Volume 8B: 45th Mechanisms and Robotics Conference (MR)最新文献_第2页

Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem 基于两点边值问题二次多项式模型的五连杆双足机器人最优控制

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70733

Ernesto Hernandez-Hinojosa, A. Satici, Pranav A. Bhounsule

{"title":"Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem","authors":"Ernesto Hernandez-Hinojosa, A. Satici, Pranav A. Bhounsule","doi":"10.1115/detc2021-70733","DOIUrl":"https://doi.org/10.1115/detc2021-70733","url":null,"abstract":"\u0000 To walk over constrained environments, bipedal robots must meet concise control objectives of speed and foot placement. The decisions made at the current step need to factor in their effects over a time horizon. Such step-to-step control is formulated as a two-point boundary value problem (2-BVP). As the dimensionality of the biped increases, it becomes increasingly difficult to solve this 2-BVP in real-time. The common method to use a simple linearized model for real-time planning followed by mapping on the high dimensional model cannot capture the nonlinearities and leads to potentially poor performance for fast walking speeds. In this paper, we present a framework for real-time control based on using partial feedback linearization (PFL) for model reduction, followed by a data-driven approach to find a quadratic polynomial model for the 2-BVP. This simple step-to-step model along with constraints is then used to formulate and solve a quadratically constrained quadratic program to generate real-time control commands. We demonstrate the efficacy of the approach in simulation on a 5-link biped following a reference velocity profile and on a terrain with ditches. A video is here: https://youtu.be/-UL-wkv4XF8.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"287 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133085536","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

Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block 一种用于柔性砌块的Kresling塔的合成方法

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68904

J. Berre, F. Geiskopf, L. Rubbert, P. Renaud

引用次数: 1

Spatial Mechanism-Environment Contact Geometric Models 空间机制-环境接触几何模型

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71380

N. Robson, Aaron W. F. Lee

{"title":"Spatial Mechanism-Environment Contact Geometric Models","authors":"N. Robson, Aaron W. F. Lee","doi":"10.1115/detc2021-71380","DOIUrl":"https://doi.org/10.1115/detc2021-71380","url":null,"abstract":"\u0000 This work proposes a theoretical foundation for a general spatial geometric mechanism-environment contact model. In the proposed model the curvature of the environment in the vicinity of the contact is approximated by a number of spherical surfaces with known radii of curvature that constrain/define the movement of the body. We show how the modeled body-environment contact and curvature constraints can be transformed into conditions on spatial velocity and acceleration (i.e. first and second order effects) of certain points of the moving body that can be incorporated in the kinematic task for designing spatial mechanisms. Further, we explore the exact synthesis of a spatial six degrees-of-freedom TPS kinematic chain which end-effector maintains contact with objects in the environment and varies orientation in the vicinity of a contact location. It is discussed how the higher order motion constraints allow for the introduction of kinematic task variations in the vicinity of a contact, resulting in different behaviors of the designed spatial mechanism. The theoretical foundation presented in this paper is crucial in gaining understanding of the constraints in describing mechanism-environment interactions in the vicinity of a contact and is a new contribution.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114808202","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

Precise and Effective Robotic Tool Change Strategy Using Visual Servoing With RGB-D Camera 基于RGB-D相机视觉伺服的机器人精确有效换刀策略

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-72123

Danming Wei, Christopher M. Trombley, A. Sherehiy, D. Popa

{"title":"Precise and Effective Robotic Tool Change Strategy Using Visual Servoing With RGB-D Camera","authors":"Danming Wei, Christopher M. Trombley, A. Sherehiy, D. Popa","doi":"10.1115/detc2021-72123","DOIUrl":"https://doi.org/10.1115/detc2021-72123","url":null,"abstract":"\u0000 In modern industrial manufacturing processes, robotic manipulators are routinely used in the assembly, packaging, and material handling operations. During production, changing end-of-arm tooling is frequently necessary for process flexibility and reuse of robotic resources. In conventional operation, a tool changer is sometimes employed to load and unload end-effectors, however, the robot must be manually taught to locate the tool changers by operators via a teach pendant. During tool change teaching, the operator takes considerable effort and time to align the master and tool side of the coupler by adjusting the motion speed of the robotic arm and observing the alignment from different viewpoints. In this paper, a custom robotic system, the NeXus, was programmed to locate and change tools automatically via an RGB-D camera. The NeXus was configured as a multi-robot system for multiple tasks including assembly, bonding, and 3D printing of sensor arrays, solar cells, and microrobot prototypes. Thus, different tools are employed by an industrial robotic arm to position grippers, printers, and other types of end-effectors in the workspace. To improve the precision and cycle-time of the robotic tool change, we mounted an eye-in-hand RGB-D camera and employed visual servoing to automate the tool change process. We then compared the teaching time of the tool location using this system and compared the cycle time with those of 6 human operators in the manual mode. We concluded that the tool location time in automated mode, on average, more than two times lower than the expert human operators.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121380430","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: 4

