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

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Guaranteed Detection of the Singularities of 3R Robotic Manipulators 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Benoit, Romain Delanoue, Nicolas Lagrange, Sebastien Wenger, Philippe LARIS F-49000 Angers France Inst Rech Commun & Cybernet Nantes F-44321 Nantes 03 France

ISBN: (纸本)9783319094106

The design of new manipulators requires the knowledge of their kinematic behaviour. Important kinematic properties can be characterized by the determination of certain points of interest. Important points of interest are cusps and nodes, which are special singular points responsible for the non-singular posture changing ability and for the existence of voids in the workspace, respectively. In practice, numerical errors should be properly tackled when calculating these points. This paper proposes an interval analysis based approach for the design of a numerical algorithm that finds enclosures of points of interest in the workspace and joint space of the studied robot. The algorithm is applied on 3R manipulators with mutually orthogonal joint axes.

关键词： Interval analysis Singular points 3R Robot Cusp Node

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On Generalized Euler Angles 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Rull, Aleix Thomas, Federico CSIC UPC Inst Robot & Informat Ind Barcelona Spain

ISBN: (纸本)9783319094106

This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on the calculation of standard Euler angles. Then, this generalization is taken one step further by introducing translations, that is, by defining generalized Euler angles about screw axes using a variation of the principle of transference that avoids the use of dual numbers. As an example, the obtained formulation is applied to solve the inverse kinematics of a 3C manipulator.

关键词： Euler angles Generalized Euler angles Dual Euler angles 3C Manipulator

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Mass Equivalent Dyads 3rd

Mass Equivalent Dyads

引用

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

作者： van der Wijk, V. Univ Twente Robot & Mechatron Grp Fac Elect Engn Math & Comp Sci POB 217 NL-7500 AE Enschede Netherlands

ISBN: (纸本)9783319181264;9783319181257

In this paper it is shown how a general 2-DoF dyad can be designed mass equivalent to a general (1-DoF) link element. This is useful in the synthesis of balanced mechanisms, for instance to increase or reduce the number of DoFs of a balanced mechanism maintaining its balance. Also it can be used as a simple approach for synthesis of complex balanced mechanisms. For finding the parameters for mass equivalence, a mass equivalent model with real and virtual equivalent masses is used. First the characteristics of this model are explained, then the properties of a mass equivalent dyad are shown. Subsequently with two methods the parameters of a mass equivalent dyad are derived and application examples are illustrated and discussed.

关键词： Mass equivalent modeling Shaking force balance Static balance Mass equivalent dyad Pantograph linkage

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A Comparison Between Hilbert Transform and a New Method for Signal Enveloping 10

A Comparison Between Hilbert Transform and a New Method for ...

引用

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

作者： Al-Ahmari, Abdullah Sinha, Jyoti K. Asnaashari, Erfan Univ Manchester Sch Mech Aerosp & Civil Engn Manchester M13 9PL Lancs England

ISBN: (纸本)9783319099170

Envelope analysis of vibration signals is a well known tool for amplitude demodulation and diagnosis of a number of vibration problems in machines and structures. The typical application is the fault diagnosis in the anti-friction bearings and gearboxes. Hilbert transformation (HT) is often used to extract the envelope signals (upper and lower) from a time domain signal. However it is observed that the envelope signals obtained by the HT are not always without any error. In this paper, 4 different signals, 3 simulated;sine, amplitude modulated and random, and measured vibration data on anti-friction bearings are analyzed using the HT. The paper compares the accuracy of the envelope data obtained for these different signals using the HT. A new method called three-point moving window (TPMW) method is also developed to generate envelope signals and applied to the 4 different signals that gives better results.

关键词： Envelop analysis Bearings Condition monitoring

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The Rise and Fall of the Rotor Blade Strain Gauge 10

The Rise and Fall of the Rotor Blade Strain Gauge

引用

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

作者： Russhard, Peter Rolls Royce Plc Derby Derby DE24 8BJ England

ISBN: (纸本)9783319099170

In any gas turbine the understanding of the way in which the rotor blades vibrate is essential for both the development and production phases. For many years the standard method of obtaining such data has been with the use of strain gauges in conjunction with radio telemetry units or slip rings. With the complexity of the machine increasing and as the operating environment becomes more and more hostile for such systems, new methods are being investigated that will ultimately lead to a non-intrusive technology being developed. Here we review the progress and pioneers of strain gauge measurement dating back to the 1930s and look at a number of technologies that have tried to displace them from their positions as the mainstay of rotor blade vibration measurement.

关键词： Strain gauge Radio telemetry Rotor blade vibration

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A Hexapod Walking Micro-robot with Artificial Muscles 3rd

A Hexapod Walking Micro-robot with Artificial Muscles

引用

3rd Conference on Microactuators and Micromechanisms (MAMM)

作者： Doroftei, I. Gheorghe Asachi Tech Univ Iasi Theory Mech & Robot Dept Fac Mech Engn Iasi Romania

ISBN: (纸本)9783319158624;9783319158617

As walking robots are requested to perform tasks in rough terrain, the development of actuators capable to flexibly adapt to the unstructured environment becomes more and more necessary. The conventional mechanisms with stiff joints make the robots more complex, heavy, large and expensive. Recent research in the field of materials discovered some new light and resistant alloys, which allow building compact, light and resistant articulated mechanisms. Such intelligent materials, called also artificial muscles, could be used to develop new actuators. Shape Memory Alloys are a category of artificial muscles which can be used as actuators for a walking robot. Even if these artificial muscles can exhibit large changes in shape when heated and cooled, only one part of their deformation can be used, if we want to maximize the actuator life. This is why smart mechanisms that can convert the small strain of the wire into large motion are necessary. In this paper, an example of using Shape Memory Alloys as actuators for a hexapod walking micro-robot is presented. Leg mechanisms that can convert the small strain of these actuators in large motion are also discussed.

