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

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Paradox in the Mechanism science 1

Paradox in the Mechanism Science

引用

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

作者： Ivanov, K. S. Jilisbaeva, K. Almaty Univ Power Engn & Telecommun Alma Ata Kazakhstan Kazakh Natl Univ Alma Ata Kazakhstan

ISBN: (纸本)9783319018355;9783319018362

Paradox of the mechanism theory has been detected in connection with attempts of practical use mechanism with two degree of freedom and one entry for achievement of power adaptation. According to the mechanism theory and machines such mechanism is statically indefinable. However recently there were patents and publications with the description of efficient two mobile adaptive mechanisms with one entry. Paradox of the mechanism theory consists in the following: the kinematic chain with two degree of freedom and one entry containing the closed contour is statically and kinematically definable. In Ivanov's works the proof of definability of two mobile kinematic chain motion is resulted on the basis of additional analytical constraint by a virtual works principle. A certain geometrical image comparable to design there should match to analytical additional constraint. The present work is devoted to disclosing of a geometric constraint of parameters of kinematic chain with two degree of freedom and to statement of the mechanism theory paradox in geometrical and an analytic form. Work is executed on the basis of regularities of mechanics and mechanism theory.

关键词： Mechanism science Paradox Force adaptation

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Flexible Bi-modal Control Modes for Hands-Free Operation of a Wheelchair by Head Movements and Facial Expressions 1

引用

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

作者： Rechy-Ramirez, Ericka Janet Hu, Huosheng Univ Essex Colchester Essex England

ISBN: (纸本)9783319054315;9783319054308

Many kinds of head movements and facial expressions based human machine interfaces (HMIs) have been developed for hands-free control of electric-powered wheelchairs in order to assist disabled and elderly people. Most of these HMIs have a fixed configuration and do not allow users to choose a configuration suitable to their needs. It becomes necessary to provide users with different control modes and flexible configurations. This chapter presents five flexible bi-modal modes for hands-free control of a wheelchair that allow users to choose the most comfortable facial expressions and head movements. An Emotiv sensor is deployed to collect facial expressions and head movements for the bi-modal control modes. Two healthy subjects have participated in experiments, and have chosen their best configurations of the modes for controlling the wheelchair. Experimental results show that bi-modal control modes are flexible and allow users to select their preferred configurations for controlling the wheelchair reliably.

关键词： Facial expression Head movement Human-machine interface Emotiv EPOC sensor Electric-powered wheelchair

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Kinematic Analysis of Planar mechanisms by Means of Examples 1

Kinematic Analysis of Planar Mechanisms by Means of Examples

引用

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

作者： Urizar, M. Altuzarra, O. Diez, M. Campa, F. J. Macho, E. Univ Basque Country UPV EHU Dept Mech Engn Fac Engn Bilbao Bilbao Spain

ISBN: (纸本)9783319018355;9783319018362

The aim of this work is to approach the difficulties students usually encounter when facing up to kinematic analysis of mechanisms. A deep understanding of the kinematic analysis is necessary to go a step further into design and synthesis of mechanisms. We can conclude from experience that supporting and complementing the theoretical lectures with specific software is really helpful. In this sense, software is used during the practical exercises, serving as an educational complementary tool reinforcing the knowledge acquired by the students. Several questions are outlined to the students, so that they are encouraged to justify the validity of their results. GIM software performs kinematic analysis and motion simulation of planar mechanisms. The main capacities of the software are: solving the position problem, computing velocities and accelerations, singular analysis, and visualization of instantaneous center of rotation, acceleration pole, curvature center and circle, fixed and moving centrodes and main circles. The graphical representation of all results favors the learning of the theoretical concepts explained in the subject and also, stimulates the critical reasoning the students must acquire.

