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

共 3269 条记录，以下是2911-2920 订阅

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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures 2

A Reconfigurable Cable-Driven Parallel Robot for Sandblastin...

引用

2nd International Conference on Cable-Driven Parallel Robots

作者： Gagliardini, Lorenzo Caro, Stephane Gouttefarde, Marc Wenger, Philippe Girin, Alexis IRT Jules Verne F-44340 Bouguenais France CNRS IRCCyN F-44321 Nantes 03 France UM2 CNRS Lab Informat Robot & Microelect Montpellier F-34392 Montpellier 05 France

ISBN: (纸本)9783319094892;9783319094885

The research work presented in this paper introduces a Reconfigurable Cable Driven Parallel Robot (RCDPR) to be employed in industrial operations on large structures. Compared to classic Cable-Driven Parallel Robots (CDPR), which have a fixed architecture, RCDPR can modify their geometric parameters to adapt their own characteristics. In this paper, a RCDPR is intended to paint and sandblast a large tubular structure. To reconfigure the CDPR from one side of the structure to another one, one or several cables are disconnected from their current anchor points and moved to new ones. This procedure is repeated until all the sides of the structure are sandblasted and painted. The analysed design procedure aims at defining the positions of the minimum number of anchor points required to complete the task at hand. The robot size is minimized as well.

关键词： Cables

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Lifting Mechanism for Payload Transport by Collaborative Mobile Robots 5

引用

5th European Conference on Mechanism science (EUCOMES)

作者： Hichri, B. Fauroux, J. -C. Adouane, L. Doroftei, I. Mezouar, Y. Inst Pascal Clermont Ferrand France Gheorghe Asachi Tech Univ Iasi Iasi Romania

ISBN: (纸本)9783319094106

This paper reviews lifting mechanisms and provides a description of a new lifting system that could be fixed on a mobile robot frame. The resulting collaborative mobile robots would be able to transport an object of any shape by lifting it above their transporting platform using the proposed system while keeping a stable formation in order to successfully achieve the task.

关键词： Lifting mechanisms Collaborative mobile robots Object manipulation Transport

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Case Study Regarding a New Knee Orthosis for Children with Locomotion Disabilities 1

引用

3rd Conference of the mechanisms Transmissions and Applications

作者： Copilusi, Cristian Margine, Alexandra Dumitru, Nicolae Univ Craiova Craiova Romania

ISBN: (数字)9783319170671

ISBN: (纸本)9783319170671;9783319170664

This research addresses to children locomotion system for designing special orthosis and prosthesis mechanical systems. The research aim is to obtain the motion laws developed by a child locomotion system and with these, the knee joint connection forces will be obtained through an analytical method for walking activity. These parameters are useful for an orthotic system design of a 7 years old child. The research is based on an experimental analysis developed with ultra highspeed video equipment on 20 children and a dynamic analysis by using Newton-Euler method completed with Lagrange multipliers. The obtained dynamic parameters are used as input data for a new knee orthosis design. Virtual simulations are performed by using MSC Adams which validates a new knee orthosis prototype.

关键词： Dynamics Locomotion system Virtual simulations Knee orthosis

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Step Design of a Cassino Tripod Leg Mechanism 1

引用

3rd Conference of the mechanisms Transmissions and Applications

作者： Wang, Mingfeng Ceccarelli, Marco DICeM Univ Cassino & South Latium LARM Lab Robot & Mechatron Cassino Italy

ISBN: (数字)9783319170671

ISBN: (纸本)9783319170671;9783319170664

In this paper, we present the mechanical design of a tripod leg mechanism for a Cassino biped locomotor. Kinematic properties are investigated to select the proper stroke of the linear actuators and the radius difference between the moving and base plates. Workspace optimization of the adopted 3-UPU manipulator is computed by considering the Global Condition Index and universal joints constraints. Step design of the foot plate is presented and analyzed to improve the performance by changing the initial length and reassembling of the three limbs in the leg mechanism.

关键词： Biped locomotors Workspace analysis Tripod leg mechanisms Step design

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Study on Dynamic Load Sharing Characteristics of Double-Row Planetary Gear Train 10

Study on Dynamic Load Sharing Characteristics of Double-Row ...

引用

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

作者： Zhu, Rupeng Sheng, Dongping Jin, Guanghu Lu, Fengxia Bao, Heyun Li, Miaomiao Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Jiangsu Peoples R China

ISBN: (纸本)9783319099170

The non-linear transverse-torsional coupled model of double-row planetary gear train is established, and planet's eccentricity error and time-varying meshing stiffness are taken into consideration. The solution of differential governing equation of motion is determined by applying the Fourier series method. The behavior of dynamic load sharing characteristics affected by the system parameters including gear eccentricity error, torsional stiffness of first stage carrier and input rate are investigated. Some theoretical results are summarized as guidelines for further research and design of double-row planetary gear train at last.