关键词： Walking robot Leg mechanisms Shape Memory Alloys Artificial muscles

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Effect of the Rail Support Stiffness on the Occurrence Propensity of Rail Corrugation Based on the Self-excited Vibration of a Wheel-Rail System 10

Effect of the Rail Support Stiffness on the Occurrence Prope...

引用

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

作者： Chen, G. X. Qian, W. J. Mo, J. L. Zhu, M. H. Southwest Jiaotong Univ Tribol Res Inst State Key Lab Tract Power Chengdu 610031 Peoples R China

ISBN: (纸本)9783319099170

From the viewpoint of friction-induced vibration, a self-excited vibration of a railway wheel-rail system is found to easily occur when the creep force between the wheel and rail is saturated. This self-excited vibration is probably responsible for rail corrugation. In this paper, a self-excited vibration model is established, which consists of a wheel, a rail and a series of sleepers. The model is used to study the effect of the rail support stiffness on the occurrence propensity of rail corrugation. Results show that the occurrence propensity of rail corrugation decreases with increasing rail support stiffness.

关键词： Rail corrugation Self-excited vibration Squealing vibration Creep force

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Vehicle Dynamic Simulation Using Robotic Techniques and Taking into Account a Tyre Model 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Menkouz, B. Haddad, M. Ecole Mil Polytech Lab Mecan Sruct Algiers Algeria

ISBN: (纸本)9783319094106

This work deals with the utilization of robotic inspired techniques in order to simulate vehicle dynamic. These techniques are based on Khalil-Kleinfinger description for vehicle geometry and Newton-Euler formalism for movement equation generation. The technique is applied to a four-wheel model taking into account the suspension system. Obtained results are compared and validated with those obtained by vehicle dynamic simulation software Pc-Crash. This one is specialised on road accidents reconstruction.

关键词： Vehicle dynamic simulation Multibody System Modified Denavit and Hartenberg Newton-Euler

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Amplitude Demodulation of Instantaneous Angular Speed for Fault Detection in Multistage Gearbox 10

Amplitude Demodulation of Instantaneous Angular Speed for Fa...

引用

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

作者： Roy, Sankar K. Mohanty, A. R. Kumar, C. S. Indian Inst Technol Dept Mech Engn Kharagpur 721302 W Bengal India

ISBN: (纸本)9783319099170

Traditional fault detection processes in gearbox are mostly based on vibration signal analysis. However, many a times extraction of fault features by the vibration signal analysis becomes difficult as the signal carries structure-borne noise. Moreover, position of the vibration sensor affects the signal to noise ratio of the signal. The presence of a fault in a gearbox changes the rotating dynamics of the system which varies the speed of the output shaft. Therefore, aim of this paper is to analyse the varying speed of the output shaft for detection of fault in a multistage automobile gearbox. Here, the varying speed is measured as instantaneous angular speed (IAS). Besides carrying information related to the fault, this IAS signal carries less structure borne noise due to direct response of rotating dynamics. Furthermore, in presence of fault, this varying speed signal or IAS signal is frequency modulated signal. Besides frequency modulation, the IAS signal becomes amplitude modulated under the application of load. Demodulation is a well known technique in the area of signal processing, which extracts the modulating part from a signal. Hence, the amplitude demodulation technique has been applied to the IAS signal which reveals various important frequencies related to the gearbox. Thus the technique helps to detect the fault in a multistage automobile gearbox under different load conditions.

关键词： Multistage gearbox Fault detection IAS signal Amplitude demodulation

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Multibody System Simulation of Hysteresis Effect by Micro Textile-Reinforced Compliant mechanisms with Piezo-electric Actuators 3rd

Multibody System Simulation of Hysteresis Effect by Micro Te...

引用

3rd Conference on Microactuators and Micromechanisms (MAMM)

作者： Margineanu, D. Lovasz, E. -C. Modler, N. Univ Politehn Timisoara Dept Mechatron Timisoara Romania Tech Univ Dresden Inst Leichtbau & Kunststofftech D-01062 Dresden Germany

ISBN: (纸本)9783319158624;9783319158617

The function integration in textile reinforced compliant structures requires integrated actuation besides mobility and sensors. Especially in micro-mechanisms, the piezo-actors are very useful due to their compactness, high forces and electrical control. However, the actuation hysteresis may be a problem in designing such structures aiming specific movements. Some procedures for multibody simulation taking into account the piezo-electric hysteresis effect are presented in this paper.

关键词： Piezo-actuators Hysteresis Micro-mechanisms Multi body system simulation

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