The development and the usability of the developed machines has been constantly improved, aided by the improvements in the computer technology. There have been many publications underlying that legged locomotion is th...
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ISBN:
(纸本)9789048196883
The development and the usability of the developed machines has been constantly improved, aided by the improvements in the computer technology. There have been many publications underlying that legged locomotion is the best form of locomotion through varying terrain, as compared to using wheels. The surface of a terrain may be uneven, soft, muddy and generally unstructured. Legs in the biological environment demonstrate significant advantage in such situations. The proper design solution can improve the robot performances increasing the mobility and decreasing the energy spending. In this manuscript we summarise the fot design concepts what is important but rather neglected problem especially when develipong the muli-legged walking machine.
Shorter product life cycle as well as higher product complexity and diversity require more flexible manufacturing systems. Dynamic reconfiguration is a time efficient way to adapt system properties to rapidly changing...
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ISBN:
(纸本)9789048196883
Shorter product life cycle as well as higher product complexity and diversity require more flexible manufacturing systems. Dynamic reconfiguration is a time efficient way to adapt system properties to rapidly changing process requirements. The potential to reconfigure parallel mechanisms depends on specific and optimized machine components, which enable modification of kinematic behaviour of the system. In this contribution influence of several component parameters on system properties and the needs to develop more suitable machine components are highlighted. Furthermore, a possibility to adapt kinematic properties of a planar RRRRR-mechanism, using an adaptive revolute joint, is introduced.
This paper investigates the existence conditions of cusp points in the design parameter space of the RPR-2PRR parallel manipulators. Cusp points make possible non-singular assembly mode changing motion, which can poss...
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ISBN:
(纸本)9789048196883
This paper investigates the existence conditions of cusp points in the design parameter space of the RPR-2PRR parallel manipulators. Cusp points make possible non-singular assembly mode changing motion, which can possibly increase the size of the aspect, i.e. the maximum singularity free workspace. The method used is based on the notion of discriminant varieties and Cylindrical Algebraic Decomposition, and resorts to Grinner bases for the solutions of systems of equations.
The modular design imposes finding the optimal solutions from constructive and functional point of view. The constructive design must be correlated with the technological one. Thus, it is possible to obtain mechanical...
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ISBN:
(纸本)9789048196883
The modular design imposes finding the optimal solutions from constructive and functional point of view. The constructive design must be correlated with the technological one. Thus, it is possible to obtain mechanical components with reduce building limit and weight, with high durability and small price. In this context, the present paper presents the conceiving and the design of a new clutch with multiple functions, the elastic and safety clutch. This type of clutch combines the functions of elastic and safety clutches, and it will be denoted as elastic and safety clutch with metallic roles and elastic rubber elements.
In this paper, the mechatronic model of the cable-driven parallel robot IPAnema is presented. The dynamic equations are established including the dynamic behavior of the mobile platform, the pulley kinematics of the w...
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ISBN:
(纸本)9789048196883
In this paper, the mechatronic model of the cable-driven parallel robot IPAnema is presented. The dynamic equations are established including the dynamic behavior of the mobile platform, the pulley kinematics of the winches, and a cable model based on linear springs. The model of the actuation systems consists of the electro-dynamic behavior of the power train as well as the dynamics of the servo controller. The presented model is feasible for real-time simulation, controller design, as well as case studies for high-dynamic or large-scale robots. Simulation results and experimental measurements with the cable-driven parallel robot IPAnema are presented and compared.
The multiobjective optimal design of a four-degree-of-freedom symmetric parallel manipulator is the subject of this paper. The design has rotary actuators and generates SCARA motion. Kinematic functions are implemente...
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ISBN:
(纸本)9789048196883
The multiobjective optimal design of a four-degree-of-freedom symmetric parallel manipulator is the subject of this paper. The design has rotary actuators and generates SCARA motion. Kinematic functions are implemented and used in a multiobjective optimization. First, the manipulator description is made, and kinematic problems are solved. Then the Circular Trajectory pattern and Singularity-free-volume concepts is implemented and an operational dexterous work-space along with his volume is defined. Similarly, the manipulator's kinematic dexterity based on the Frobenius norm is found. Finally, the kinematic results are proposed as objective functions in a Design Parameters Space approach.