关键词： Education Mechanism and machine theory Kinematic analysis Motion simulation

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Testing Capacity for Space Technology Suppliers 1

引用

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

作者： Pisla, A. Vaida, C. Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9783319054315;9783319054308

Starting with industrial painting and entertainment devices, for a long time parallel kinematics is strongly associated with flight simulators. Outstanding studies of parallel kinematics were achieved, from the beginning of their existence, within different applications in aerospace industry. For over 20 years, remarkable results are also obtained at the Technical University in Cluj-Napoca in the field of parallel kinematics. After an extended overview, presented in the MeSRob 2012, regarding some results oriented on the Medical and Service robots (Pisla in New Trends in Medical and Service Robots-Theory and Integrated Applications. Springer, pp. 177-191, 2013) in the chapter a survey is performed regarding the requirements of space robotics for companies that are or will be prepared to become European suppliers in the next space era. Some of the major milestones in space exploration are illustrated in the first part of the chapter, followed by the expertise and capacity of our research center. The training aspects are becoming secondary elements as adapted training facility dictated by the company necessities. Therefore the applications are oriented on the service robots point of view, for testing technical devices, simulating biological experiments in extreme conditions, and as a facilitator of versatile and ergonomic "partner'' in aerospace logistics.

关键词： Parallel kinematics Stewart-Gough platform Mechanical motion simulation Aerospace applications and training

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Mechanism Theory in Architecture Education 1

Mechanism Theory in Architecture Education

引用

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

作者： Barej, M. Hoffmann, S. Della Puppa, G. Huesing, M. Corves, B. Trautz, M. Rhein Westfal TH Aachen Dept Mech Theory & Dynam Machines Aachen Germany Rhein Westfal TH Aachen Chair Struct & Struct Design Aachen Germany

ISBN: (纸本)9783319018355;9783319018362

In mechanical engineering tasks concerning motion and moving parts are very common, thus of course topics like kinematics and mechanism theory are content of teaching in various lectures, exercises and laboratories. At RWTH Aachen University besides mandatory basic courses for all engineering students, continuative courses for students specialized on engineering design or automotive engineering impart profound knowledge. In architecture education the focus lies on the design of buildings in consideration of social, functional, esthetical and statical aspects. Although due to the demand of sustainable and adapting buildings the importance of deployable structures and kinematic parts is increasing, these topics are rarely found in education. Suitable opportunities to bring interested prospective architects in touch with mechanism theory are design projects scheduled for master students. Following an existing cooperation in the research field of foldable structures the Chair of Structures and Structural Design (Faculty of Architecture) and the Department of Mechanism Theory and Dynamics of machines (Faculty of Mechanical Engineering) offered in the winter semester 2012/13 an interdisciplinary task of designing a foldable bridge to a group of architecture students. The focus of this student project was on the design of a new foldable bridge, but in order to enable the students to solve this unusual task some preliminary activities were performed. The project started with analyses and presentations of existing solutions followed by lectures and workshops providing contents from architecture, arts and mechanism theory. Observations of the project showed that thanks to this preparation students considered kinematic issues as well as architectural ones from the very beginning. The aim of this paper is to present how mechanism theory can be integrated into Interdisciplinary education, which content the authors consider being important for students and which influence can be

关键词： Interdisciplinarity in education Architectural design Student project Movable structures

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Using the ThinkMOTION Project Resources for the Teaching of Mechanism and machine Theory 1

Using the ThinkMOTION Project Resources for the Teaching of ...

引用

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

作者： Petuya, V. Pinto, C. Corral, J. Amezua, E. Hernandez, A. Univ Basque Country UPV EHU Dept Mech Engn Bilbao 48013 Spain

ISBN: (纸本)9783319018355;9783319018362

The thinkMOTION project, as a part of Europeana (***) leads to the world's largest free access digital library in the field of motion systems, which is very useful for all technical subjects and in particular for Mechanism and machine Theory. The project helps to make a significant improvement in the quantity and quality of these digital contents establishing a new kind of digital library in Europeana with focus on technical knowledge. The collected material is processed and presented immediately in amultilingual interactive portal via Europeana. Hence, the techno-cultural heritage and the current developments in motion science are preserved and made accessible for a wide range of European user groups as scientists, lecturers or students. The provided interactive material leads to a deeper understanding and motivates the students to learn more about the motion systems and machine design approaches. All kinds of material are considered (e. g. books, journals, drawings, images, physical models) to establish a digital library that connects historical and recent content from different countries. Six content providers spread over Europe are part of the project consortium. The open access to high quality material of historical and recent content from different countries opens newpossibilities inmultilingual searching, browsing and using of information sources.

