Journal of Mechanical Engineering and Automation最新文献_第3页

Design of a New Torso-Joint for the Humanoid Robot ARMAR 仿人机器人ARMAR新型躯干关节设计

Journal of Mechanical Engineering and Automation Pub Date : 2012-08-09 DOI: 10.5923/J.JMEA.20120204.02

C. Sander, T. Soworka, A. Albers

{"title":"Design of a New Torso-Joint for the Humanoid Robot ARMAR","authors":"C. Sander, T. Soworka, A. Albers","doi":"10.5923/J.JMEA.20120204.02","DOIUrl":"https://doi.org/10.5923/J.JMEA.20120204.02","url":null,"abstract":"The development of a humanoid robot within the scope of the Collaborative Research Center 588 (SFB 588) has the objective of creating a machine that can cooperate with humans closely. For designers, computer scientists and me- chanical and electrical engineers this development area presents great challenges. In contrast to commercial industrial ro- bots - for which mechanical rigidity, precision, high velocities and accelerations are primary requirements - the key aspects here are prevention of hazards to users, a motion space that corresponds to that of human beings, and a lightweight design. In order to meet these requirements, the robot must have humanlike appearance, motion space, and dexterity. Additionally, its kinematics should be familiar to the user, and its motions predictable, so as to encourage inexperienced persons to inter- act with the machine. The human spine offers great flexibility and is loaded with the weight of at least the whole upper body. On this account the emulation of the human upper body movement describes one of the most advanced issues in hu- manoid robot design. For the next generation of the humanoid robot ARMAR, a new concept to achieve a better flexibility in the robot's upper body movement has been done. This new torso-joint offers high stiffness, better accuracy and simulta- neously reduces weight and construction volume. Spring elements are used to save energy and to support the engines. In this paper the new mechanical design and first calculated results, considering energy saving potential and stiffness, are de- scribed in detail.","PeriodicalId":383435,"journal":{"name":"Journal of Mechanical Engineering and Automation","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133314107","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: 6

An Improved Measuring Device for Autonomous Form Measurement of Free Form Surfaces on Machining Centers 一种用于加工中心自由曲面自主形状测量的改进测量装置

Journal of Mechanical Engineering and Automation Pub Date : 2012-08-09 DOI: 10.5923/J.JMEA.20120204.03

H. Qiu, Y. Yue, Chao Lin, K. Cheng

{"title":"An Improved Measuring Device for Autonomous Form Measurement of Free Form Surfaces on Machining Centers","authors":"H. Qiu, Y. Yue, Chao Lin, K. Cheng","doi":"10.5923/J.JMEA.20120204.03","DOIUrl":"https://doi.org/10.5923/J.JMEA.20120204.03","url":null,"abstract":"The paper presents research on the improvements over an autonomous non-contact device with a vertical spindle for free form measurement which the authors developed previously. The fundamental ideas in the previous work include combining two displacement sensors with a servo motor, keeping the position of the sensor to directly measure the surface at the central value of the sensor's measuring range by controlling the motor rotation and performing scanning mo- tions with NC functions of a MC. The inspection is entirely independent of the NC apparatus of the MC. Taking into account both the measurement accuracy and efficiency, three major improvements have been made retaining the advantages of the device. These improvements include 1) introducing a new sensing method for reference position along a scanning line to separate the reference position detection from the contour profile measurement, 2) accepting an AC servo motor controlled by a speed rule to raise the capability of autonomous movement following the contour profile to be measured, and 3) adopting a new laser displacement detector to widen the applicable range for both the shape and material of the surface to be measured. To assess the performance of the improved device, verification experiments are carried out on a machining center with several samples made of different materials. The experiment results demonstrate the effectiveness of the improvements made on the device.","PeriodicalId":383435,"journal":{"name":"Journal of Mechanical Engineering and Automation","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130938356","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

Comparative Analysis of Numerically Computed Chaos Diagrams in Duffing Oscillator Duffing振荡器数值计算混沌图的比较分析

Journal of Mechanical Engineering and Automation Pub Date : 2012-08-09 DOI: 10.5923/J.JMEA.20120204.01

T. Salau, O. Ajide

{"title":"Comparative Analysis of Numerically Computed Chaos Diagrams in Duffing Oscillator","authors":"T. Salau, O. Ajide","doi":"10.5923/J.JMEA.20120204.01","DOIUrl":"https://doi.org/10.5923/J.JMEA.20120204.01","url":null,"abstract":"This study utilised optimum fractal disk dimension algorithms to characterize the evolved strange attractor (Poincare section) when adaptive time steps Runge-Kutta fourth and fifth order algorithms are employed to compute simultaneously multiple trajectories of a harmonically excited Duffing oscillator from very close initial conditions. The challenges of insufficient literature that explore chaos diagrams as visual aids in dynamics characterization strongly motivate this study. The object of this study is to enable visual comparison of the chaos diagrams in the excitation amplitude versus frequency plane. The chaos diagrams obtained at two different damp coefficient levels conforms generally in trend to literature results[1] and qualitatively the same for all algorithms. The chances of chaotic behaviour are higher for combined higher excitation frequencies and amplitudes in addition to smaller damp coefficient. Fourth and fifth order Runge-Kutta algorithms indicates respectively 62.3% and 53.3% probability of chaotic behaviour at 0.168 damp coefficient and respectively 77.9% and 78.9% at 0.0168 damp coefficient. The chaos diagrams obtained by fourth order algorithms is accepted to be more reliable than its fifth order counterpart, its utility as tool for searching possible regions of parameter space where chaotic behaviour/motion exist may require additional dynamic behaviour tests.","PeriodicalId":383435,"journal":{"name":"Journal of Mechanical Engineering and Automation","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124586259","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: 5

