Journal of Mechanisms and Robotics最新文献_第3页

A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree of Freedom Mechanisms to Avoid Singularities 避免奇异性的可 P 驱动空间单自由度机构运动合成方法学

Journal of Mechanisms and Robotics Pub Date : 2024-04-01 DOI: 10.1115/1.4065237

Mohammad Z. Khan, Jian Liu, D. Myszka, Andrew P. Murray

{"title":"A Kinematic Synthesis Methodology for P-Drivable Spatial Single Degree of Freedom Mechanisms to Avoid Singularities","authors":"Mohammad Z. Khan, Jian Liu, D. Myszka, Andrew P. Murray","doi":"10.1115/1.4065237","DOIUrl":"https://doi.org/10.1115/1.4065237","url":null,"abstract":"\u0000 For a single degree of freedom spatial mechanism, a reference frame attached to any of its links produces a continuous motion of this frame. Given the progression of this frame from the start through the end of the mechanism's motion, this paper seeks to identify specific points relative to this moving reference frame. The points of interest are those that can be coupled with a second point determined in the fixed frame to act as the end joint locations for a spherical-prismatic-spherical (SPS) driving chain. If the selection of the point pair is made such that the change in distance between them as the mechanism moves is strictly monotonic, then the SPS chain they define is potentially capable of driving the mechanism over the desired range of motion. This motion is referred to as locally P-drivable because a global solution is not ensured by the process proposed herein. This synthesis process can avoid singularities encountered by actuating the mechanism at one of its original joints. The proposed approach enables the dimensional synthesis of a single degree-of-freedom mechanism to focus on creating circuit-defect-free solutions without concern for potential singular positions. The actuating chain can then be determined as a separate step in the synthesis process. This paper also considers motions that are not P-drivable and the specialization to planar systems with the synthesis of a P-drivable RPR chain.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140760932","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

Hydrodynamic performance research of underwater oscillating fin with the compound locomotion of two modes 双模复合运动水下振动鳍的水动力性能研究

Journal of Mechanisms and Robotics Pub Date : 2024-03-19 DOI: 10.1115/1.4065137

Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jianzhong Shang, Zirong Luo

{"title":"Hydrodynamic performance research of underwater oscillating fin with the compound locomotion of two modes","authors":"Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jianzhong Shang, Zirong Luo","doi":"10.1115/1.4065137","DOIUrl":"https://doi.org/10.1115/1.4065137","url":null,"abstract":"\u0000 The fish-like propulsion robot is becoming a profound intelligent equipment due to its excellent swimming ability and good environmental adaptability. In this paper, we propose the oscillating fin based on the fish-swimming mechanism which compounded with the locomotion modes of sway and yaw. The kinematic and dynamic models are established to study the locomotion mechanism of the oscillating fin. The hydrodynamic performance of the underwater locomotion is investigated to analyze the velocity, the propulsive force, the pressure, the propulsive efficiency and the vortices property. Finally, the experimental measurements of the robot with oscillating fin propulsion are carried out to analyze the underwater propulsion of the oscillating fin and the unsteady fluid flow with Strouhal Number. The results illustrate that the propulsive force is fluctuating and the velocity is increasing to the maximum value. The underwater propulsion velocity could reach 1.2 m/s in the period time of 0.4s. Besides, the high and low pressure regions change alternatively and the fin deforming process which illustrate the vortices property and the locomotion mechanism analyses. The propulsive efficiency of the oscillating fin with compound waves is increased by 11% compared with that of the one without deformation. The experiments of the robot prototype verifies the numerical simulation and the propulsive velocity with the period of 0.4s is two times larger than that of the period of 0.8s. The Strouhal Number of each motion mode is obtained through theoretical and experimental analyses.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140228232","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

Topology Optimization of a Compliant Constant-Force End Effector for Robotic Operations over Uneven Surfaces 用于在不平整表面上进行机器人操作的顺应式恒力末端执行器的拓扑优化

