Volume 10: 44th Mechanisms and Robotics Conference (MR)最新文献_第6页

Eight-Cable Robocrane Extension for NASA JSC ARGOS NASA JSC ARGOS八缆机械起重机扩展

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22052

Robert L. Williams, E. Graf

引用次数: 0

Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot 协作机器人导通式教学规划的零力矩控制

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22510

S. Canfield, J. Owens, Stephen G. Zuccaro

{"title":"Zero Moment Control for Lead-Through Teach Programming on a Collaborative Robot","authors":"S. Canfield, J. Owens, Stephen G. Zuccaro","doi":"10.1115/detc2020-22510","DOIUrl":"https://doi.org/10.1115/detc2020-22510","url":null,"abstract":"\u0000 Robots are commonly used for automated welding in many industries such as automotive manufacturing. The complexity and time of programming presents an obstacle in using robotic automation in welding or other tasks for small to medium enterprises that lack resources for training or expertise in traditional robot programming strategies. It also dictates a high level of repeated parts to offset the cost of weld programming. Collaborative Robots or Cobots are robots designed for more collaborative operations with humans. Cobots permit new methods of task instruction (programming) through direct interaction between the operator and robot. This paper presents a model and calibration strategy for a collaborative robot to aid intuitive teaching methods for tasks such as welding. The method makes use of a torque estimation model based on robot momentum to create an observer to evaluate external forces. The torque observer is first used to characterize the friction that exists within the robot joints. This data is used to define the parameters of a friction model that combines static, Coulomb and viscous friction properties with a sigmoid function to represent transition between motion states and a second level Fourier series to represent position dependency of the Coulomb friction terms. The friction model is then integrated into the robot control and used to provide a mode in which the robot can be easily dragged around the workspace to provide weld path training.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"26 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":"125862963","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

Dynamic Modeling and Transient Analysis of a Deployable Miura-Origami Tube 可展开三浦折纸管的动力学建模与瞬态分析

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22221

Haiping Wu, Jian Xu, Lifen Chen, H. Fang

{"title":"Dynamic Modeling and Transient Analysis of a Deployable Miura-Origami Tube","authors":"Haiping Wu, Jian Xu, Lifen Chen, H. Fang","doi":"10.1115/detc2020-22221","DOIUrl":"https://doi.org/10.1115/detc2020-22221","url":null,"abstract":"\u0000 Origami provides a rich library and unique benefits for developing deployable structures. Comparing with the vast amount of progress in pattern design, static configuration analysis, and folding kinematics, research on the dynamics of origami deployable structures remains at the early stage. This paper presents our effects in developing an effective and addressable dynamic model for studying the transient dynamics of a Miura-origami tube consisting of stacked Miura-ori (SMO) cells. The Miura-ori tube, in an ideal scenario, is rigid-foldable and flat-foldable, and its folding can be described via a single-degree-of-freedom (DOF) mechanism. However, practically, these features cannot be fully satisfied in a real prototype. In this research, five assumptions are proposed for dynamic modeling purposes, which, on one hand, retain the key characteristics of folding, and on the other hand, significantly simplify the problem. With the five assumptions and based on the Lagrange Equation for the general case, the governing equation of the Miura-ori tube can be derived. Taking a six-cell Miura-ori tube under free deployment as an example, numerical analyses reveal that in addition to the decayed vibrations in the deploying direction, the tube would also exhibit significant transverse vibrations. The transient dynamics in both the deploying and the transverse directions can be quantified by the overshoot values and the settling times. Moreover, by increasing the additionally-introduced crease torsional stiffness, which is used to constrain the deviation between the folding of adjacent half SMO cells, the multiple-DOF dynamic model would degenerate into the single-DOF dynamic model. In such a scenario, only vibrations in the deploying direction are possible. The constructed model and the preliminary understanding of the transient dynamics could provide useful guidelines for designing and optimizing origami-based tubular deployable structures.","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":"116095475","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

Six-Bar Linkages With Compliant Mechanisms for an Adaptive Robot 自适应机器人的柔性六杆机构

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22546

M. Pieber, J. Gerstmayr

{"title":"Six-Bar Linkages With Compliant Mechanisms for an Adaptive Robot","authors":"M. Pieber, J. Gerstmayr","doi":"10.1115/detc2020-22546","DOIUrl":"https://doi.org/10.1115/detc2020-22546","url":null,"abstract":"\u0000 Programmable structures are formed by autonomous and adaptive triangular cells. However, they are composed of a large number of parts, specifically bearings, which make them laborious to manufacture and expensive. An essential part of these programmable structures are six-bar linkages, which allow to build cells that can preserve the underlying geometry of a triangular mesh. A major improvement, which is the main part of this paper, is to replace the joints of the six-bar-linkage by a compliant mechanism, which allows to manufacture them as one 3D printable part. A multibody system formulation is setup with the model of the compliant mechanisms, treating every joint either ideal or compliant with the given stiffness parameters. The multi-body formulation furthermore allows to include friction as well as an actuator model in a straight-forward manner. The overall stiffness parameter of the real system is then identified from a comparison with an experimental setup of a real compliant triangular cell. Finally, the model is used to show the deviations of a medium-scaled programmable structure with respect to the idealized behavior. The present paper marks a relevant step towards the realization of larger programmable structures as well as the development of 3D programmable structures.","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":"126484339","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 Analysis of a Programmable Rotational Element Utilizing Coupled Kresling Origami Modules 利用耦合Kresling折纸模块的可编程旋转元件的设计与分析