Modeling the Effects of Tool Probe Geometries and Process Parameters on Friction Stirred Aluminium Welds 刀具探头几何形状和工艺参数对搅拌摩擦铝焊件影响的建模

Journal of Mechanical Engineering and Automation Pub Date : 2012-08-09 DOI: 10.5923/J.JMEA.20120204.04

H. Mohanty, M. Mahapatra, Pradeep Kumar, N. Mandal

引用次数: 27

Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization SABIAN仿人机器人的改进:从设计到优化

Journal of Mechanical Engineering and Automation Pub Date : 2012-08-09 DOI: 10.5923/J.JMEA.20120204.05

G. G. Muscolo, C. Recchiuto, K. Hashimoto, P. Dario, A. Takanishi

引用次数: 13

Designing an Algorithm for Bioloid Humanoid Navigating in its Indoor Environment 生物类人在室内环境中的导航算法设计

Journal of Mechanical Engineering and Automation Pub Date : 2012-05-09 DOI: 10.5923/J.JMEA.20120203.01

J. Leon, V. Jayakumar

引用次数: 6

Vehicle Vibration Response Subjected to Longwave Measured Pavement Irregularity 长波测量路面不平整度下的车辆振动响应

Journal of Mechanical Engineering and Automation Pub Date : 2012-04-09 DOI: 10.5923/J.JMEA.20120202.04

R. S. Barbosa

引用次数: 47

Contact Stress Analysis in Rolling Bodies by Finite Element Method (FEM) Statically 静态有限元法分析滚动体接触应力

Journal of Mechanical Engineering and Automation Pub Date : 2012-04-09 DOI: 10.5923/J.JMEA.20120202.03

V. Monfared

{"title":"Contact Stress Analysis in Rolling Bodies by Finite Element Method (FEM) Statically","authors":"V. Monfared","doi":"10.5923/J.JMEA.20120202.03","DOIUrl":"https://doi.org/10.5923/J.JMEA.20120202.03","url":null,"abstract":"Analysis of contact stress in rail and wheel is very prominent in mechanical and railway engineering. In this research, numerical analysis (FEA) of contact stress for two rolling bodies is studied by finite element method (FEM). The model considers the wheel and the rail as elastic deformable bodies and requires numerical solutions. The analysis of stresses is carried out by FEM. Next, critical area in rail and wheel are determined by results of stress analysis with numerical method. So we almost can rely on this numerical method and their results for prediction of critical points. To analyse the pressure of collection of the wheel and rail, elliptical, rectangular and circular contact surfaces are assumed for this study. With these assumptions, suitable results will be achieved. The rail fracture, failure and analysis of stress should be studied to prevent rail fracture and events. The analysis of contact stress is performed by FEM and it is compared with different contact surfaces results. These contact areas can be elliptical, rectangular or circular. Also, these results can be useful for analysing of crack creation in critical points and surfaces. Finally, good agreements are found between finite element method (FEM) and pre- vious analytical results for determination of contact stress in rolling bodies.","PeriodicalId":383435,"journal":{"name":"Journal of Mechanical Engineering and Automation","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122511402","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: 15

Augmentation of Fin Natural Convection Heat Dissipation by Square Perforations 方形穿孔增强翅片自然对流散热

Journal of Mechanical Engineering and Automation Pub Date : 2012-04-09 DOI: 10.5923/J.JMEA.20120202.01

Abdullah AlEssa

引用次数: 19

A Cellular-rearranging of Population in Genetic Algorithms to Solve Assembly-Line Balancing Problem 用遗传算法求解装配线平衡问题的群体细胞重排

Journal of Mechanical Engineering and Automation Pub Date : 2012-04-09 DOI: 10.5923/J.JMEA.20120202.05

Hossein Rajabalipour Cheshmehgaz, Mohammd Ishak Desa, Farahnaz Kazemipour

{"title":"A Cellular-rearranging of Population in Genetic Algorithms to Solve Assembly-Line Balancing Problem","authors":"Hossein Rajabalipour Cheshmehgaz, Mohammd Ishak Desa, Farahnaz Kazemipour","doi":"10.5923/J.JMEA.20120202.05","DOIUrl":"https://doi.org/10.5923/J.JMEA.20120202.05","url":null,"abstract":"Assembly line balancing problem (ALBP) is the allocating of assembly tasks to workstations with consideration of some criteria such as time and the number of workstations. Due to the complexity of ALB, finding the optimum solutions in terms of the number of workstations in the assembly line needs suitable meta-heuristic techniques. Genetic algorithms have been used to a large extent. Due to converging to the local optimal solutions to the most genetic algorithms, the balanced exploration of the new area of search space and exploitation of good solutions by this kind of algorithms as a good way can be sharpened with some meta-heuristic. In this paper, the modified cellular (grid) rearranging-population structure is developed. The individuals of the population are located on cells according to the hamming distance value among individuals as neighbours before regenerations and a family of cellular genetic algorithms (CGAs) is defined. By using the cellular structure and the rearrangements, some of the family members can find better solutions compared with others in the same iterations, and they behave much more reasonably in order to acquire the solution in terms of the number of workstations and the smoothly balanced task assignment on criteria conditions.","PeriodicalId":383435,"journal":{"name":"Journal of Mechanical Engineering and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122130415","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