Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献_第2页

Artificial Neural Network Prediction of Deflection Maps for Cable-Driven Robots 缆索驱动机器人挠度图的人工神经网络预测

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22513

L. Notash

引用次数: 4

A Methodology to Design a Variable Resistance Hand Exerciser Using a Compliant Mechanism 一种基于柔性机构的可变阻力手锻炼器设计方法

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22760

Jyothi Komatireddy, A. Midha, Vamsi Lodagala, Pratheek Bagivalu Prasanna

{"title":"A Methodology to Design a Variable Resistance Hand Exerciser Using a Compliant Mechanism","authors":"Jyothi Komatireddy, A. Midha, Vamsi Lodagala, Pratheek Bagivalu Prasanna","doi":"10.1115/detc2020-22760","DOIUrl":"https://doi.org/10.1115/detc2020-22760","url":null,"abstract":"\u0000 The design of an effective hand-exercising device is based on an existing study of the force-deflection behavior of the human hand. This paper presents a design methodology using a compliant mechanism construct, for generating the desired force-deflection profile as the output. This is made possible by the integration of a rigid cam profile segment. The compliant segments serve as the followers, and their material and geometric properties serve as design variables. The force-deflection profile utilized was developed through experimental studies conducted on the human hand, along with a mathematical model that predicts the maximum grip force as a function of the handle’s diameter. A procedure is proposed herein that would allow the use of various force-deflection profiles, to be able to change the resistance level in order to meet individual requirements. The synthesis results obtained are investigated for cam-follower non-interference using a novel pseudo-rigid-body model (PRBM) approach and verified by finite element analysis. The exercise devices generally ignore in their conceptualization and design the anatomical mechanical advantage. This methodology, owing to the nature of the experiment, duly regards the variable mechanical advantage characteristic of the hand in different positions naturally.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"8 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":"122061778","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 Framework for Multi-Section Shape Memory Alloy Axial Actuators Considering Material and Geometric Uncertainties 考虑材料和几何不确定性的多截面形状记忆合金轴向作动器设计框架

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22683

Weilin Guan, E. Hernandez

{"title":"Design Framework for Multi-Section Shape Memory Alloy Axial Actuators Considering Material and Geometric Uncertainties","authors":"Weilin Guan, E. Hernandez","doi":"10.1115/detc2020-22683","DOIUrl":"https://doi.org/10.1115/detc2020-22683","url":null,"abstract":"Shape memory alloys are metallic materials with the capability of performing as high energy density actuators driven by temperature control. This paper presents a design framework for shape memory alloy (SMA) axial actuators composed of multiple wire sections connected in series. The various wire sections forming the actuators can have distinct cross-sectional areas and lengths, which can be modulated to adjust the overall thermomechanical response of the actuator. The design framework aims to find the optimal cross-sectional areas and lengths of the wire sections forming the axial actuator such that its displacement vs. temperature actuation path approximates a target path. Constraints on the length-to-diameter aspect ratio and stress of the wire sections are incorporated. A reduced-order numerical model for the multi-section SMA actuators that allows for efficient design evaluations is derived and implemented. An approach to incorporate uncertainty in the geometry and material parameters of the actuators within the design framework is implemented to allow for the determination of robust actuator designs. A representative application example of the design framework is provided illustrating the benefits of using multiple wire sections in axial actuators to modulate their overall response and approximate a target displacement vs. temperature actuation path.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"53 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":"124562421","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

Development of a Robotic Landing System for UAVs Applied in Various Terrains 应用于不同地形的无人机机器人着陆系统的研制

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22606

C. Peng, A. Chowdhury, Jinsai Cheng, R. L. George, Tao Shen

{"title":"Development of a Robotic Landing System for UAVs Applied in Various Terrains","authors":"C. Peng, A. Chowdhury, Jinsai Cheng, R. L. George, Tao Shen","doi":"10.1115/detc2020-22606","DOIUrl":"https://doi.org/10.1115/detc2020-22606","url":null,"abstract":"\u0000 Unmanned Aerial Vehicles (UAVs), often referred as drones, have been widely implemented for civilian, commercial, search and rescue, and military operations with the advantages of easy deployment, low cost, automation, as well as, most importantly, allowing the execution of dangerous or difficult tasks remotely and safely. However, current UAVs are equipped with a skid or wheel landing gear that limits the application of UAVs to an even and flat ground for safe landing and taking off; this constraint impedes the development of UAVs for application in extreme environments, such as war fields and remote wilderness where proximate level ground is inaccessible. The ability of UAVs to land on un-level ground would help broaden the application of UAVs; in particular, the ability to go beyond thermal imaging to locate a lost hiker with the ability to land and deliver life-sustaining resources in a more timely manner offers a benefit to human rescue missions. This paper presents an innovative robotic landing system consisting of three slanted legs, each individually controlled by a motor. The footpad of each leg has an integrated force sensor for detecting ground touch. An inclinometer is installed on the platform of the landing system to sense the UAVs orientation during landing. Thus, the landing system can keep the platform horizontal when it lands on the ground by extending or retracting the legs. The feasibility and effectiveness of the robotic method have been demonstrated by several indoor and outdoor experiments.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"1 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":"130090849","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 of a Piping Inspection Robot by Optimization Approach 基于优化方法的管道检测机器人设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22021

Swaminath Venkateswaran, D. Chablat, P. Hamon

引用次数: 0

Bioinspired Origami: Case Studies Using a Keyword Search Algorithm 生物灵感折纸:使用关键字搜索算法的案例研究