关键词： Digital libraries

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Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task

Robust Design Synthesis of Spherical Parallel Manipulator fo...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Chaker, Abdelbadia Mlika, Abdelfattah Laribi, Med Amine Romdhane, Lotfi Zeghloul, Said Univ Sousse Ecole Natl Ingn Sousse Lab Mcan Sousse Tunisia Univ Poitiers CNRS Inst PPRIME UPR 3346ENSMA Poitiers France

ISBN: (纸本)9789400772144;9789400772137

This paper deals with the design synthsesis of a spherical parallel manipulator (SPM) for a dexterous surgery task. A considerable effect of manufacturing errors on the workspace and particularly on the dexterity of the mechanism is noted. Thus, the use of nominal values of the design vector generated by deterministic optimization may be erroneous. The effect of these errors on the mechanism workspace and dexterity is then studied and a Robust approach combining genetic algorithms (GA) and Monte Carlo Simulation (MCS) is presented to lead to an SPM with a low-sensitive dexterity to manufacturing errors. The results are finally discussed through an example.

关键词： Spherical parallel mechanism Robust design synthesis Dexterous task Manufacturing errors Dexterity Monte Carlo simulation

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Teaching Shaft Balancing as a Parameter Estimation Problem 1

Teaching Shaft Balancing as a Parameter Estimation Problem

引用

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

作者： Aginaga, J. Iriarte, X. Ros, J. Univ Publ Navarra Navarra Spain

ISBN: (纸本)9783319018355;9783319018362

One of the typical topics on mechanisms and machine Theory subject is shaft or rotor balancing. The unbalance is produced by an inadequate mass distribution of the rotating part. It can be said that static unbalance exists when the mass centre does not lie on the rotation axis and that dynamic unbalance happens when the rotating axis is not a principal inertia axis of the shaft. Making use of this point of view, the way to correct an unbalanced shaft is to cancel its inertia products involving the rotation axis. If these inertia products are known, it is easy to calculate the mass to be added or eliminated in order to cancel them. Instead, if the inertia products are unknown, they must be experimentally estimated in order to balance the shaft. This work presents a way to balance an unknown shaft as a parameter estimation problem. The formulation of least-square parameter estimation has been used in order to estimate the inertial properties of a shaft. Then, the balancing of the shaft is easily carried out. This approach has been explained to students of a Degree on Mechanical Engineering at the Public University of Navarra. By means of a virtual model of an unbalanced shaft, students have estimated the inertial properties of the unbalanced shaft and then calculated the masses to be added in order to balance it. I has been a satisfactory experience in order to improve the students skills on the Mechanism and machine Theory and they have also learned a formulation that can be used for other kind of problems.

关键词： Shaft balancing Teaching Inertia loads Unbalanced rotor Parameter estimation

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Experience of Modernization of the Curriculum TMM in St. Petersburg State Polytechnical University 1

Experience of Modernization of the Curriculum TMM in St. Pet...

引用

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

作者： Evgrafov, Alexander Khisamov, Andrey Egorova, Olga St Petersburg State Polytech Univ SPbSPU St Petersburg Russia Bauman Moscow State Tech Univ BMSTU Moscow Russia

ISBN: (纸本)9783319018355;9783319018362

At the end of twentieth century, the subject of the theory of mechanisms and machines greatly expanded. Multi-engine machines with open and closed kinematic chains become widespread. Requirements to precision of mechanisms increased. PCs became widely used in the learning process. All this resulted in the need to modernize the course on the theory of mechanisms and machines. This paper describes themodernization of the discipline "Theory of mechanisms and machines" undertaken at the St. Petersburg State Polytechnic University [1]. Modernization encompassed structural, geometric, kinematic and force analysis of mechanisms and affected the problems concerning the dynamics of machines [2].

关键词： Theory of mechanisms and machines Modernization SPSPU

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Four-Dimensional Persistent Screw Systems of the General Type

Four-Dimensional Persistent Screw Systems of the General Typ...

引用

6th International Workshop on Computational Kinematics (CK)

作者： Carricato, Marco Univ Bologna Dept Ind Engn Bologna Italy

ISBN: (纸本)9789400772144;9789400772137

When a mechanism moves, the twist system S of the end-effector generally varies. In significant special cases, S is a subalgebra of the Lie algebra of the special Euclidean group, and it remains constant. In more general cases, S remains invariant up to a proper isometry, thus preserving its class. A mechanism of this kind is said to generate a persistent screw system (PSS) of the end-effector. PSSs play an important role in mobility analysis and mechanism design. This paper presents the serial generators of 4-dimensional PSSs with a constant class of the general type.

关键词： Screw theory Mechanism synthesis Mobility analysis

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