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

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RobotBlockSet (RBS)-A Comprehensive Robotics Framework 33rd

RobotBlockSet (RBS)-A Comprehensive Robotics Framework

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Zlajpah, Leon Petric, Tadej Jozef Stefan Inst Dept Automat Biocybernet & Robot Ljubljana Slovenia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this paper, we present the comprehensive robotics framework RBS, which addresses the critical need for seamless integration between simulation and real-world execution in robotics. The proposed framework provides a unified solution for designing, testing, and executing robotic applications, bridging the gap between virtual and physical environments. By providing interfaces for various simulators and real robots, along with tools for robot modeling, motion planning, and execution, RBS streamlines the development process. It removes the complexity associated with the transition from simulation to real systems, shortens development times and enables fast and efficient design iterations. This innovative framework holds great promise for advancing robotics research and development. It enables researchers and engineers to realise the full potential of simulation and real-world testing in the development of state-of-the-art robotic systems.

关键词： Robot motion control Robot simulation Real-time robot systems

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Genesis Mechanism and Prediction Method of Ultra-Deep Pressure Abrupt Change in the East China Sea 30th

Genesis Mechanism and Prediction Method of Ultra-Deep Pressu...

引用

30th International Conference on Computational and Experimental Engineering and sciences

作者： He, Miao Zhou, Changcheng Wu, Xinzheng Xu, Mingbiao Yangtze Univ Sch Petr Engn Wuhan 430100 Peoples R China China Univ Petr East China State Key Lab Deep Oil & Gas Qingdao 266580 Peoples R China Key Lab Drilling & Prod Engn Oil & Gas Wuhan 430100 Hubei Peoples R China Yangtze Univ Sch Petr Engn Natl Engn Res Ctr Oil & Gas Drilling & Complet Te Wuhan 430100 Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

Pore Pressure abrupt change (PPAC), encompassing pore pressure surge (PPS) and pore pressure reversal (PPR), are prevalent phenomena in ultra-deep formation of East China Sea Shelf Basin (ECSSB). To address this, the pore pressure distributions in the ECSSB are characterized in detail, utilizing measured pressures, mud weights, and logging responses. The genesis mechanism of PPS and PPR in ultra-deep formations is investigated. Finally, the significance of unveiling the genesis mechanisms behind PPACs to pore pressure prediction is discussed. The results indicate that the pore pressure in the ultra-deep formation is complex and variable, with the middle pressure rapidly rising to 1.8 and the lower formation reversing to 1.0, characterized by a reducing return trend. The primary cause of these PPACs is identified as the significant variation in overpressure mechanisms and lithological characteristics across different layer. Hydrocarbon generation serves as the primary mechanism for pressure formation leading to a surge, followed by pressure transfer. Furthermore, a multi-source and multi-mechanism pore pressure prediction model suitable for ultra-deep PPAC formation is established. It takes into account the influence of multiple factors such as composite overpressure mechanism, complex lithology, rock mechanical properties, rock conduction properties and rock volume properties. The results demonstrate that this novel model exhibits good applicability and reliability, with the prediction error margin controlled below 5.00% and an average error of just 2.23%. This research provides novel insights for understanding the genesis mechanisms behind PPACs and predicting pore pressures in ultra-deep formations.

关键词： Pore Pressure Abrupt Change Genesis Mechanism Multiple Factors Pressure Prediction East China Sea

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A Literature Review and Design Considerations Towards a Gripper for Tomato Harvesting 33rd

A Literature Review and Design Considerations Towards a Grip...

引用

33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Malyshev, Dmitry Filice, Luigino Mirabelli, Giovanni Longo, Francesco Bernardi, Bruno Carbone, Giuseppe Rybak, Larisa Univ Calabria Dept Mech Energy & Management Engn Arcavacata Di Rende Italy Belgorod State Technol Univ Belgorod Russia Univ Mediterranea Reggio Calabria Dept Agr Sci Reggio Di Calabria Italy

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper reviews current commercial and research solutions in the field of grippers for automated tomato harvesting. The gripping devices are classified according to the method of harvesting tomatoes, namely individual fruits and branches. The requirements that the design of a gripping device for harvesting tomatoes must satisfy are formulated also based on preliminary laboratory tests. The requirements include the mechanical properties of the tomatoes and the required characteristics of the gripping device. A preliminary design concept is also proposed for harvesting tomatoes with a specific focus on the large-size tomato varieties.

