Volume 5B: 43rd Mechanisms and Robotics Conference最新文献_第6页

Feasibility Study of an Aerial Lifting Device Using Aerodynamic Drag for Ascent 一种利用气动阻力升力的空中提升装置的可行性研究

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98138

Xuan Lin, Gabriel I. Fernandez, S. Ghassemi, D. Hong

引用次数: 1

A Fourier Descriptor Approach to Integrated Type and Dimensional Synthesis of Coupled Serial Mechanism for Motion Generation 傅立叶描述子法求解耦合串联机构运动生成的整体类型和尺寸综合

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97599

Hao Lv, Yuanfei Han, Xiangyun Li, Liuxian Zhu

引用次数: 0

Calibration of Reconfigurable Stewart-Gough Platform for Mobile Machining Application 可重构Stewart-Gough移动加工平台的标定

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-98137

Andreas Hansen, Jørgen Møberg Laursen, S. Henriksen, Kasper Ringgaard, Morten Rydahl-Haastrup, O. Balling

引用次数: 1

Wireless Power and SIMO Control Based on Magnetic Coupling Resonance Using in Delta Robot 基于磁耦合共振的无线供电和SIMO控制在Delta机器人中的应用

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97174

Jue Wang, Genliang Chen, Hao Wang

引用次数: 1

Dynamic Transformation of an Origami String Using a Stacked-Miura Cell 利用叠三浦单元的折纸弦动态变换

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97435

Chang Liu, Zwe Min Htet Aung, Samuel M. Felton

引用次数: 0

Regular 2D and 3D Linkage-Based Origami Tessellations 常规的2D和3D基于链接的折纸镶嵌

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97354

Alden Yellowhorse, L. Howell

引用次数: 0

An Origami Crease Pattern Generating Methodology for “Origami 3D Printer” 面向“折纸3D打印机”的折纸折痕图生成方法

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97715

Yang Yang, I. Hagiwara, L. Diago, Junichi Shinoda

{"title":"An Origami Crease Pattern Generating Methodology for “Origami 3D Printer”","authors":"Yang Yang, I. Hagiwara, L. Diago, Junichi Shinoda","doi":"10.1115/detc2019-97715","DOIUrl":"https://doi.org/10.1115/detc2019-97715","url":null,"abstract":"\u0000 The additive 3D printer (hereafter called Add-3D) creates a 3D object with materials being added together layer by layer. Before printing an object, some professional processes are indispensable, such as creating the 3D printable models by computer-aided design (CAD), or 3D scanner, and STL data modification, which are difficult for normal families. As we know, primordially, origami is the ancient art of folding a flat-piece of paper into a 3D shape, that even can be played by kids. So we aim to develop an Origami 3D printer (hereafter called Ori-3D) that can be used by ordinary families with the features of effort and no size limit of model. In Ori-3D, the object is constructed by human hands or by an Origami robot using 2D patterns generated from 3D data (obtained from photos or CAD). Ori-3D includes the following steps: 1) the surface of an object is segmented to several developable surfaces as large as possible using segmentation technique which is used in reverse engineering system. 2) Each developable surface is developed to 2D pattern with mountain & valley lines and glue parts. 3) The 2D crease pattern is optimized by a tree structure method to be easily folded by an Origami Robot. 4) With Origami robot, the object is easily constructed from the improved 2D crease pattern. This paper focuses on discuss the steps 1∼ 3: generation of the 2D crease pattern.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"19 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":"134560356","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

On the Deployment of Multistable Kresling Origami-Inspired Structures 多稳态Kresling折纸结构的展开

