotive Sheet Panels 一种新型汽车钣金机械手

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97359

D. Gao, N. Huang, Lance T. Ransom, C JanisRichard

引用次数: 1

A Two-Stage Optimization Procedure for the Design of an EAP-Actuated Soft Gripper eap驱动软夹持器的两阶段优化设计

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-98169

W. Zhang, Jonathan Hong, Saad Ahmed, Z. Ounaies, M. Frecker

{"title":"A Two-Stage Optimization Procedure for the Design of an EAP-Actuated Soft Gripper","authors":"W. Zhang, Jonathan Hong, Saad Ahmed, Z. Ounaies, M. Frecker","doi":"10.1115/detc2019-98169","DOIUrl":"https://doi.org/10.1115/detc2019-98169","url":null,"abstract":"\u0000 An increasing range of engineering applications require soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, have high conformability and exert gentle contact with target objects compared to traditional grippers. In this study, a three-fingered gripper is first designed based on a notched self-folding mechanism actuated using an electrostrictive PVDF-based terpolymer. Then the design optimization problem is formulated, where the design objectives are to maximize the free deflection Δfree and the blocked force Fb. A computationally efficient two-stage design optimization procedure is proposed and successfully applied in the gripper design. NSGA-II is adopted as the optimization algorithm for its capacity to deal with multi-objective optimization problems and to find the global optima with high design variables and large design domains. In stage one, computationally less expensive analytical models are developed based on Bernoulli-Euler beam theory and Castigliano’s theorem to calculate Δfree and Fb. Utility function is applied to determine the best design in the last generation of stage one. In stage two, 3D FEA models are developed, using the dimensions determined by the best design from stage one, to investigate effect of the shape of segment surfaces on the design objectives. Overall, the proposed two-stage optimization procedure is successfully applied in the actuator design and shows the potential to solve a wide range of structural optimization problems.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"60 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":"126696221","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

A Gear-Slider Gravity Compensation Mechanism: Design and Experimental Study 一种齿轮滑块重力补偿机构的设计与实验研究

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-11-25 DOI: 10.1115/detc2019-97602

L. Vu, C. Kuo

引用次数: 3

Topological Reconfigurations Based on a Concatenation of Bennett and RPRP Mechanisms 基于Bennett和RPRP机制串联的拓扑重构

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97033

Kuan-Lun Hsu, K. Ting

{"title":"Topological Reconfigurations Based on a Concatenation of Bennett and RPRP Mechanisms","authors":"Kuan-Lun Hsu, K. Ting","doi":"10.1115/detc2019-97033","DOIUrl":"https://doi.org/10.1115/detc2019-97033","url":null,"abstract":"This paper presents a family of over-constrained mechanisms with revolute and prismatic joints. They are constructed by concatenating a Bennett 4R and a spatial RPRP mechanism. This is a major breakthrough because an assembly of two different source-modules, for the first time, will be used in the modular construction. A Bennett 4R mechanism and a spatial RPRP mechanism are mated for the purpose of demonstration. Topological reconfigurations of synthesized mechanisms are also discussed. The results indicate that synthesized mechanisms can be topologically reconfigured with either a plane-symmetric structure or a spatial four-bar RCRC loop. These synthesized mechanisms along with their reconfigurations represent the first and unique contribution in theoretical and applied kinematics. Academically, proposed methodology can be used to synthesize several families of over-constrained mechanisms. Each family of new mechanisms is unique and has its own academic significance because they are theoretical exceptions outside Chebychev–Grübler–Kutzbach criterion. The geometrical principles that address the combination of hybrid loops can treat the topological synthesis of over-constrained mechanisms as a systematic approach instead of a random search. Industrially, such paradoxical mechanisms could also be potentially valuable. The ambiguity of their structural synthesis stops ones from being aware of these theoretical exceptions. Hence, people fail to implement these mechanisms into real-world applications. The findings of this research can help people sufficiently acquire the knowledge of how to configure such mechanisms with desired mobility. From a practical point of view, over-constrained mechanisms can transmit motions with less number of links than the general types need. This means that engineers could achieve a compact design with fewer components. These features could be an attractive advantage to real world applications.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":" 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120934173","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

