Volume 8B: 45th Mechanisms and Robotics Conference (MR)最新文献_第5页

Geometry and Kinematics of Cylindrical Waterbomb Tessellation 圆柱水弹镶嵌的几何和运动学

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69252

Rinki Imada, Tomohiro Tachi

引用次数: 2

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology 一种新型变拓扑RR-RP混合串并联机构的运动学建模

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71189

B. Slaboch, Peter Holtzen, L. A. Rodríguez

引用次数: 0

Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover 基于Gröbner盖约束奇异轨迹的3-DOF 3-UPU平移并联机构分类

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70059

X. Kong

{"title":"Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover","authors":"X. Kong","doi":"10.1115/detc2021-70059","DOIUrl":"https://doi.org/10.1115/detc2021-70059","url":null,"abstract":"\u0000 A 3-UPU translational parallel mechanism (TPM) is one of typical TPMs. Several types of 3-UPU TPMs have been proposed in the literature. Despite comprehensive studies on 3-UPU TPMs in which the joint axes on the base and the moving platform are coplanar, only a few 3-UPU TPMs with a skewed base and moving platform have been proposed. However, the impact of link parameters on singularity loci of such TPMs has not been systematically investigated. The advances in computing CGS (comprehensive Gröbner system) or Gröbner cover of parametric polynomial systems provide an efficient tool for solving this problem. This paper presents a systematic classification of 3-UPU TPMs, especially those with a skewed base and moving platform, based on constraint singularity loci. First, the constraint singularity equation of a 3-UPU TPM is derived. To simplify this equation, the coordinate frame on the base (or moving platform) is set up such that the centers of three U joints are located on different coordinate axes. Using Gröbner Cover, the 3-UPU TPMs are classified into 20 types based on the constraint singularity loci. Finally, a novel 3-UPU TPM is proposed. Unlike most of existing 3-UPU TPMs which can transit to two or more 3-DOF operation modes at a constraint singular configuration, the proposed 3-UPU TPM can only transit to one general 3-DOF operation mode in a constraint singular configuration. The singularity locus divides the workspace of this 3-UPU TPM into two constraint singularity-free regions. This work provides a solid foundation for the design of 3-UPU TPMs and a starting point for the classification of a general 3-UPU parallel mechanism.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"18 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":"125191419","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

Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections 具有不同胞间连接类型的双胞串联Miura-Ori结构的动力学

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71939

H. Zhou, Haiping Wu, Jian Xu, H. Fang

{"title":"Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections","authors":"H. Zhou, Haiping Wu, Jian Xu, H. Fang","doi":"10.1115/detc2021-71939","DOIUrl":"https://doi.org/10.1115/detc2021-71939","url":null,"abstract":"\u0000 Origami-inspired structures and materials have shown remarkable properties and performances originating from the intricate geometries of folding. Origami folding could be a dynamic process and origami structures could possess rich dynamic characteristics under external excitations. However, the current state of dynamics of origami has mostly focused on the dynamics of a single cell. This research has performed numerical simulations on multi-stable dual-cell series Miura-Ori structures with different types of inter-cell connections based on a dynamic model that does not neglect in-plane mass. We introduce a concept of equivalent constraint stiffness k* to distinguish different types of inter-cell connections. Results of numerical simulations reveal the multi-stable dual-cell structure will exhibit a variety of complex nonlinear dynamic responses with the increasing of connection stiffness because of the deeper energy well it has. The connection stiffness has a strong effect on the steady-state dynamic responses under different excitation amplitudes and a variety of initial conditions. This effect makes us able to adjust the dynamic behaviors of dual-cell series Miura-Ori structure to our needs in a complex environment. Furthermore, the results of this research could provide us a theoretical basis for the dynamics of origami folding and serve as guidelines for designing dynamic applications of origami metastructures and metamaterials.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"72 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":"134090994","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

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment AgBug:用于行内和冠层下作物监测和评估的农业机器人平台

