Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献_第4页

A Novel Gripping System for Delivery of Packages via Unmanned Aerial Vehicles 一种新型的无人机包裹递送夹持系统

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22179

Trigun Maroo, A. Wright

引用次数: 0

Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton 踝关节外骨骼变刚度桶形机构的设计与建模

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22650

A. Soliman, I. Hussain, Mohammad I. Awad, D. Gan

引用次数: 1

Mechanical Redesign of a Transtibial Prosthesis With Active and Passive Components and a Four-Bar Mechanism 具有主动和被动构件和四杆机构的经胫骨假体的机械重新设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22111

Devon K. Plata, J. Thayer, Philip A. Voglewede

引用次数: 0

A Primal Treatise of Constant-Force, Compliant Segments and Mechanisms 恒力、柔顺节段和机构的初步论述

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22761

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

{"title":"A Primal Treatise of Constant-Force, Compliant Segments and Mechanisms","authors":"A. Midha, Vamsi Lodagala, Pratheek Bagivalu Prasanna, Jyothi Komatireddy","doi":"10.1115/detc2020-22761","DOIUrl":"https://doi.org/10.1115/detc2020-22761","url":null,"abstract":"\u0000 The evolution of constant-force mechanisms is propelled by a growing interest in being able to exert constant or near-constant force in various applications. Compliant mechanisms have recently received much attention in the design of constant-force mechanisms because of their several advantages, e.g. fewer parts, compact construct, natural energy storage, no backlash, among many others. There have been many research efforts in developing various techniques to design these mechanisms for applications in diverse fields. Several of these techniques require design optimization to generate a constant force over a desired range of motion. There is generally a lack of understanding of the mechanics of the generation of constant force. This paper presents the hypothesis that simple arrangements, such as a rigid link with a torsional spring, or compliant segments, under axial loading are capable of producing constant force. Three compliant segment types are considered herein: fixed-free, pinned-pinned, and fixed-guided beams under axial loading, to demonstrate that they can exert near-constant force, without the need for a design optimization. This paper further exemplifies that the proposed theory is the kernel to generating constant force by different mechanism configurations.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"78 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":"130019653","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

Increasing the Life Span of Foldable Manipulators With Fabric 用织物增加可折叠机械手的使用寿命

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22757

M. Sharifzadeh, Jiang Yuhao, R. Khodambashi, Daniel M. Aukes

引用次数: 0

Neuroadaptive Controller for Physical Interaction With an Omni-Directional Mobile Nurse Assistant Robot 用于与全方位移动护士助理机器人物理交互的神经自适应控制器

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22501

M. Saadatzi, Shamsudeen Abubakar, S. Das, M. Saadatzi, D. Popa

{"title":"Neuroadaptive Controller for Physical Interaction With an Omni-Directional Mobile Nurse Assistant Robot","authors":"M. Saadatzi, Shamsudeen Abubakar, S. Das, M. Saadatzi, D. Popa","doi":"10.1115/detc2020-22501","DOIUrl":"https://doi.org/10.1115/detc2020-22501","url":null,"abstract":"\u0000 Robot-assisted healthcare could help alleviate the shortage of nursing staff in hospitals and is a potential solution to assist with safe patient handling and mobility. In an attempt to off-load some of the physically-demanding tasks and automate mundane duties of overburdened nurses, we have developed the Adaptive Robotic Nursing Assistant (ARNA), which is a custom-built omnidirectional mobile platform with a 6-DoF robotic manipulator and a force sensitive walking handlebar. In this paper, we present a robot-specific neuroadaptive controller (NAC) for ARNA’s mobile base that employs online learning to estimate the robot’s unknown dynamic model and nonlinearities. This control scheme relies on an inner-loop torque controller and features convergence with Lyapunov stability guarantees. The NAC forces the robot to emulate a mechanical system with prescribed admittance characteristics during patient walking exercises and bed moving tasks. The proposed admittance controller is implemented on a model of the robot in a Gazebo-ROS simulation environment, and its effectiveness is investigated in terms of online learning of robot dynamics as well as sensitivity to payload variations.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"62 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":"126505098","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

Comparison of Soft Curved Crease Surrogate Hinges 柔性弯曲折痕替代铰链的比较

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22333

Y. Klett, P. Middendorf, Fabian Muhs, Tomohiro Tachi

引用次数: 2

Optimization of the Compliant Drive Mechanism for a Prosthetic Ankle 假肢踝关节柔性驱动机构的优化设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22442

Tyler N. Morrison, Dylan Trainor, H. Su

引用次数: 1

Structure Synthesis of Parallel Manipulators With Fully Decoupled Projective Motion and Any Degrees of Freedom 全解耦任意自由度投影运动并联机器人的结构综合

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22490

C. Kuo, J. Dai

引用次数: 0

Examine the Bending Stiffness of Generalized Kresling Modules for Robotic Manipulation 用于机器人操作的广义Kresling模的弯曲刚度研究

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22187

Joshua Kaufmann, Suyi Li

{"title":"Examine the Bending Stiffness of Generalized Kresling Modules for Robotic Manipulation","authors":"Joshua Kaufmann, Suyi Li","doi":"10.1115/detc2020-22187","DOIUrl":"https://doi.org/10.1115/detc2020-22187","url":null,"abstract":"\u0000 Via analytical modeling and experimental validation, this study examines the bending stiffness adaptation of bistable origami modules based on generalized Kresling pattern. These modules, which are the building blocks of an octopus-inspired robotic manipulator, can create a reconfigurable articulation via switching between their stable states. In this way, the manipulator can exhibit pseudo-linkage kinematics with lower control requirements and improved motion accuracy compared to completely soft manipulators. A key to achieving this reconfigurable articulation is that the underlying Kresling modules must show a sufficient difference in bending stiffness between their stable states. Therefore, this study aims to use both a nonlinear bar-hinge model and experimental testing to uncover the correlation between the module bending stiffness and the corresponding origami designs. The results show that the Kresling origami module can indeed exhibit a significant change in bending stiffness because of the reorientation of its triangular facets. That is, at one stable state, these facets align close to parallel to the longitudinal axis of the cylindrical-shaped module, so the module bending stiffness is relatively high and dominated by the facet stretching. However, at the other stable states, the triangular facets are orientated close to perpendicular to the longitudinal axis, so the bending stiffness is low and dominated by crease folding. The results of this study will provide the necessary design insights for constructing a fully functional manipulator with the desired articulation behavior.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"2 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":"124132314","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