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22017

Zhen Li, N. Kidambi, Liangmo Wang, Kon-Well Wang

{"title":"Design and Analysis of a Programmable Rotational Element Utilizing Coupled Kresling Origami Modules","authors":"Zhen Li, N. Kidambi, Liangmo Wang, Kon-Well Wang","doi":"10.1115/detc2020-22017","DOIUrl":"https://doi.org/10.1115/detc2020-22017","url":null,"abstract":"\u0000 Origami–inspired designs are being explored extensively for structural and material applications in a variety of different engineering fields because of their attractive kinematic and mechanical properties, design flexibility, and multi-functionality. However, most if not all of these studies have focused on translational motions. Utilizing origami in replacing or enhancing torsional components, such as joints, shafts and motors, has received little attention. With this in mind, this research introduces an origami-inspired rotational element via a coupled Kresling modular design (CKMD). Two Kresling origami modules with opposite chirality are integrated, achieving pure rotational motion between two ends of polygon surfaces. A model with nondimensionalized parameters is developed and a key design variable (natural height ratio) is varied to investigate the kinematic and mechanical properties of CKMD. Results show that these properties can be tailored by strategic selection of the natural height ratio, which alters the energy landscapes of both Kresling modules and leads to qualitatively distinct mechanical responses. Further investigation shows that the rotational stability characteristics of CKMD — monostability, symmetric and asymmetric bistability — may be programmed in a similar manner. Design guidelines are discussed, and the outcomes lay the foundation for integrating programmable, origami-inspired, rotational components in mechanical systems.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"228 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":"134140166","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

Hybrid Soft-Rigid Deployable Structure Inspired by Thick-Panel Origami 受厚板折纸启发的混合软-刚性可展开结构

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22246

Chenying Liu, P. Maiolino, Yunfang Yang, Z. You

引用次数: 2

Analysis and Study of Variable Stiffness Joints Based on Bi-Material Nested Elastomers 基于双材料嵌套弹性体的变刚度接头分析与研究

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22160

Wei Sun, Jingjun Yu, Yueri Cai

{"title":"Analysis and Study of Variable Stiffness Joints Based on Bi-Material Nested Elastomers","authors":"Wei Sun, Jingjun Yu, Yueri Cai","doi":"10.1115/detc2020-22160","DOIUrl":"https://doi.org/10.1115/detc2020-22160","url":null,"abstract":"\u0000 Variable stiffness joints are a kind of compliant mechanisms which can improve the safety of physical human-robot interaction which has attracted much attention in recent years. Elastic elements are used in the internal kinematic structures of variable stiffness joints. In this paper, Elastomers with magneto-rheological fluids (MRFs) properties have great potential application for variable stiffness joints (VSJs) and implantable bioelectronics devices by allowing actuators to rapidly and reversibly changed from a “fluid” to a “solid-like” state and precisely controlled within a very short time and over a wide range under a magnetic field. A new adjustable stiffness composites (ASCs) that combine an outside liner (PDMS) with a chamber (MRFs) is introduced. When improving the magnetic field intensity, the MRFs hardens and the stiffness increases by as much as 4–5 orders of magnitude. In order to solve the bi-material nested cantilever beam subjected to a concentrated tangential force at the free end of the beam, a theoretical approach is proposed by means of the Airy stress function method together with the stress function test solution. By comparing the results obtained from the theoretical and experimental measurements, a very good agreement is found, showing the accuracy and feasibility of the theoretical results. This solution will be useful in analyzing cantilever beam with arbitrary variations of bi-material nested and it can serve as a basis for establishing stiffness and stress theories. Due to the highly deformable of the ASCs, it has great potentially for our future soft robot design and manufacture work.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"19 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":"125227660","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

The Stability and Stiffness Analysis of a Dual-Triangle Planar Rotation Mechanism 双三角形平面旋转机构的稳定性和刚度分析

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22076

Wanda Zhao, A. Pashkevich, A. Klimchik, D. Chablat

引用次数: 4

Tuning Stiffness Nonlinearity: Theory and Applications 调谐刚度非线性:理论与应用

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22227

M. Zanaty, I. Vardi, S. Henein

引用次数: 0

The Influence of Heat Exchanges on Friction in Robotic Joints: Theoretical Modelling, Identification and Experiments 热交换对机器人关节摩擦的影响:理论建模、辨识与实验

Volume 10: 44th Mechanisms and Robotics Conference (MR) Pub Date : 2020-08-17 DOI: 10.1115/detc2020-22347

R. Pagani, G. Legnani, G. Incerti, M. Beschi, M. Tiboni

引用次数: 1