This paper deals with the development of a special 3+1 Degrees of Freedom (DOFs) end effector used to control the standard laparoscopic instrumentation's positioning and actuation during laparoscopic surgery. Nowa...
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ISBN:
(纸本)9789048196883
This paper deals with the development of a special 3+1 Degrees of Freedom (DOFs) end effector used to control the standard laparoscopic instrumentation's positioning and actuation during laparoscopic surgery. Nowadays, the robotic system da Vinci is the most used robot in the laparoscopic surgery field. The cost of this robot is very high, which limits its spread in hospitals. Moreover, this robot can use only customized tools, called endoWrist, to perform the laparoscopic surgery. This instruments are, however, very expensive and can be used only for few operations, increasing the required economical efforts. The aim of our research is to create an end effector, supported by a navigator arm, able to manipulate standard laparoscopic instruments in order to reduce the cost of the robotic surgery, while keeping most of the advantages introduced by the other robotic systems. The particular structure of the end effector proposed here makes it possible to create a virtual spherical wrist at the insertion point. This solution allows to have the mobility needed to perform the surgery and to avoid excessive stress to the patient skin. The main disadvantage is represented by the DOFs of the standard laparoscopic tools that are less than in the endoWrists. However, the proposed end effector allows to manipulate standard laparoscopic tools smaller than customized robotic instruments, which is a fundamental feature in neonatal and paediatric surgery.
The paper presents a modular system for inspection and exploration developed by the authors, which is composed of active and passive modules. The system is placed into motion using two geared DC motors and geared tran...
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ISBN:
(纸本)9789048196883
The paper presents a modular system for inspection and exploration developed by the authors, which is composed of active and passive modules. The system is placed into motion using two geared DC motors and geared transmissions. The control of the modular system is achieved using a CEREBOT II circuit board trough a graphic interface developed using the DELPHI visual programming environment.
This paper presents the results of measurements and simulations of a linear stick-slip axis for a mobile nanorobot for the height adjustment of end-effectors, e.g. microgrippers. The function is dependent on surface c...
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ISBN:
(纸本)9789048196883
This paper presents the results of measurements and simulations of a linear stick-slip axis for a mobile nanorobot for the height adjustment of end-effectors, e.g. microgrippers. The function is dependent on surface condition and friction characteristics. The axis is driven by laser structured piezoceramics, who generate a dynamic stick-slip motion. It is shown, that the dependency to surface etc. can be partly described by a phenomenon that will be denominated 0(zero)-step amplitude. It is the amplitude, where an actuator displacement is generated, but the final step length remains precisely zero. To investigate several influences on the 0-step amplitude, a test stand was build up. For simulation of friction according to literature dedicated to micro- and nanorobots, friction contacts can be modeled using the LuGre-model of friction. However, the 0-step amplitude is not covered by the model. Furthermore, the dependency to surface condition is not part of actual friction models. Thus, this effect is systematically measured and finally it is discussed how to integrate it into available friction models.
The traditional methods for the calculation of the efficiency of cylindrical gear transmissions are based on the hypotheses of constant friction coefficient and uniform load distribution along the line of contact. How...
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ISBN:
(纸本)9789048196883
The traditional methods for the calculation of the efficiency of cylindrical gear transmissions are based on the hypotheses of constant friction coefficient and uniform load distribution along the line of contact. However, the changing rigidity of the pair of teeth along the path of contact produces a non uniform load distribution, which has significant influence on the friction losses, due to the different relative sliding at any point of the line of contact. In previous works, the authors obtained a non-uniform model of load distribution based on the minimum elastic potential criterion, which was applied to preliminary calculations of the efficiency of spur and helical gears. Recently, a new analytic formulation of the load distribution has been found. In this work, this new model of load distribution is applied to study the efficiency of involute spur gears with transverse contact ratio between 1 and 2, assuming the friction coefficient to be constant along the path of contact. Analytical expressions for the power losses due to friction, for the transmitted power and for the efficiency are presented.
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