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检索条件"丛书名=Mechanisms and Machine Science"

共 3269 条记录，以下是2871-2880 订阅

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Systematic and Rapid Construction of Test Beds for Planar Mechanism 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Mencek, H. Soylu, R. Middle E Tech Univ Dept Mech Engn TR-06531 Ankara Turkey

ISBN: (纸本)9783319094106

In this study, a systematic approach, for constructing planar mechanisms by utilizing a robotic kit, is proposed. Various models for revolute and prismatic joints and various models to be used as links are suggested. The actual performances of the prototype mechanisms may be experimentally assessed by taking three basic measurements regarding the actuator voltage, actuator current and the rotational displacement of the input link. Slider crank, double slider and four bar mechanism prototypes are constructed as example planar mechanisms. In addition, the electrical power consumption of a slider crank mechanism is obtained experimentally. This consumption is compared with the power consumption obtained via a mathematical model of the mechanism.

关键词： Dynamic performance Planar mechanisms Construction of mechanisms Robotic kit Test bed

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A Light Weight Arm Designed with Modular Joints 3rd

A Light Weight Arm Designed with Modular Joints

引用

3rd IFToMM Symposium on Mechanism Design for Robotics (MEDER)

作者： Fang, Honggen Guo, Lijie Bai, Shaoping Shanghai Aerosp Equipments Manufacturer Shanghai Peoples R China Aalborg Univ Dept Mech & Mfg Engn Aalborg Denmark

ISBN: (纸本)9783319181264;9783319181257

The conventional industrial manipulator has some drawbacks such as low payload-weight ratio, bulky structure and high power consumption, which limit their applications in such areas a space, anti-terrorism, service and medical robots. To overcome these shortcomings, a novel lightweight arm was developed based on modular joints, modular connection and light shaft structures. This paper discusses the general requirements for lightweight robots, upon which the new robot was designed. Both mechanics and electronics designs are presented. The development work of a prototype is described. Preliminary tests were conducted to evaluate the performance of the light weight arm. The results demonstrate the good performances of the prototype and validate the feasibility of the new robot system.

关键词： Lightweight robotic arm Modular joint Modular construction

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Rapid Development of Control Algorithms and Interfaces for Remote Monitoring of Robotic Arm Through Internet of Things (IoT) 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Murar, M. Brad, S. Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9783319094106

Time to market of a good is extremely critical and harvesting ideas and transforming them into products or services without using rapid development tools have small chances to succeed competition. Therefore, the goal of the paperwork and experimental project is to provide an overview upon how available rapid development tools and solutions can be employed for building remote connection, monitoring and control functionalities in a robotic cell towards connecting it to Internet of Things (IoT). Within the first part several important concepts like IoT, cloud computing and smart sensors and actuators are briefly presented. In the second part the architecture of the experimental design is proposed and resources are presented. The third part presents details about the experimental test bench, a simplified control logic diagram and the interface build on an IoT platform. In the last part conclusions are presented.

关键词： Internet of things Rapid prototyping Smart equipment Robotics Embedded designs

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Analysis of Joint Clearance Effects on Dynamics of Six DOF Robot Manipulators 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Erkaya, S. Erciyes Univ Kayseri Turkey

ISBN: (纸本)9783319094106

Clearance as a real joint characteristic leads to deviation from desired trajectory in robotic systems. This phenomenon leads to deviations from desired kinematic and dynamic performances of the robots. This study investigates the effects of joint clearance on a robot having six degree-of-freedom (DOF). For the case of different clearance sizes, theoretical analysis is carried out to investigate the kinematic and dynamic characteristics of the robot manipulator with joint clearance. For the case of two different clearance sizes, the results show that the joint clearance causes to degradation in system performance. Even if the clearance size is small, it has an important role on joint forces.

关键词： Joint clearance Contact force Robot manipulator

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Dynamic Analysis and Control of Fully-Constrained Cable Robots with Elastic Cables: Variable Stiffness Formulation 2

Dynamic Analysis and Control of Fully-Constrained Cable Robo...

引用

2nd International Conference on Cable-Driven Parallel Robots

作者： Khosravi, Mohammad A. Taghirad, Hamid D. KN Toosi Univ Technol Fac Elect & Comp Engn ARAS Tehran Iran

ISBN: (纸本)9783319094892;9783319094885

In this paper dynamic analysis and control of fully-constrained parallel cable robots are studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. Furthermore, variable stiffness formulation for the cables is employed in modeling process. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. Using the proposed control algorithm the dynamics of the cable robot is divided into two subsystems namely slow and fast. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed composite control law is investigated through several simulations on a planar parallel cable robot.

关键词： Cables

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Vibration Control of Active Vehicle Suspension System Using Fuzzy Logic Controller 10

Vibration Control of Active Vehicle Suspension System Using ...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Shehata, A. Metered, H. Oraby, Walid A. H. Helwan Univ Cairo Egypt

ISBN: (纸本)9783319099170

Fuzzy logic control (FLC) algorithm grants a means of converting a linguistic control technique and it is widely used in vehicle applications. This paper demonstrates the application of fuzzy logic technique to design a controller for the active vehicle suspension system to improve the suspension system performance by altering the number and arrangement of the rules set and the universe of discourses. A mathematical model and equations of motion of quarter vehicle active suspension is derived and solved using MATLAB/Simulink software. The proposed fuzzy controllers using 9, 25 and 49 rules set with two different types of membership functions, trapezoidal and triangle, are implemented in a closed loop control system to demonstrate the influence of the numbers of rule set and the type of membership function on the performance of suspension system. Suspension performance criteria were assessed in both time and frequency domains. Performance comparisons between the passive suspension, as a reference, and the proposed controllers of the active suspension were achieved. The simulation results indicate that the proposed active fuzzy controllers can dissipate the energy due to road excitation effectively and improves suspension performance. Among the investigated systems, the 25 rules set with a trapezoidal membership function for the fuzzy controller gives the best performance.