关键词： Double-row planetary gear Load sharing Time-varying stiffness Eccentricity error Torsional stiffness

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Recent Advances in Mechanism Design for Robotics: Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics 1

引用

丛书名： mechanisms and machine science 33

2015年

作者： Shaoping Bai, Marco Ceccarelli (eds.)

ISBN: (数字)9783319181264

ISBN: (纸本)9783319181257;9783319181264

This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.

关键词： Robots Adaptive control systems

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Virtual Laboratory Works on Theory of Mechanism and machine 1

Virtual Laboratory Works on Theory of Mechanism and Machine

引用

1st International Symposium on the Education in Mechanism and machine science (ISEMMS)

作者： Tarabarin, V. B. Tarabarina, Z. I. Feygina, A. G. Bauman MSTU Moscow Russia

ISBN: (纸本)9783319018355;9783319018362

In a paper is given the description of four virtual laboratory works on the Theory of mechanisms and machines. The description's of works are devoted the research of efficiency of a reducer, dynamic balancing of a rotor, research of influence of cutter tool's parameters on geometry of a involutes tooth and synthesis of four-bars linkages. In works are used the original software and programs MathCAD and AutoCAD.

关键词： Virtual laboratory works Efficiency Balancing Profiling of involutes gear Synthesis of linkages

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Classification of Singularities in Kinematics of mechanisms

Classification of Singularities in Kinematics of Mechanisms

引用

6th International Workshop on Computational Kinematics (CK)

作者： Piipponen, Samuli Arponen, Teijo Tuomela, Jukka Univ Eastern Finland Dept Math & Phys Kuopio Finland

ISBN: (纸本)9789400772144;9789400772137

In this short article we will discuss methods of finding and classifying singularities of planar mechanisms. The key point is to observe that the configuration spaces of the mechanisms can be understood as analytic and algebraic varieties. The set of singular points of an algebraic variety is itself an algebraic variety and of lower dimension than the original one. The singular variety can be computed using the Jacobian criterion. Once the singular points are obtained their nature can be investigated by investigating the localization of the constraint ideal at the local ring at this point. This will tell us if the singularity is an intersection of several motion modes or a singularity of a particular motion mode. The nature of the singularity can be then analyzed further by computing the tangent cone at this point.

关键词： Kinematical singularities Planar mechanisms Algebraic geometry Local rings Tangent cone

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Single Exponential Motion and Its Kinematic Generators

Single Exponential Motion and Its Kinematic Generators

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6th International Workshop on Computational Kinematics (CK)

作者： Liu, Guanfeng Wu, Yuanqin Chen, Xin Guangdong Univ Technol Guangzhou Guangdong Peoples R China

ISBN: (纸本)9789400772144;9789400772137

Both constant velocity (CV) joints and zero-torsion parallel kinematic machines (PKMs) possess special geometries in their subchains. They are studied as two different subjects in the past literature. In this paper we provide an alternative analysis method based on the symmetric product on SE(3) (the Special Euclidean group). Under this theoretical framework CV joints and zero-torsion mechanisms are unified into single exponential motion generators (SEMG). The properties of single exponential motion are studied and sufficient conditions are derived for the arrangement of joint screws of a serial chain so that the motion pattern of the resulting mechanism is indeed a single exponential motion generator.

关键词： Constant velocity transmission Zero torsion Symmetric product Single exponential motion generator

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New Results on Classifying EMG Signals for Interfacing Patients and Mechanical Devices 1

引用

2nd Workshop on New Trends in Medical and Service Robotics (MeSRoB)

作者： Gini, G. Cavazzana, L. Mutti, F. Belluco, P. Mauri, A. Politecn Milan DEIB Milan Italy B10NIX Milan Italy

ISBN: (纸本)9783319054315;9783319054308

In modern days the goal of rehabilitative robotics is to take advantage of robotics-inspired solutions in order to assist people affected by disabilities using physical training assisted by robots. In this way the rehabilitative exercises could be autonomously performed by the patients, with a reduced involvement of the therapist, making high-intensity rehabilitative therapy an affordable reality. Moreover high-precision sensors integrated in rehabilitation devices would allow a quantitative evaluation of the progresses obtained, effectively comparing different training strategies. That would represent a huge scientific achievement in a field where evaluations up to this day are performed only by means of subjective observations. Important results were obtained in rehabilitative robotics, but results in the field of the hand rehabilitation are poorer, due to the high complexity and dexterity of the organ. This chapter proposes to integrate the detection of the muscular activity in the rehabilitation loop. A new EMG analysis tool was developed to achieve a reliable early recognition of the movement. Experimental results confirmed that our system is able to recognize the performed movement and generate the first control variable after 200 ms, below the commonly accepted delay of 300 ms for interactive applications. This shows that it is possible to effectively use an EMG classifier to obtain a reliable controller for a flexible device, able to assist the patient only after having detected his effort.

关键词： Rehabilitative robotics Arm rehabilitation EMG signals Classifiers

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