Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献_第5页

Design of a Compliant Hinge Based on Closed Form Pressure Balancing 基于闭式压力平衡的柔性铰链设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/DETC2020-22100

Robin F. P. Gomes

引用次数: 1

Cable-Suspended Robot for Algae Harvesting 用于藻类采集的缆绳悬浮机器人

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22053

Robert L. Williams, Jesus Pagan

引用次数: 0

Design of Tensegrity-Based Lattices With Engineered Load-Bearing and Thermal Expansion Properties 具有工程承载和热膨胀性能的张拉整体格的设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22705

Drake D. Baldwin, E. Hernandez

{"title":"Design of Tensegrity-Based Lattices With Engineered Load-Bearing and Thermal Expansion Properties","authors":"Drake D. Baldwin, E. Hernandez","doi":"10.1115/detc2020-22705","DOIUrl":"https://doi.org/10.1115/detc2020-22705","url":null,"abstract":"\u0000 Tensegrity lattices are networks of axially loaded members designed to efficiently use material and exhibit properties such as minimum mass load-carrying or energy absorption capabilities. This work entails the modeling and design of tensegrity “D-bar” lattices with specified orthotropic compressive strength. The objectives for the design of the lattices include minimum mass density and minimum error between the orthotropic coefficients of thermal expansion (CTEs) of the lattice and given target values. The studied D-bar structures are formed by joining two equal pyramids base-to-base where tensile strings form the edges of the pyramid bases and compressive bars form the remaining edges. Orthorhombic lattices having D-bars as their edges are designed to support compressive forces and exhibit positive, zero, or negative CTE values along their three principal directions. It is investigated how the geometry of the individual D-bar components may be adjusted, for the given compressive strength, to prevent local yielding and buckling failure with the minimum required material. Analytical formulas for the minimum density and the CTE of the D-bar lattices are provided, and a numerical framework for the integration of these formulas along with size and topological constraints is developed. Design trade-offs between minimum lattice density and minimum error from the target CTE, which are found to be competing structural performance metrics, are visualized and investigated.","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":"114857534","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

Generative Design of Origami-Inspired Mechanisms With a Variational Level Set Approach 基于变分水平集方法的折纸启发机构生成设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22412

Qian Ye, X. Gu, Shikui Chen

引用次数: 0

Reconstruction of Ground Reaction Force Data Using Lyapunov Floquet Theory and Invariant Manifold Theory 利用Lyapunov Floquet理论和不变流形理论重建地面反作用力数据

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22521

Sandesh G. Bhat, T. Sugar, S. Redkar

{"title":"Reconstruction of Ground Reaction Force Data Using Lyapunov Floquet Theory and Invariant Manifold Theory","authors":"Sandesh G. Bhat, T. Sugar, S. Redkar","doi":"10.1115/detc2020-22521","DOIUrl":"https://doi.org/10.1115/detc2020-22521","url":null,"abstract":"\u0000 Ground Reaction Force (GRF) is an essential gait parameter. GRF analysis provides important information regarding various aspects of gait. GRF has been traditionally measured using bulky force plates within lab environments. There exist portable force sensing units, but their accuracy is wanting. Estimation of GRF has applications in remote wearable systems for rehabilitation, to measure performance in athletes, etc. This article explores a novel method for GRF estimation using the Lyapunov-Floquet (LF) and invariant manifold theory. We assume human gait to be a periodic motion without external forcing. Using time delayed embedding, a reduced order system can be reconstructed from the vertical GRF data. LF theory can be applied to perform system identification via Floquet Transition Matrix and the Lyapunov Exponents. A Conformal Map was generated using the Lyapunov Floquet Transformation that maps the original time periodic system on a linear Single Degree of Freedom (SDoF) oscillator. The response of the oscillator system can be calculated numerically and then remapped back to the original domain to get GRF time evolution. As an example, the GRF data from an optical motion capture system for two subjects was used to construct the reduced order model and system identification. A comparison between the original system and its reduced order approximation showed good correspondence.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"32 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":"125570624","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

Triple-Cell Origami Structure for Multistable Transition Sequences 多稳定过渡序列的三细胞折纸结构

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22354

Zuolin Liu, H. Fang, Jian Xu, K. W. Wang

{"title":"Triple-Cell Origami Structure for Multistable Transition Sequences","authors":"Zuolin Liu, H. Fang, Jian Xu, K. W. Wang","doi":"10.1115/detc2020-22354","DOIUrl":"https://doi.org/10.1115/detc2020-22354","url":null,"abstract":"\u0000 With the infinite design space and the excellent folding-induced deformability, origami has been recognized as an effective tool for developing reconfigurable structures. Particularly, the multistable origami structure, which possesses more than one stable configuration that is distinct in shape and mechanical properties, has received wide research attention. Generally, the origami structure reaches a kinematic singularity point when switching among different stable configurations. At this critical state, multiple switching sequences are possible, and the actual transition is generally hard to predict. In this paper, evolving from the conventional bistable Miura-ori unit, a triple-cell origami structure with eight potential stable configurations is proposed, which serves as a platform for investigating the transition sequences among different stable configurations. To quantify the overall elastic potential of the structure, besides the conventional elastic energy originating from the rigid folding creases, extra elastic potential induced by the mismatch among the cells are introduced, so that folding of the triple-cell structure is no longer a strict single degree-of-freedom mechanism. Instead, the three cells can deform asynchronously to avoid reaching the kinematic singularity point. Hence, under displacement loading, the transition sequence of the multistable structure is predicted by performing optimization on the elastic potential energy. It shows that sequences with multifarious characteristics are possible, including reversible and irreversible transitions, and transitions with symmetric and asymmetric energy barriers. Considering that the fundamental transition mechanisms are of great significance in understanding the quasi-static and dynamic behaviors of multistable structures, the results could be potentially employed for developing morphing structures, adaptive metamaterials, and mechanical logic gates.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"3 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":"129392930","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

