Leg design for legged robots is approached by looking at mechanism solutions with features that are useful for low-cost applications in overcoming obstacles. LARM experiences have been used as background in order to o...
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ISBN:
(纸本)9789048196883
Leg design for legged robots is approached by looking at mechanism solutions with features that are useful for low-cost applications in overcoming obstacles. LARM experiences have been used as background in order to outline new mechanism designs whose basic performance have been evaluated to prove the soundness of the approach and feasibility of the proposed linkage solutions.
An important problem in the cam mechanisms synthesis is their total size as a minimization condition (criteria). Usual this condition is reduced to the cam size only, which is not correct because the cam does not func...
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ISBN:
(纸本)9789048196883
An important problem in the cam mechanisms synthesis is their total size as a minimization condition (criteria). Usual this condition is reduced to the cam size only, which is not correct because the cam does not function alone. For a cam mechanism with translating follower, the length of follower's guiding is a very important contributor to the total size of the cam mechanism. In this paper the case of cam mechanism with roll edge follower is taken into consideration.
Rolling tooth processing system, which is the most used procedure, is based on the principle that the surfaces in meshing are reciprocal winding surfaces in a gearing meshing, besides the two active surfaces there are...
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ISBN:
(纸本)9789048196883
Rolling tooth processing system, which is the most used procedure, is based on the principle that the surfaces in meshing are reciprocal winding surfaces in a gearing meshing, besides the two active surfaces there are also two surfaces which are reciprocally winded. The paper presents the manner in which the imaginary rack-bar is determined in the case of the spur curved gearing and the study of the relative velocities. The mathematical modelling of the processing procedure of the curved spur wheels imposed the determination of theoretical surfaces of the unique generating rack-bar teeth flanks.
The concept of a new planetary speed increaser with deformable element is developed in the first part of the paper. The second part presents the transmission dynamic modeling, as the first step in the design of the sm...
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ISBN:
(纸本)9789048196883
The concept of a new planetary speed increaser with deformable element is developed in the first part of the paper. The second part presents the transmission dynamic modeling, as the first step in the design of the small hydropower plant control system. The dynamic response of the aggregate composed of a Turgo turbine - speed increaser - generator is obtained by means of Matlab-Simulink software.
Wind tunnels are an experimental tool to evaluate the air flow properties of vehicles in model scale and to optimize the design of aircrafts and aircraft components. Also the hydrodynamic properties of marine componen...
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ISBN:
(纸本)9789048196883
Wind tunnels are an experimental tool to evaluate the air flow properties of vehicles in model scale and to optimize the design of aircrafts and aircraft components. Also the hydrodynamic properties of marine components like ship hulls or propulsion systems can be examined. For advanced optimization, it is necessary to guide the models along defined trajectories during the tests to vary the angle of attack. Due to their good aerodynamical properties, parallel wire robots were successfully used to perform these maneuvers in wind tunnels. Compared to aircraft hulls, marine models may be very heavy-weight (up to 150 kg). Thus, the suspension system must be very stiff to avoid vibrations. Additionally, fast maneuvers require powerful drives. On the other hand, the positioning system should not influence the air flow to ensure unaltered experimental results. In this paper, different designs are presented and discussed.
In this article a methodology for simulating proteins function movement is presented. The procedure uses a potential energy feedback algorithm that without minizing the energy obtains succesive positions of the protei...
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ISBN:
(纸本)9789048196883
In this article a methodology for simulating proteins function movement is presented. The procedure uses a potential energy feedback algorithm that without minizing the energy obtains succesive positions of the protein. before the simulation process, structures are normalized reducing the experimental methods produced errors. The procedure presents a low computational cost in relation to the accuracy obtained. Finally, results of the simulation for a specific protein are shown.
This paper discusses the motion of a walking assist machine using crutches when it is used to assist, people with walking difficulties to ascend or descend steps. First, the basic composition of the machine, which is ...
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ISBN:
(纸本)9789048196883
This paper discusses the motion of a walking assist machine using crutches when it is used to assist, people with walking difficulties to ascend or descend steps. First, the basic composition of the machine, which is under development in the Mechanical Systems Design Laboratory in Tokyo Institute of Technology, is shown. Based on the features of motions for ascending and descending steps by a healthy person using crutches that were measured using a motion capture system, a parameterized velocity profile as the reference trajectory of the actuator in the machine is proposed. Values of the parameters are determined through dynamic simulation taking into consideratioh stability, consumed energy and user's comfort. The effectiveness of the motion is discussed with. experimental results.
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing b...
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ISBN:
(纸本)9789048196883
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear "load -deflection" relation and relevant rank deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.
The paper present an original method of designing crossed axes helical gears with addendum modification based on the sliding between the meshing teeth's flanks. Based on the equalization of the relative sliding co...
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ISBN:
(纸本)9789048196883
The paper present an original method of designing crossed axes helical gears with addendum modification based on the sliding between the meshing teeth's flanks. Based on the equalization of the relative sliding coefficients at the points where the meshing begins and ends the geometrical dimensions of the helical gears are determined. The efficiency is computed taking into account the friction coefficient between the tooth flanks and the declination teeth angles rolling cylinders. The numerical results are computed using Matlab by multiobjective optimization of the values for the equalized sliding coefficients and the efficiency of the helical gears. Based on this method the designer is helped to responsible choose the helical gear in terms of gauge, efficiency and uptime.
This paper presents a new method, based on a geometrical approach, for the total workspace determination, characterization and analysis of planar parallel manipulators. The geometrical algorithm proposed for total wor...
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ISBN:
(纸本)9789048196883
This paper presents a new method, based on a geometrical approach, for the total workspace determination, characterization and analysis of planar parallel manipulators. The geometrical algorithm proposed for total workspace computation is implemented in a CAD environment. This paper illustrates the effectiveness of such a method in robot design process. Examples of total workspace determination of several types of planar parallel manipulators are presented.
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