Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献

Shaking Force Balancing of the Delta Robot Delta机器人的振动力平衡

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22296

J. Geng, V. Arakelian, D. Chablat

引用次数: 1

Design of a Miniaturized Actuation System for Robotic Lumbar Discectomy Tools 机器人腰椎间盘切除术工具的小型化驱动系统设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22319

Ryan Craker, B. Johnson, Haripriya Sakthivel, D. Cappelleri

引用次数: 3

Curve Cognate Constructions Made Easy 曲线同源结构变得容易

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22409

Samantha N. Sherman, J. Hauenstein, C. Wampler

引用次数: 5

Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism 3rRPS变质并联机构的运动学标定

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22169

Xuheng Chai, Latifah Nurahmi, J. Dai, D. Gan

引用次数: 0

Stiffness Modulation for a Planar Mobile Cable-Driven Parallel Manipulators via Structural Reconfiguration 基于结构重构的平面移动索驱动并联机器人刚度调制

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22430

Adhiti Raman, Matthias J. Schmid, V. Krovi

{"title":"Stiffness Modulation for a Planar Mobile Cable-Driven Parallel Manipulators via Structural Reconfiguration","authors":"Adhiti Raman, Matthias J. Schmid, V. Krovi","doi":"10.1115/detc2020-22430","DOIUrl":"https://doi.org/10.1115/detc2020-22430","url":null,"abstract":"\u0000 Mobile Cable-Driven Parallel Manipulators (m-CDPM) are a sub-class of CDPM with greater-capabilities (antagonistic cable-tensioning and reconfigurability) by virtue of mobility of the base-winches. In past work, we had also explored creation of adjustable spring-stiffness modules, in-line with cables, which decouple cable-stiffness and cable-tensions. All these internal-freedoms allow an m-CDPM to track desired trajectories while equilibrating end-effector wrenches and improving lateral disturbance-rejection. However, parameter and configuration selection is key to unlocking these benefits.\u0000 To this end, we consider an approach to partition task-execution into a primary (fast) winch-tension control and secondary (slow) reconfiguration and joint-stiffness modulation. This would enable a primary trajectory-tracking task together with secondary task-space stiffness tailoring, using system-reconfiguration and joint-stiffness modulation. In this paper, we limit our scope to feasibility-evaluation to achieve the stiffness modulation as a secondary goal within an offline design-optimization setting (but with an eye towards real-time implementation).\u0000 These aspects are illustrated in the context of a 3-PRP m-CDPM for tracking a desired trajectory within its wrench-feasible workspace. The secondary-task is the directional-alignment and shaping of the stiffness ellipsoid to shape the disturbance-rejection characteristics along the trajectory. The optimization is solved through constrained minimization of a multi-objective weighted cost function subject to non-linear workspace feasibility, and inequality stiffness and tension constraints.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"3 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133076107","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

Novel Design of a 3D Printed Anthropomorphic Soft Prosthetic Hand 3D打印拟人化软性假手的新设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22437

E. Abbot, Amanda de Oliveira Barros, Jie Yang

{"title":"Novel Design of a 3D Printed Anthropomorphic Soft Prosthetic Hand","authors":"E. Abbot, Amanda de Oliveira Barros, Jie Yang","doi":"10.1115/detc2020-22437","DOIUrl":"https://doi.org/10.1115/detc2020-22437","url":null,"abstract":"\u0000 Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129160487","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 Novel Iterative Method of Determining the Pose Error of Planar Clearance-Affected Flexible Parallel Mechanisms Under Loaded Mode 一种确定加载模式下平面间隙影响柔性并联机构位姿误差的迭代方法

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22012

QiangQiang Zhao, Junkang Guo, Jun Hong

{"title":"A Novel Iterative Method of Determining the Pose Error of Planar Clearance-Affected Flexible Parallel Mechanisms Under Loaded Mode","authors":"QiangQiang Zhao, Junkang Guo, Jun Hong","doi":"10.1115/detc2020-22012","DOIUrl":"https://doi.org/10.1115/detc2020-22012","url":null,"abstract":"\u0000 Clearance and flexibility play an essential role in determining the accuracy of a planar parallel mechanism. However, previous accuracy prediction methods either considered only one of them or combined them in linear superposition. Therefore, this study proposes a novel iterative method for determining the pose error by considering clearance and flexibility simultaneously. First, the rigid-flexible model of the mechanism with clearances is developed based on the virtual joint method, in which the equilibrium conditions under the external load are established via the virtual work principle and differential forward kinematics. Then, using a Taylor series approximation, the “instant” stiffness matrix corresponding to a specific load is deduced. On this basis, an iterative scheme is explored to search for the final equilibrium pose, in which a child iterative scheme is constructed to determine the joint variables and suffered wrench of the single chain given a pose. Finally, the developed method is demonstrated by calculating the comparative pose errors of the planar five-bar mechanism and 3-RPR robot.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131692646","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

Path Synthesis of Defect-Free Spatial 5-SS Mechanisms Using Machine Learning 基于机器学习的无缺陷空间5-SS机构路径综合

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22731

Shashank Sharma, A. Purwar

引用次数: 3

Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver 单驱动多自由度平面变形机构的结构综合

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22196

Qiang Yang, A. Murray, D. Myszka, Shujun Li

{"title":"Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver","authors":"Qiang Yang, A. Murray, D. Myszka, Shujun Li","doi":"10.1115/detc2020-22196","DOIUrl":"https://doi.org/10.1115/detc2020-22196","url":null,"abstract":"\u0000 This paper approaches the type synthesis of multi-degree of freedom planar metamorphic mechanisms with a single driver in a systematic process. The process is facilitated by implementing a constraint status matrix and a equivalent resistance matrix as a method for identifying an appropriate structure of planar metamorphic mechanisms with a single driver. Multi-structures can be obtained from the same source metamorphic mechanism by designing different constraint architectures of metamorphic joints. To determine the constraint architectures of metamorphic joints and their different assembly combinations, the constraint status matrix is built based on the task-based metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint-form vectors of the metamorphic joints. Furthermore, an effective kinematic diagram synthesis of the source mechanism of the planar metamorphic mechanism is proposed which is based only on the 14 one or zero degree-of-freedom (DOF) linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and given in steps. Finally, a proposed structural design approach is illustrated by two examples.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122455814","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

Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device 基于织物的可穿戴关节传感装置的特性、设计与实验

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22249

J. L. Lau, G. Soh

{"title":"Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device","authors":"J. L. Lau, G. Soh","doi":"10.1115/detc2020-22249","DOIUrl":"https://doi.org/10.1115/detc2020-22249","url":null,"abstract":"\u0000 The use of conductive fabrics (CF) in the design of wearables for joint sensing has recently received much interest in a wide range of applications such as robotics, rehabilitation, personal wellness, sports, and entertainment. In this paper, we evaluate a new wearable device concept that comprises of a CF strain-voltage sensor embedded as part of an inverted slider-crank mechanism for joint extension sensing. This has the benefit of not requiring anthropometric information from the user to related the joint parameters to the fabric strain readings, as opposed to an existing design. Firstly, we characterize the electromechanical property of a commercially available CF. Secondly, we formulate the geometric synthesis procedure of the joint sensing device as a constrained revolute joint system, where the CF is designed and introduced as an RPR chain to obtain an inverted slider-crank linkage. Lastly, we develop and validate our wearable joint sensing device against an experimental setup that represents an elbow joint. Our concept shows that our proposed joint sensing device can track the elbow extension motion of 140° with a maximum error of 7.66%.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121741628","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