关键词： Active suspension system Fuzzy logic control Ride comfort Vehicle stability Vehicle suspension control

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Robust Internal Force-Based Impedance Control for Cable-Driven Parallel Robots 2

Robust Internal Force-Based Impedance Control for Cable-Driv...

引用

2nd International Conference on Cable-Driven Parallel Robots

作者： Reichert, Christopher Mueller, Katharina Bruckmann, Tobias Univ Duisburg Essen Chair Mechatron Duisburg Germany

ISBN: (纸本)9783319094892;9783319094885

In this paper a robust internal force-based impedance controller for redundantly actuated cable-driven parallel robots (CDPRs) is proposed. The controller is governed by a computed-torque-control structure with a shaping of the internal forces resulting from the chosen mass matrix. These gains are intended to equip each manipulator with the feature of an impedance to enforce a dynamical relationship between the end-effector (EE) velocity and the internal forces. Non-linear effects like model uncertainties take a negative influence on the controller. A disturbance observer based on the generalized momentum approach is incooperted into the control scheme to impart the impedance controller the necessary robustness. To validate the described robust impedance control scheme, experiments with a 6-DOF CDPR with industrial BLDC-Motors are presented.

关键词： Controllers

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Path Generating Belt mechanisms as Kinematic Chains for Mechatronic Applications 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Lovasz, E. -C. Perju, D. Modler, K. -H. Gruescu, C. M. Margineanu, D. Moldovan, C. E. Pop, C. Politehn Univ Timisoara Timisoara Romania Tech Univ Dresden D-01062 Dresden Germany

ISBN: (纸本)9783319094106

The paper deals with a special type of planar belt mechanism with two degrees of freedom. Belt mechanisms achieve in principle any movement task, precisely, in a defined range, by using a belt as a flexible and inextensible element and at least one profiled wheel (non-circular wheel), on which the belt is enveloped or developed. In order to use belt mechanisms in mechatronic applications, the increasing of the degree of freedom and the use of simple circular wheel are required. The control of the actuator's movement makes theoretically possible the generation of any movement task in the wheel's plane.

关键词： Belt mechanism Mechatronic system Flexible element Kinematic analysis

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Function Generation Synthesis with a 2-DoF Overconstrained Double-Spherical 7R Mechanism Using the Method of Decomposition and Least Squares Approximation 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Kiper, G. Bagdadioglu, B. Izmir Inst Technol Izmir Turkey

ISBN: (纸本)9783319094106

This study addresses the approximate function generation synthesis with an overconstrained two degrees-of-freedom double spherical 7R mechanism using least squares approximation with equal spacing of the design points on the input domain. The 7R mechanism is a constructed by combining a spherical 5R mechanism with a spherical 4R mechanism with distant centers and a common moving link and then removing the common link. This construction allows the analysis and synthesis of the resulting single-loop mechanism by decomposing it into fictitious 5R and 4R loops. The two inputs to the mechanism are provided in the 5R loop and the output is in the 4R loop. The fictitious output of the 5R loop is an input to the 4R loop this intermediate variable is used to also decompose the function to be generated. This decomposition provides the designer extra freedom in synthesis and enables decreasing the error of approximation. A case study is presented at the end of the study where the 7R design is compared with an equivalent spherical 5R mechanism;hence the advantage of the 7R mechanism is demonstrated.

关键词： Multi-input function generation Overconstrained mechanism Method of decomposition Least squares approximation

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Modal Approach for Optimal Design of Two-Layer Piezoelectric Vibration Energy Harvesters 10

Modal Approach for Optimal Design of Two-Layer Piezoelectric...

引用

10th International Conference on Vibration Engineering and Technology of machinery (VETOMAC)

作者： Oyadiji, S. Olutunde Xiong, Xingyu Univ Manchester Sch Mech Aerosp & Civil Engn Manchester M13 9PL Lancs England

ISBN: (纸本)9783319099170

A modal approach for the development of optimal configurations of two-layer piezoelectric vibration energy harvesters is presented. The harvester comprises a primary cantilevered beam to which a secondary beam is attached via a mass that is located along the length of the primary beam. An additional mass is located along the secondary beam. The two masses are used to tune the natural frequencies of the composite system and one of them also serves as a spacer between the two beams. By varying the dimensions of the beams and masses, and the locations of the masses along the beams, the harvester can produce close resonance frequencies and significant power output. Thus, the frequency bandwidth of significant power generation by the harvester can be extended. To judge the performance of any harvester configuration requires a full analysis, using the coupled electromechanical equations of the piezoelectric harvester, to determine the electrical power output. However, the analysis is lengthy and time consuming. To hasten the process, a modal approach has been developed. The approach determines the modal performance by means of the mass ratio (which represents the influence of modal mechanical behaviour on the power density directly) and the modal electromechanical coupling coefficient. The modal parameters required by the approach are computed numerically by finite element analysis. The modal approach is used to select harvester configurations with optimal or near-optimal performance, which are harvester configurations with close resonances and moderate values of mass ratio. A full analysis is subsequently performed to determine the power outputs of these harvester configurations.

关键词： Energy harvesting Piezoelectric energy harvester Vibration energy harvester Multiple resonances Modal performance Optimization

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