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97427

N. Kidambi, Kon-Well Wang

{"title":"On the Deployment of Multistable Kresling Origami-Inspired Structures","authors":"N. Kidambi, Kon-Well Wang","doi":"10.1115/detc2019-97427","DOIUrl":"https://doi.org/10.1115/detc2019-97427","url":null,"abstract":"\u0000 Origami designs have attracted significant attention from researchers seeking to develop new types of deployable structures due to their ability to undergo large and complex yet predictable shape changes. The Kresling pattern, which is based on a natural accumulation of folds and creases during the twist-buckling of a thin-walled cylinder, offers a great example for the design of deployable systems that expand uniaxially into tubes or booms. However, much remains to be understood regarding the characteristics of Kresling-based deployable systems, and their dynamics during the deployment process remain largely unexplored. Hence this research investigates the deployment of Kresling origami-inspired structures, employing a full six-degree-of-freedom truss-based model to study their dynamics under different conditions. Results show that tuning the initial rotation angle of a structure gives rise to several qualitatively distinct mechanical properties and stability characteristics, each of which has different implications for the design of the deployable systems. Dynamic analyses reveal the robustness of Kresling structures to out-of-axis perturbations while remaining compliant in the axial direction. These findings suggest that Kresling-based designs can form the basis for the development of new types of deployable structures and systems with tunable performance.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"10 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":"132639323","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 and Simulation of a Novel High-Speed Omnidirectional Fully-Actuated Underwater Propulsion Mechanism 新型高速全向全驱动水下推进机构的设计与仿真

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97534

Taylor Njaka, S. Brizzolara, P. Ben-Tzvi

{"title":"Design and Simulation of a Novel High-Speed Omnidirectional Fully-Actuated Underwater Propulsion Mechanism","authors":"Taylor Njaka, S. Brizzolara, P. Ben-Tzvi","doi":"10.1115/detc2019-97534","DOIUrl":"https://doi.org/10.1115/detc2019-97534","url":null,"abstract":"\u0000 This paper details the design and simulation of a novel position control mechanism for marine operations or inspection in extreme, hostile, or high-speed turbulent environments where unprecedented speed and agility are necessary. The omnidirectional mechanism consists of a set of counter-rotating blades operating at frequencies high enough to dampen vibrational effects on onboard sensors. Each rotor is individually powered to allow for roll control via relative motor effort and attached to a servo-swashplate mechanism, enabling quick and powerful manipulation of fluid flow direction in a hull’s coordinate frame without the need to track rotor position. The mechanism inherently severs blade loads from servo torques, putting all load on the main motors and minimizing servo response time, while exploiting consistent blade momentum to minimize the corresponding force response time. The mechanical design and kinematic analysis of each subsystem is presented, followed by kinematic and hydrodynamic analysis of the hull and surrounding fluid forces during various blade maneuvers. Special maneuvers are verified using Computational Fluid Dynamic (CFD) software. Finally, a controller is constructed with decoupled parameters for each degree of freedom.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"29 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":"116808226","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

Extended Camus Theory and Higher Order Conjugated Curves 扩展加缪理论与高阶共轭曲线

Volume 5B: 43rd Mechanisms and Robotics Conference Pub Date : 2019-07-12 DOI: 10.1115/1.4043924

C. L. Chan, K. Ting

{"title":"Extended Camus Theory and Higher Order Conjugated Curves","authors":"C. L. Chan, K. Ting","doi":"10.1115/1.4043924","DOIUrl":"https://doi.org/10.1115/1.4043924","url":null,"abstract":"\u0000 According to Camus’ theorem, for a single DOF 3-body system with the three instant centers staying coincident, a point embedded on a body traces a pair of conjugated curves on the other two bodies. This paper discusses a fundamental issue not addressed in Camus’ theorem in the context of higher order curvature theory. Following the Aronhold-Kennedy theorem, in a single degree-of-freedom three-body system, the three instant centers must lie on a straight line. This paper proposes that if the line of the three instant centers is stationary (i.e. slide along itself), on the line of the instant centers a point embedded on a body traces a pair of conjugated curves on the other two bodies. Another case is that if the line of the three instant centers rotate about a stationary point, the stationary point embedded on the body also traces a pair of conjugated curves on the other two bodies. The paper demonstrates the use of instantaneous invariants to synthesize such a three-body system leading to a conjugate curve-pair generation. It is a supplement or extension of the Camus’ theorem. The Camus’ theorem may be regarded as a special singular case, in which all three instant centers are coincident.","PeriodicalId":211780,"journal":{"name":"Volume 5B: 43rd Mechanisms and Robotics Conference","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128189342","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