Approximating Hinges With Multimaterial Compliant Joints 用多材料柔性关节逼近铰链

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67865

Independence Talken, Zijuan Liang, Mark M. Plecnik

{"title":"Approximating Hinges With Multimaterial Compliant Joints","authors":"Independence Talken, Zijuan Liang, Mark M. Plecnik","doi":"10.1115/detc2021-67865","DOIUrl":"https://doi.org/10.1115/detc2021-67865","url":null,"abstract":"\u0000 This paper investigates the use of multimaterial compliant joints produced through additive manufacturing in order to approximate a revolute joint. Compliant joints benefit from low friction and reduced wear, but at the cost of increased joint stiffness, reduced range of motion, and a reduced ability to resist loading. In addition, they might also provide a poor approximation of the revolute joints they intend to replace. In this paper, we experiment with three multimaterial compliant joint configurations. The first joint emphasizes accurate kinematics, the second joint aims to reduce axis-aligned stiffness, and the third joint compromises between the two. Samples were fabricated on a desktop 3D printer using PLA (polylactic acid) as the rigid material and TPU (thermoplastic polyurethane) for its flexibility. Samples were measured for tensile stiffness, torsional stiffness, range of motion, and approximation of a hinge motion. Our results indicate design trade offs where joints that measure most ideal for one property will be least ideal for another. The most novel design in this paper straddles this trade off. In the end, the suitability of each joint design is determined by the loading, accuracy, and range of motion requirements posed by a given application.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"153 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121311509","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

Trajectory Planning for a 3-SPS-U Tensegrity Mechanism 3-SPS-U张拉整体机构轨迹规划

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69957

Swaminath Venkateswaran, D. Chablat

{"title":"Trajectory Planning for a 3-SPS-U Tensegrity Mechanism","authors":"Swaminath Venkateswaran, D. Chablat","doi":"10.1115/detc2021-69957","DOIUrl":"https://doi.org/10.1115/detc2021-69957","url":null,"abstract":"\u0000 This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125331609","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

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function 具有移动和操纵混合功能的驱动协调移动并联机器人

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70081

D. Gan, Jiaming Fu, M. Rastgaar, B. Min, R. Voyles

{"title":"Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function","authors":"D. Gan, Jiaming Fu, M. Rastgaar, B. Min, R. Voyles","doi":"10.1115/detc2021-70081","DOIUrl":"https://doi.org/10.1115/detc2021-70081","url":null,"abstract":"\u0000 Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. The common motion of the wheels will provide the mobile function while their differentiation will actuate the parallel manipulator function. This new concept reduces the actuation requirement and increases the manipulation accuracy and mobile motion stability through the coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by the kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications and other operations in extreme environment such as nuclear plants, Mars, etc.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131393923","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

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger 三自由度机器人手指预弯曲运动策略分析

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67340

Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Z. Deng

{"title":"Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger","authors":"Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Z. Deng","doi":"10.1115/detc2021-67340","DOIUrl":"https://doi.org/10.1115/detc2021-67340","url":null,"abstract":"\u0000 Motion strategy analysis at the pre-bending stage is a fundamental component of underactuated finger grasp research. This study presents the pre-bending motion strategy and corresponding analysis of cable driving forces a 3-DOF underactuated finger comprising cable truss units. This robotic finger uses a tendon-pulley transmission and parallel four-linkage mechanism to realize the grasp capability. The structure and four motion strategies at the pre-bending stage are illustrated. The equivalent joint-driven and quasi-static motion models are established in the case where one or two cable driving forces drive the finger. In accordance with the virtual work principle, the tendon-pulley transmission is transformed into an equivalent joint-driven system. On the basis of the constraints of maximum motion space of the finger, the joint spring stiffness distributions are discussed and the finger quasi-static motion space is analyzed under the condition of single motor driving force. The unique coupled motion process and corresponding cable driving force of the finger driven by a single motor are assessed. Furthermore, three other typical quasi-static motion strategies and their corresponding cable driving forces are discussed. Valid simulation experiments are conducted to verify the accuracy of the quasi-static motion strategy. The analysis of this study can provide guidance and a theoretical reference for the design of cable-driven underactuated hands and control of the couple-driven underactuated mechanism.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128487212","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

A Numerical and Experimental Study on the Energy Absorption Characteristics of Deployable Origami Tubes 可展开折纸管吸能特性的数值与实验研究

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-66723

Zhongyuan Wo, Julia Raneses, E. Filipov

{"title":"A Numerical and Experimental Study on the Energy Absorption Characteristics of Deployable Origami Tubes","authors":"Zhongyuan Wo, Julia Raneses, E. Filipov","doi":"10.1115/detc2021-66723","DOIUrl":"https://doi.org/10.1115/detc2021-66723","url":null,"abstract":"\u0000 Energy absorption devices are widely used to mitigate damage from collisions and impact loads. Due to the inherent uncertainty of possible impact characteristics, passive energy absorbers with fixed mechanical properties are not capable of serving in versatile application scenarios. Here, we explore a deployable design concept where origami tubes can extend, lock, and are intended to absorb energy through crushing (buckling and plasticity). This system concept is unique because origami deployment can increase the crushing distance between two impacting bodies and can tune the energy absorption characteristics. We show that the stiffness, peak crushing force, and total energy absorption of the origami tubes all increase with the deployed state. We present numerical and experimental studies that investigate these tunable behaviors under both static and dynamic scenarios. The energy-absorbing performance of the deployed origami tubes is slightly better than conventional prismatic tubes in terms of total absorbed energy and peak force. When the origami tubes are only partially deployed, they exhibit a nearly-elastic collapse behavior, however, when they are locked in a more deployed configuration they can experience non-recoverable crushing with higher energy absorption. Parametric studies reveal that the geometric design of the tube can control the nonlinear relationship between energy absorption and deployment. This concept for deployable energy-absorbing origami tubes can enable future protective systems with on-demand properties for different impact scenarios.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126209311","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

Serial Chain of Rigid Origami That Extends, Bends and Turns 系列链刚性折纸延伸，弯曲和转动

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67013

Haruto Kamijo, Tomohiro Tachi

引用次数: 0