Journal of Mechanisms and Robotics Pub Date : 2024-03-18 DOI: 10.1115/1.4065119

Chih-Hsing Liu, Yuan-Ping Ho, Jui-Chih Chi

{"title":"Topology Optimization of a Compliant Constant-Force End Effector for Robotic Operations over Uneven Surfaces","authors":"Chih-Hsing Liu, Yuan-Ping Ho, Jui-Chih Chi","doi":"10.1115/1.4065119","DOIUrl":"https://doi.org/10.1115/1.4065119","url":null,"abstract":"\u0000 A compliant constant-force mechanism (CCFM) is a specific type of compliant mechanism that serves as a passive force regulation device. When subjected to a load, it undergoes deformation, resulting in an almost consistent output force regardless of changes in input displacement. Traditional methods used to design CCFMs typically rely on either stiffness combination or geometric optimization based on existing design configurations. To enable the direct synthesis of CCFMs according to desired boundary conditions, this study proposes a systematic topology optimization method to accomplish this objective. Using this approach, a CCFM suitable for end effector applications is designed and manufactured through 3D printing. Four of these CCFMs are then utilized to create an innovative compliant constant-force end effector for robotic operations on uneven surfaces. The experimental results demonstrate that the presented design achieves output force modulation through elastic deformation, eliminating the need for additional sensors and controllers to regulate the output force. The presented design can be mounted on a robotic arm to provide overload protection and maintain a consistent force output during operation when encountering irregular and uneven surfaces.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140233814","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

Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators 基于光线的优化方法，用于确定运动冗余机械手的工作空间

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065071

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne

{"title":"Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators","authors":"Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne","doi":"10.1115/1.4065071","DOIUrl":"https://doi.org/10.1115/1.4065071","url":null,"abstract":"\u0000 Determining the workspace of a robotic manipulator is highly significant for knowing its abilities and planning the robot application. Several techniques exist for robot workspace determination. However, these methods are usually affected by computational redundancy, like in the Monte Carlo based method case, and their implementation can be complex. The workspace analysis of kinematic redundant manipulators is even more complex. This paper proposes a kinematically optimized ray-based workspace determination algorithm based on a simple idea and not affected by computational redundancy. The proposed method can be applied to any serial robot but is tested only on spatial kinematic redundant robots. The results show how the approach can correctly determine the robot workspace boundaries in a short time. Then, the correctness and computational time of the proposed optimized ray-based method are compared to pseudo-inverse Jacobian ray-based and Monte Carlo methods. The comparison demonstrates that the proposed method has better results in a shorter time. Finally, some limitations of the proposed algorithm are discussed.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140242763","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

Design and Optimization of a Wearable Under-actuated Mechanism for Spinal Posture Measurement 设计和优化用于脊柱姿势测量的可穿戴欠动机构

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065075

Ming-Chang Hsu, Hsuan-Yu Chen, Christina Soong, Ting-Jen Yeh

引用次数: 0

Type synthesis of a 3-DOF wrist applying the coupled-input cable-driven parallel robot 应用耦合输入电缆驱动并联机器人的 3-DOF 手腕类型合成

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065083

Shibo Liu, Jiangping Mei, Panfeng Wang, Fang Guo, Jiaxing Li, Shuai Wang, Ruizhi Wang

引用次数: 0

NEAR-ZERO PARASITIC SHIFT FLEXURE PIVOTS BASED ON COUPLED N-RRR PLANAR PARALLEL MECHANISMS 基于耦合 n-rrr 平面并联机构的近零寄生位移挠性枢轴

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065074

Loïc Tissot-Daguette, Florent Cosandier, E. Thalmann, S. Henein

{"title":"NEAR-ZERO PARASITIC SHIFT FLEXURE PIVOTS BASED ON COUPLED N-RRR PLANAR PARALLEL MECHANISMS","authors":"Loïc Tissot-Daguette, Florent Cosandier, E. Thalmann, S. Henein","doi":"10.1115/1.4065074","DOIUrl":"https://doi.org/10.1115/1.4065074","url":null,"abstract":"\u0000 Flexure pivots, which are widely used for precision mechanisms, generally have the drawback of presenting parasitic shifts accompanying their rotation. The known solutions for canceling these undesirable parasitic translations usually induce a loss in radial stiffness, a reduction of the angular stroke, and nonlinear moment-angle characteristics. This article introduces a novel family of kinematic structures based on coupled n-RRR planar parallel mechanisms which presents exact zero parasitic shifts, while alleviating the drawbacks of some known pivoting structures. Based on this invention, three symmetrical architectures have been designed and implemented as flexure-based pivots. The performance of the newly introduced pivots has been compared with two known planar flexure pivots having theoretically zero parasitic shift via Finite Element models and experiments performed on plastic mockups. The results show that the newly introduced flexure pivots are an order of magnitude radially stiffer than the considered pivots from the state of the art, while having equivalent angular strokes. To experimentally evaluate the parasitic shift of the novel pivots, one of the architectures was manufactured in titanium alloy using wire-cut electrical discharge machining. This prototype exhibits a parasitic shift under 1.5 µm over a rotation stroke of ±15°, validating the near-zero parasitic shift properties of the presented designs. These advantages are key to applications such as mechanical time bases, surgical robotics, or optomechanical mechanisms.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140241974","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