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22228

Elissa Morris, D. McAdams

{"title":"Bioinspired Origami: Case Studies Using a Keyword Search Algorithm","authors":"Elissa Morris, D. McAdams","doi":"10.1115/detc2020-22228","DOIUrl":"https://doi.org/10.1115/detc2020-22228","url":null,"abstract":"\u0000 Numerous folding patterns, structures, and behaviors exist in nature that may provide design solutions to engineering problems. While applying biological solutions to engineering design is evidently valuable, the retrieval of useful design inspiration remains a primary challenge preventing the transfer of knowledge from biology to the engineering domain. In prior research, information retrieval techniques are employed to retrieve useful biological design solutions and a text-based search algorithm is developed to return passages where folding in nature is observed. The search algorithm, called FoldSearch, integrates tailored biological keywords and filtering methods to retrieve passages from an extensive biological corpus. The objective of this paper is two-fold — 1) to demonstrate the functionality of FoldSearch, and 2) to create abstract models of the retrieved biological systems from FoldSearch which can be used for the development of novel origami crease patterns and foldable structures. In this paper, the utility of FoldSearch is demonstrated through two case studies where the retrieved biological examples undergo a design abstraction process that leads to the development of bioinspired origami crease patterns and novel foldable structures. The abstraction process is presented as a systematic design methodology for bioinspired origami for the growing research field of origami engineering.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"39 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":"123780562","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

Kinematics of the Morph Origami Pattern and its Hybrid States 形态折纸图案的运动学及其混合状态

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22088

Phanisri P. Pratapa, Ke Liu, G. Paulino

{"title":"Kinematics of the Morph Origami Pattern and its Hybrid States","authors":"Phanisri P. Pratapa, Ke Liu, G. Paulino","doi":"10.1115/detc2020-22088","DOIUrl":"https://doi.org/10.1115/detc2020-22088","url":null,"abstract":"\u0000 A new degree-four vertex origami, called the Morph pattern, has been recently proposed by the authors (Pratapa, Liu, Paulino, Phy. Rev. Lett. 2019), which exhibits interesting properties such as extreme tunability of Poisson’s ratio from negative infinity to positive infinity, and an ability to transform into hybrid states through rigid origami kinematics. We look at the geometry of the Morph unit cell that can exist in two characteristic modes differing in the mountain/valley assignment of the degree-four vertex and then assemble the unit cells to form complex tessellations that are inter-transformable and exhibit contrasting properties. We present alternative and detailed descriptions to (i) understand how the Morph pattern can smoothly transform across all its configuration states, (ii) characterize the configuration space of the Morph pattern with distinguishing paths for different sets of hybrid states, and (iii) derive the condition for Poisson’s ratio switching and explain the mode-locking phenomenon in the Morph pattern when subjected to in-plane deformation as a result of the inter-play between local and global kinematics.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"106 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":"124099500","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 Flexure Based Low Frequency Foucault Pendulum 基于柔性的低频傅科摆设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22075

Patrick Fluckiger, I. Vardi, S. Henein

{"title":"Design of a Flexure Based Low Frequency Foucault Pendulum","authors":"Patrick Fluckiger, I. Vardi, S. Henein","doi":"10.1115/detc2020-22075","DOIUrl":"https://doi.org/10.1115/detc2020-22075","url":null,"abstract":"\u0000 The Foucault pendulum is a well-known mechanism used to demonstrate the rotation of the Earth. It consists in a pendulum launched on linear orbits and, following Mach’s Principle, this line of oscillation will remain fixed with respect to absolute space but appear to slowly precess for a terrestrial observer due to the turning of the Earth. The theoretical proof of this phenomenon uses the fact that, to first approximation, the Foucault pendulum is a harmonic isotropic two degree of freedom (2-DOF) oscillator. Our interest in this mechanism follows from our research on flexure-based implementations of 2-DOF oscillators for their application as time bases for mechanical timekeeping.\u0000 The concept of the Foucault pendulum therefore applies directly to 2-DOF flexure based harmonic oscillators. In the Foucault pendulum experiment, the rotation of the Earth is not the only source of precession. The unavoidable defects in the isotropy of the pendulum along with its well-known intrinsic isochronism defect induce additional precession which can easily mask the precession due to Earth rotation. These effects become more prominent as the frequency increases, that is, when the length of the pendulum decreases. For this reason, short Foucault pendulums are difficult to implement, museum Foucault pendulum are typically at least 7 meters long. These effects are also present in our flexure based oscillators and reducing these parasitic effects, requires decreasing their frequency.\u0000 This paper discusses the design and dimensioning of a new flexure based 2-DOF oscillator which can reach low frequencies of the order of 0.1[Hz]. The motion of this oscillator is approximately planar, like the classical Foucault pendulum, and will have the same Foucault precession rate. The construction of a low frequency demonstrator is underway and will be followed by quantitative measurements which will examine both the Foucault effect as well as parasitic precession.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"11 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":"127837125","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 Novel Variable Stiffness Active Ankle Foot Orthosis Using Permanent Magnets for Drop Foot Assistance 一种新型可变刚度主动踝关节足矫形器的设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22742

A. Basu, S. Jujjavarapu, E. Esfahani

引用次数: 0

An Optimization Method for the Static Balancing of Manipulators Using Springs 基于弹簧的机械手静平衡优化方法

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22217

Jieyu Wang, X. Kong

引用次数: 0