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-68143

R. Manish, Ze An, A. Habib, M. Tuinstra, D. Cappelleri

引用次数: 2

Earthworm-Like Planar Locomotion Robot Based on Yoshimura-Origami Structure 基于吉村折纸结构的类蚯蚓平面运动机器人

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-71868

Qiwei Zhang, Jian Xu, H. Fang

{"title":"Earthworm-Like Planar Locomotion Robot Based on Yoshimura-Origami Structure","authors":"Qiwei Zhang, Jian Xu, H. Fang","doi":"10.1115/detc2021-71868","DOIUrl":"https://doi.org/10.1115/detc2021-71868","url":null,"abstract":"\u0000 Inspired by the biological characteristics of the earthworm and the prominent deformability of origami structure, this research proposes an origami-based earthworm-like robot to achieve effective planar locomotion. Origami is attractive for building earthworm-like robots’ ‘body’ because it can exhibit excellent compliance and reduce the cost of fabrication. In this paper, we choose Yoshimura structure incorporated with hybrid actuators and anchoring mechanisms to construct the robot segment. The Yoshimura structure is composed of multiple layers and each layer is assumed to have uniform deformation. Kinematic analysis indicates that the Yoshimura structure has excellent axial and bending deformability, and the deformability is closely related to the number of layers. To control the axial and bending deformation of the robot segment individually, each segment contains two types of actuators: pneumatic balloon and SMA spring. The balloon is used to actuate the expansion and contraction of the segment, while the SMA spring is used to actuate the bending behavior of the segment. The experiment is performed to verify that the robot can achieve rectilinear and planar locomotion. Our results could lead to the development of origami-based locomotion robots and deepen our understanding of them.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"35 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":"114496214","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

Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule 分子串联6R片段的运动学建模与逆运动学

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70853

K. Arikawa

{"title":"Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule","authors":"K. Arikawa","doi":"10.1115/detc2021-70853","DOIUrl":"https://doi.org/10.1115/detc2021-70853","url":null,"abstract":"\u0000 Depending on their mobilities around bond axes, molecules (e.g., proteins, DNA, and RNA) can be modeled as robotic manipulators. We focus on the serial 6R fragments, or the fragments containing six revolute joints connected in series, extracted from these molecules. We solved the inverse kinematics problems of the fragments. We obtained multiple conformations that maintained the relative position and orientation between both ends. Raghavan and Roth’s solution effectively conveys all real solutions. However, the solution is not directly applicable when some link lengths are zeros. To cope with the problem, in addition to the known method based on the modified elimination, we introduced the small-length link strategy. Here, by setting sufficiently small values for the zero-length links, we solved the inverse kinematics problems based on Raghavan and Roth’s solution combined with the symbolic formulation. Moreover, we formulated a method to systematically build manipulator models from structural data of molecules. We systematically identified the Danavit-Hartenberg parameters (link length, offset, and twist angle) and joint angles at the conformation in the structural data from the seven pairs of positions of atoms. Finally, using the structural data of a protein stored in the protein data bank, we demonstrated an application example of kinematic modeling and inverse kinematics calculation.","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":"116166590","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

Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down 廉价、安全、永不坠落的浮力辅助机器人的介绍与初步研究