Form-finding and evaluation of spherical tensegrity towards applying in locomotive robots 应用于机车机器人的球形张弦结构的寻形与评估

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065072

Meijia Wang, Yafeng Wang, Xian Xu

{"title":"Form-finding and evaluation of spherical tensegrity towards applying in locomotive robots","authors":"Meijia Wang, Yafeng Wang, Xian Xu","doi":"10.1115/1.4065072","DOIUrl":"https://doi.org/10.1115/1.4065072","url":null,"abstract":"\u0000 A tensegrity-based robot is a locomotive robot that operates on the principle of tensegrity, allowing it to change its shape by adjusting its internal prestress. Tensegrity-based robots can be categorized into different types based on their shape, with the spherical tensegrity-based robot garnering the most attention. However, existing designs for spherical tensegrity-based robots tend to be relatively simple and lack standardized criteria for evaluating their performance. This paper proposes an optimization approach using the force density method to design new spherical regular tensegrity configurations. This is achieved by parameterizing the topology and configuration of the structure, taking into account structural symmetry and the even distribution of internal forces. The proposed approach not only generates classical tensegrities but also novel configurations suitable for locomotive robots. To preliminary evaluate the suitability of classical tensegrities and novel tensegrities to be used as a rolling robot, a set of performance indexes including inner space, compactability, prestress evenness, gait repeatability, tilt stability ratio, stride length, and path efficiency are proposed. The proposed indexes can be quickly determined based on the geometry of the tensegrity and thus are useful in the conceptual selection of the spherical tensegrities for rolling robots. They are used to evaluate a set of six spherical tensegrities. Numerical simulations are carried out to verify the feasibility of geometry-based approximating the gait-dependent indexes. Through the evaluation, a novel spherical tensegrity consisting of 15 struts and 60 tendons is identified as a promising candidate for rolling robots.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140243480","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

New Design and Prototype of 2-degree-of-freedom Planar Parallel Manipulator for Use In Creating an Infinite 3D Printer 用于创建无限 3D 打印机的 2 自由度平面平行机械手的新设计和原型

Journal of Mechanisms and Robotics Pub Date : 2024-03-14 DOI: 10.1115/1.4065082

Miguel De La Melena, Shanzhong Duan

{"title":"New Design and Prototype of 2-degree-of-freedom Planar Parallel Manipulator for Use In Creating an Infinite 3D Printer","authors":"Miguel De La Melena, Shanzhong Duan","doi":"10.1115/1.4065082","DOIUrl":"https://doi.org/10.1115/1.4065082","url":null,"abstract":"\u0000 A 3D printing is a rapidly growing and evolving field filled with a diverse array of printers capable of printing an equally as diverse amount of material. A new type of material extrusion 3D printer was recently developed and features the capabilities of printing infinitely long objects due to design decision of angling the XY plane and incorporating a rotating bed. The innovative design for the infinite 3D printer features a 2-DoF planar parallel manipulator (PPM) that will control the hot-end motion in the XY plane. This innovative design will greatly reduce the mass of moving parts in comparison to other infinite 3D printers. This reduction of weight will reduce inertia and allow for this new printer to achieve higher accelerations. In addition to the development of the new 3D printer, this paper presents a kinematic and dynamic model of the angled PPM, a finite element analysis of the critical components of the PPM, and an optimization approach to determine arm length of the PPM. The dynamic model simulation was developed in MATLAB and the results were compared with field data collected to verify the model. A meta-heuristic optimization was performed to optimize arm length of the connectors while maximizing the dynamic performance of the PPM with consideration of the usable workspace. The results of these examinations yield a validated mechanism that will be suitable for the development of a new type of infinite 3D printer.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140241817","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

Impact Disturbance Rejection for a Humanoid Robot with Optimal Footstep Regulation Trigger 仿人机器人的冲击干扰抑制与最佳脚步调节触发器

Journal of Mechanisms and Robotics Pub Date : 2024-03-07 DOI: 10.1115/1.4065024

Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang

引用次数: 0