关键词： Tomato harvesting Gripper Harvesting robots

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Design of Planar Cable-Driven Robot with a Full Rotation 8th

Design of Planar Cable-Driven Robot with a Full Rotation

引用

8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： Lamine, Houssein Saafi, Houssem Bennour, Sami Mlika, Abdelfattah Romdhane, Lotfi Univ Sousse Natl Sch Engineers Sousse Mech Lab Sousse LMS Sousse Tunisia Amer Univ Sharjah Coll Engn POB 26666 Sharjah U Arab Emirates

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This paper investigates the unlimited orientation problem of planar cable driven parallel robots (CDPRs) where achieving one rotation or more than a full rotation of the end-effector is challenging. A discrete algorithm is developed in order to compute the translational and rotational workspace of CDPR based on the positive cable tensions condition. For each position on the discretization grid, the rotation angle of the end-effector (EE) is incremented until a failure of the robot equilibrium, which identifies the maximum reachable rotation angle. The implemented algorithm was first applied to the classical 4-cable 3-Degree of Freedom (DoF) CDPR where the total orientation is found to be restricted. To obtain an unlimited orientation of the EE, a new design of a CDPR was introduced. This new design has 6 cables and 3-DoF. This new architecture was shown to allow the EE to perform 360 degrees of rotation for a large part of the translational workspace. This result can be useful when large orientation angles are required.

关键词： Cable-driven parallel robot Total orientation Unlimited rotation Wrench-feasibility

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Kinematic Model of a New Soft-Rigid Hybrid Robotic Hand Exoskeleton 6th

Kinematic Model of a New Soft-Rigid Hybrid Robotic Hand Exos...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Birouas, Flaviu Ionut Tarca, Joan Constantin Tarca, Radu Cadlin Univ Oradea Mechatron Dept Oradea Romania Univ Oradea Mech Engn & Automot Dept Oradea Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

Robotic augmentation of the human body is a trending topic that presents numerous benefits to mankind but also comes together with numerous technical challenges. This work details the research conducted in the development of a kinematic model for a hybrid soft-rigid robotic hand exoskeleton to match the biomechanical system of the hand exoskeleton. The exoskeleton is designed to seamlessly and ergonomically interface with the hands of stroke patients who require motor and dexterity rehabilitation. This model is applicable for position estimation and complex finger control. The research is based on a comprehensive overview of the current developments in the field.

关键词： rehabilitation soft-rigid hybrid exoskeleton kinematic model

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Development of a Rehabilitation Robot for the Frozen Shoulder Considering Shoulder Girdle Motion 6th

Development of a Rehabilitation Robot for the Frozen Shoulde...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Sun, Xiao Makino, Koji Kurita, Kazuki Kaneko, Hiromi Ishida, Kazuyoshi Terada, Hidetsugu Univ Yamanashi Takeda 4-3-11 Kofu Yamanashi Japan

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This study describes a robot that can be used for the rehabilitation of "frozen shoulder" (shoulder arthritis) accompanied by stiffness and pain. Six motions are provided in the rehabilitation;of these, two are the motions of the shoulder girdle and the remainings are the motions of the shoulder joint. In particular, independent rehabilitation motion of the shoulder girdle and shoulder joint is crucial. Therefore, in this study a robot that enables the rehabilitation motion of the shoulder girdle is developed. Moreover, the mechanism of left-right switching of the shoulder with a simple rotation is developed for ambidexterity and cost reduction of the robot to be used in the hospitals. These two factors are validated and evaluated with the real robot and the results show that the robot can perform rehabilitation motion with accuracy and the proposed switching mechanism works perfectly.

关键词： Rehabilitation Robot Parallel Mechanism Teaching Motion Frozen Shoulder

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Analysis Study of Working Modes Within a Redundant Architecture for a Spherical Parallel Manipulator (SPM) 33rd

Analysis Study of Working Modes Within a Redundant Architect...

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33rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Enbaya, Jasser Sandoval, Juan Ghiss, Moncef Tourki, Zoubeir Arsicault, Marc Zeghloul, Said Laribi, Med Amine Univ Sousse Natl Engn Sch Sousse Mech Lab Sousse LMS Sousse 4000 Tunisia Univ Poitiers Pprime Inst CNRS Dept GMSC ENSMAUPR 3346 Poitiers France Nantes Univ LS2N CNRS Ecole Cent NantesUMR 6004 F-44000 Nantes France

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this study, we focus on a 3DOF (RRR) spherical parallel manipulator (SPM) employed as haptic interface (HI) for teleoperation application. We started by presenting the kinematic model of the interface, its different working modes and identifying singularity zones within the operational workspace (WS). As a solution, a redundant architecture is proposed where we used a fourth motor to enhance the dexterity of the device. Subsequently, our study takes a closer look at the comparative analysis of working modes in the purpose of selecting the optimal starting configuration for our interface. This selection ensures an optimized torque distribution across various WS configurations where we respect the limit of torques for every motor in order to stay in a safe zone of control.