Characteristics of Truss Core Created by Origami Forming Method 折纸成形法制造桁架芯的特点

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97740

Ayami Abe, K. Terada, H. Yashiro, I. Hagiwara

引用次数: 0

Constructing Scissor-Like Structures and Parallelogram Linkages With 4-Crease Single-Vertex Flat-Foldable Rigid Origami and Their Thick-Panel Versions 用四折痕单顶点可平折刚性折纸构造类剪刀结构和平行四边形连杆及其厚板版本

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97983

David Xing, Z. You

{"title":"Constructing Scissor-Like Structures and Parallelogram Linkages With 4-Crease Single-Vertex Flat-Foldable Rigid Origami and Their Thick-Panel Versions","authors":"David Xing, Z. You","doi":"10.1115/detc2019-97983","DOIUrl":"https://doi.org/10.1115/detc2019-97983","url":null,"abstract":"\u0000 Scissor-like structures are commonly composed of two straight rigid supports in a crisscross pattern connected by a pivot at its point of intersection [1]. Opposite angles formed by the supports are equal regardless of the structure’s folded state. Parallelogram linkages have a similar property. Rigid origami can be used to create these structures by combining two identical copies of a 4-crease single-vertex flat-foldable rigid origami, a single 4C, to form a flat-foldable composite structure, a double 4C. In this paper, we prove mathematically that regardless of the folded state of a single-4C, its even dihedral angles are equal, and odd dihedral angles are equal. As a result, the double 4C consists of 2 scissor-like structures. A past method to prove these dihedral angle equalities requires a more complex approach involving rotation matrices using Denavit and Hartenberg parameters [2,3]. This paper will provide a more intuitive method that proves the same equalities. We will also show that a similar construction of the double 4C using thick-panel versions of the single 4C satisfies the same dihedral angle equalities necessary for the formation of parallelogram linkages. The construction of the double 4C can help design self-folding mechanisms and useful metamaterials.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"27 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":"127775893","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

Dynamics Analysis of the Deployment of Miura-Origami Sheets 三浦折纸展开的动力学分析

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97136

Yutong Xia, Kon-Well Wang

{"title":"Dynamics Analysis of the Deployment of Miura-Origami Sheets","authors":"Yutong Xia, Kon-Well Wang","doi":"10.1115/detc2019-97136","DOIUrl":"https://doi.org/10.1115/detc2019-97136","url":null,"abstract":"\u0000 Origami has emerged as a promising tool for the design of mechanical structures that can be folded into small volume and expanded to large structures, which enables the desirable features of compact storage and effective deployment. Most attention to date on origami deployment has been on its geometry, kinematics, and quasi-static mechanics, while the dynamics of deployment has not been systematically studied. On the other hand, deployment dynamics could be important in many applications, especially in high speed operation and low damping conditions. This research investigates the dynamic characteristics of the deploying process of origami structures through investigating a Miura-Ori sheet (Fig. 1(b, c)). In this study, we have utilized the stored energy in pre-deformed spring elements to actuate the deployment. We theoretically model and numerically analyze the deploying process of the origami sheet. Specifically, the sheet is modeled by bar-and-hinge blocks, in which the facet and crease stiffnesses are modeled to be related to the bar axial deformation and torsional motion at the creases. On the other hand, the structural inertia is modelled as mass points assigned at hinges. Numerical simulations show that, apart from axial contraction and expansion, the origami structure can exhibit transverse motion during the deploying process. Further investigation reveals that the transverse motion has close relationship with the controlled deploying rate. This research will pave the way for further analysis and applications of the dynamics of origami-based structures.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"1 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":"115766870","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

Electromagnetic and Mechanical Analysis of an Origami Helical Antenna Encapsulated by Fabric 织物封装折纸螺旋天线的电磁力学分析

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98072

C. Zekios, Xueli Liu, M. Moshtaghzadeh, E. Izadpanahi, Hamid Reza Radnezhad, Pezhman Mardanpour, S. Georgakopoulos

引用次数: 7

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint 基于柔性滚动接触关节的手术机器人改进设计

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97981

C. Nelson, Cole A. Dempsey, E. Brush, M. Laribi

引用次数: 0