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-70631

M. D. Williams, D. Hong

{"title":"Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down","authors":"M. D. Williams, D. Hong","doi":"10.1115/detc2021-70631","DOIUrl":"https://doi.org/10.1115/detc2021-70631","url":null,"abstract":"\u0000 We introduce and define a new family of mobile robots called BAR (Buoyancy Assisted Robots) that are cheap, safe, and will never fall down. BARs utilize buoyancy from lighter-than-air gases as a way to support the weight of the robot for locomotion. A new BAR robot named BLAIR (Buoyant Legged Actuated Inverted Robot) whose buoyancy is greater than its weight is also presented in this paper. BLAIRs can walk “upside-down” on the ceiling, providing unique advantages that no other robot platforms can. Unlike other legged robots, the mechanics of how BARs walk is fundamentally different. We also perform a preliminary investigation for BARs. This includes comparing safety, cost, and energy consumption with other commercially available robots. Additionally, the preliminary investigation also includes analyzing previous works relating to BARs. A dynamical analysis is performed on the novel robot BLAIR. This is presented to show the impacts of buoyant and drag forces on BLAIRs. Preliminary analysis with the prevalence of drag is presented with simulations using a genetic algorithm and simulations. Results show that BARs with different mechanisms prefer different styles of walking gaits such as prancing or skipping. This work lays the foundation for future research work on the gaits for BARs.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"29 12 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":"127783040","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

Grooved Cam With a Translating Follower Having an Added Ternary-Roller Intermediate Link 带有附加三滚子中间连杆的平移从动件的槽形凸轮

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-69734

Kuan-Lun Hsu, Tung-Hsin Pan, Long-Iong Wu

{"title":"Grooved Cam With a Translating Follower Having an Added Ternary-Roller Intermediate Link","authors":"Kuan-Lun Hsu, Tung-Hsin Pan, Long-Iong Wu","doi":"10.1115/detc2021-69734","DOIUrl":"https://doi.org/10.1115/detc2021-69734","url":null,"abstract":"\u0000 The paper presents an analytical approach for designing grooved cam mechanisms with a modified arrangement of the common translating follower. That is, an extraneous intermediate link that has three rollers is added between the cam and the common follower. On the basis of an existing cam mechanism with a common roller follower, an extraneous intermediate link that has three rollers is added between the cam and the common follower. Such a cam mechanism has two set of profile and can creating multiple contact points between the cam and the follower at any instant. The two sets of profiles of such a cam mechanism can serve as the grooved types. Since the follower has three rollers that can simultaneously contact the cam at any instant, it can be positive driven along the guided groove of cam contour. The contact forces and contact stresses of such cam mechanisms are analyzed to illustrate the advantage of spreading force transmission and reducing contact stress of this uncommon follower. The obtained results indicate that the contact stress at the surface of the cam and the follower for such a cam mechanism can be reduced by 34% to 42% in comparison to those of cam mechanism with a common translating roller follower.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"119 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":"121371156","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

An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation 连杆机构有限自由度的解析条件及其计算评价

Volume 8B: 45th Mechanisms and Robotics Conference (MR) Pub Date : 2021-08-17 DOI: 10.1115/detc2021-67468

A. Müller

{"title":"An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation","authors":"A. Müller","doi":"10.1115/detc2021-67468","DOIUrl":"https://doi.org/10.1115/detc2021-67468","url":null,"abstract":"\u0000 The finite degree of freedom (DOF) of a mechanism is determined by the number of independent loop constraints. In this paper a method is introduced to determine the maximal number of loop closure constraints (which is independent of a specific configuration) of multi-loop linkages and is applied to calculate the finite DOF. It rests on an algebraic condition on the joint screws and the corresponding computational algorithm to determine the maximal rank of the constraint Jacobian in an arbitrary (possibly singular) reference configuration, making use of the analytic condition that minors of certain rank and their higher derivatives vanish. Unlike the Lie group methods for estimation the DOF of so-called exceptional linkages, this method does not rely on partitioning kinematic loops into partial kinematic chains, and it is applicable to multi-loop linkages. The DOF computed with this method is at least as accurate as the DOF computed with the Lie group methods. It gives the correct DOF for any (possibly overconstrained) linkage where the constraint Jacobian has maximal rank in regular configurations. The so determined maximal rank has further significance for classifying linkages as being exceptional or paradoxical, but also for detecting singularities and shaky linkages.","PeriodicalId":429634,"journal":{"name":"Volume 8B: 45th Mechanisms and Robotics Conference (MR)","volume":"13 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":"127982493","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