关键词： Haptic interface Redundancy Dexterity Working modes Torque control Optimal torque distribution Spherical parallel manipulator Teleoperation

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Differentially Flat Robots with Compliance in Actuated Joints 5th

Differentially Flat Robots with Compliance in Actuated Joint...

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5th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-machine-science IFToMM ITALY (IFIT)

作者： Tonan, Michele Dori, Alberto Bottin, Matteo Rosati, Giulio Univ Padua Dept Ind Engn Padua Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Most robots and mechanisms are fully actuated, i.e., the number of actuators is equal to the number of degrees of freedom (DOFs). Thus, the robot's configuration is fully determined by imposing the position of the actuators. However, a class of robots exists, the under-actuated robots, in which the number of actuators is smaller than the number of degrees of freedom. In this case, the non-actuated joints cannot be directly controlled. When an under-actuated robot with n-DOFs and n - 1 actuators is designed with specific inertial properties of the links, it becomes differentially flat. In this case, the non-actuated joint, which is equipped with a torsion spring, can be controlled by the motion of the actuated joints. In the previous works dealing with differentially flat underactuated robots the compliance of the actuated joints was neglected. In this paper, the effect of actuated joint compliance in differentially flat underactuated robots is investigated. A mathematical model is proposed and numerical simulations are carried out to highlight the effect of joint compliance in the precision of point-to-point motions.

关键词： Robots

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Control Advances in Upper Limb Prostheses: A Review. Part II: Non-Invasive Methods 6th

Control Advances in Upper Limb Prostheses: A Review. Part II...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Cazacu, Cristina-Magda Doroftei, Ioan Gheorghe Asachi Tech Univ Iasi 43 D Mangeron Blvd Iasi 700050 Romania Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This paper surveys the latest developments in control techniques for upper limb prosthetics and underscores the critical need for efficient control mechanisms to enhance prosthetic functionality and user experience. It categorizes control techniques according to the invasiveness of their signal acquiring methods, with a focus on non-invasive options. The article explores innovative approaches like multigrasp prosthetics, electrotactile feedback and the use of artificial neural networks for precise movement control. Additionally, alternative sensing techniques such as sonomyography, near-infrared technology, electroencephalography (EEG), and mechanomyography (MMG) are discussed, highlighting their potential to improve prosthetic sensitivity and accuracy. The integration of multisensory approaches is also considered, accentuating advances in prosthetic control aimed at improving the quality of life of limb amputees.

关键词： control strategies upper limb prostheses non-invasive methods

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Automotive Security in the Digital Era: A Comprehensive Survey of Attacks and Defenses for Keyless Entry System 30th

Automotive Security in the Digital Era: A Comprehensive Surv...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Zheng, Yong Zhang, Man Li, Xianfeng Chen, Xingchi Zhang, Zhourui Zhu, Jiaming Shan, Chun Wu, Guocheng Guangzhou Univ Cyberspace Inst Adv Technol Guangzhou Peoples R China Peng Cheng Lab Shenzhen Peoples R China Guangdong Polytech Normal Univ Guangzhou Guangdong Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

With the development of the digital economy, the network security issues of connected vehicles have increasingly garnered widespread attention. Particularly, the growing prevalence of attacks on keyless entry systems poses not only significant challenges to vehicle security but also stimulates in-depth research within the field of security. However, despite the extensive research on the attack and defense issues of keyless entry systems, there is currently a lack of a systematic review that comprehensively summarizes the research status and achievements in this domain. Therefore, this paper aims to fill this gap by providing a comprehensive overview of attack and defense technologies for keyless entry systems in automotive vehicles. Through a meticulous review of abundant literature, this paper delves into various known security attack methods, providing detailed analyses of the principles and impacts of these attack techniques. Simultaneously, the paper consolidates the latest research progress in countering these attacks, systematically summarizing the strengths and weaknesses of various defense technologies and their application scenarios. By gaining insightful insights into the current research landscape, the paper also discusses future trends in preventing keyless entry system-related attacks, providing guidance for researchers in future work.

关键词： Keyless Entry System replay attack relay attack identity authentication

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