Evaluating Plane Curves As Constraints for Locomotion on Uneven Terrain 评估平面曲线作为不平坦地形上运动的约束

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22666

Chang Liu, Mark M. Plecnik

{"title":"Evaluating Plane Curves As Constraints for Locomotion on Uneven Terrain","authors":"Chang Liu, Mark M. Plecnik","doi":"10.1115/detc2020-22666","DOIUrl":"https://doi.org/10.1115/detc2020-22666","url":null,"abstract":"\u0000 This paper focuses on preliminary work related to the discovery of single degree-of-freedom mechanism paths useful for dynamic locomotion tasks. The objective is to bridge a gap between kinematic specifications and emerging dynamic behaviors. This is accomplished by formulating a set of ordinary differential equations that includes essential mechanism characteristics (path traced, mechanical advantage) but excludes all physical mechanism parameters (topology, link lengths). The dynamics represent a rotation constrained body propelled by a foot that is attached to that body by a user-defined path. The foot is powered by a series-elastic actuator acting through a mechanical advantage function that is defined across the length of the path. Through this framework, a range of user-defined paths were tested for effective locomotion on flat and complex terrains. Foot paths and mechanical advantage functions exist outside of any mechanical design, with the goal to discover paradigms worth instantiating into physical mechanisms, a task reserved for kinematic synthesis. This work would empower existing kinematic synthesis techniques to achieve dynamic requirements. In other words, kinematic requirements are transformed from an end to a means. Their dynamic utility would be evaluated by the framework presented in this paper rather than pursued by themselves.","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":"130899950","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

Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme 基于内部布线方案的平面多连杆电缆驱动机器人分析

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22502

V. Ramadoss, Darwin Lau, D. Zlatanov, M. Zoppi

引用次数: 3

Design of Single-DOF Immersive Upper Limb Rehabilitation System via Kinematic Mapping and Virtual Reality 基于运动映射和虚拟现实的单自由度沉浸式上肢康复系统设计

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22168

Zhao Ping, Gu Haiwei, Yating Zhang, Yuwen Chen, Deng Xueting, Haodong Chen

{"title":"Design of Single-DOF Immersive Upper Limb Rehabilitation System via Kinematic Mapping and Virtual Reality","authors":"Zhao Ping, Gu Haiwei, Yating Zhang, Yuwen Chen, Deng Xueting, Haodong Chen","doi":"10.1115/detc2020-22168","DOIUrl":"https://doi.org/10.1115/detc2020-22168","url":null,"abstract":"\u0000 Mechanical devices such as robots are widely adopted for limb rehabilitation. Due to the variety of human body parameters, the rehabilitation motion for different patients usually has its individual pattern, thus we adopt clustering-based machine learning technique to find a limited number of motion patterns for upper-limb rehabilitation, so that they could represent the large amount of those from people who have various body parameters. Using the regression motion of the clustering result as the task motion, in this paper we seek to apply kinematic-mapping-based motion synthesis framework to design a one-DOF mechanism such that it could lead the patients’ upper limb through the task motion. Also,considering rehab training generally involves a large amount of repetition in daily basis, this paper has developed an immersive rehab system with Unity3D based on Virtual Reality (VR). A patient user interface as well as an administrator user interface are presented, and a two-mode rehabilitation strategy is proposed. The construction of the integrated system and a prototype of the upper limb rehab device are also shown in the end of this paper.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"9 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":"130385106","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

Approximation of the Step-to-Step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots 步进动力学的逼近实现了腿式机器人的高效快速优化控制

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22028

Pranav A. Bhounsule, Myunghee Kim, A. Alaeddini

{"title":"Approximation of the Step-to-Step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots","authors":"Pranav A. Bhounsule, Myunghee Kim, A. Alaeddini","doi":"10.1115/detc2020-22028","DOIUrl":"https://doi.org/10.1115/detc2020-22028","url":null,"abstract":"\u0000 Legged robots with point or small feet are nearly impossible to control instantaneously but are controllable over the time scale of one or more steps, also known as step-to-step control. Previous approaches achieve step-to-step control using optimization by (1) using the exact model obtained by integrating the equations of motion, or (2) using a linear approximation of the step-to-step dynamics. The former provides a large region of stability at the expense of a high computational cost while the latter is computationally cheap but offers limited region of stability. Our method combines the advantages of both. First, we generate input/output data by simulating a single step. Second, the input/output data is curve fitted using a regression model to get a closed-form approximation of the step-to-step dynamics. We do this model identification offline. Next, we use the regression model for online optimal control. Here, using the spring-load inverted pendulum model of hopping, we show that both parametric (polynomial and neural network) and non-parametric (gaussian process regression) approximations can adequately model the step-to-step dynamics. We then show this approach can stabilize a wide range of initial conditions fast enough to enable real-time control. Our results suggest that closed-form approximation of the step-to-step dynamics provides a simple accurate model for fast optimal control of legged robots.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"12 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":"123743295","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: 8