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

共 3195 条记录，以下是331-340 订阅

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Design and Testing of an Underactuated Finger with Compliant Elements 6th

Design and Testing of an Underactuated Finger with Compliant...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Yamamoto, Takumi Iwatsuki, Nobuyuki Ceccarelli, Marco Tokyo Inst Technol Sch Engn 2-12-1 Ookayama Tokyo 1528552 Japan Univ Roma Tor Vergata Dept Ind Engn Via Politecn 1 I-00133 Rome Italy

ISBN: (纸本)9783031673856;9783031673832;9783031673825

A finger mechanism is designed for a prototype construction by 3D printing. The grasping force can be reduced by increasing the number of contact points or by increasing the contact area of each contact point. In this paper, an underactuated 2 DOF finger mechanism is presented using compliant components for an underactuated adaptive grasping. In order to increase the contact area against the object, self-adaptive grasping is designed by an underactuated link mechanism with phalanx plates made of flexible material. Test results show that the designed underactuated finger mechanism automatically distributes the applied forces to the contact points. In addition, the compliance of the contact area further reduced the grasping pressure due to the larger contact area.

关键词： Finger design Underactuated mechanisms Compliant mechanism 3D printing Testing

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Experimental Evaluation and Numerical Simulation in a Lower Limb Exoskeleton 8th

Experimental Evaluation and Numerical Simulation in a Lower ...

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

作者： Tarnita, Daniela Geonea, I Dumitru, I Petcu, A. Tarnita, D. N. Univ Craiova Craiova Romania Emergency Hosp Dolj Cty Craiova Romania

ISBN: (纸本)9783031598906;9783031598883;9783031598876

In this paper, starting from a virtual model of a mannequin and from that of an exoskeleton designed for the rehabilitation of human knee movements, we set out to make numerical simulations in the ADAMS environment. The experimental data collected from a healthy human subject as biomechanical time series of the flexion-extension (flex-ext) angle variation of all 6 main joints of both lower limbs (LL) are introduced, as input data, in the virtual joints of a virtual mannequin, while the similar time series obtained for the physical prototype of the exoskeleton are used as input data for the virtual exoskeleton. During the walking simulations, the variation graphs of the ground reaction forces (GRF), as well as of the reaction forces developed in joints, are obtained.

关键词： Exoskeleton Lower limb ADAMS Simulation Electrogoniometers

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Measuring the Wear Volume of Cylindrical Bushings with a Roundness Measuring Instrument 5th

Measuring the Wear Volume of Cylindrical Bushings with a Rou...

引用

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

作者： Goti, Edoardo Bertetto, Andrea Manuello Mazza, Luigi Politecn Torino Dipartimento Ingn Meccan & Aerosp Corso Duca Abruzzi 24 I-10129 Turin Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

During accelerated life tests linear pneumatic cylinders fail because the guide bushing in the front head wears out and leakages from sealings become unacceptable. Wear measurements on the inner surface of these bushings are challenging and require a rotary scanning system which is not usually available in standard optical profilometers or stylus profilometers. In this paper a roundness measuring machine has been exploited as a rotary contact profilometer to scan the inner surface of guide bushings which suffered wear loss after endurance tests. Two scanning strategies were compared which exploit the measurement routine usually applied to determine the tolerance of cylindricity and straightness of holes. Results thus obtained were compared with the results of a wear volume analysis performed through a benchmark optical technology available on the market of optical profilometers. The accuracy of the method was investigated at a preliminary stage by increasing the number of profiles acquired by the roundness measuring instrument, and the deviation from the reference value from optical profilometry is presented.

关键词： bushing wear roundness measuring machine

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The Optimal Swing-Up of the Double Pendulum 9th

The Optimal Swing-Up of the Double Pendulum

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9th European Conference on Mechanism science (EuCoMeS)

作者： Lovato, Stefano Ortombina, Ludovico Massaro, Matteo Univ Padua Dept Ind Engn Via Venezia 1 I-35131 Padua Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

A classic control problem that appeared in different variants is the inverted pendulum, that serves as a concept for a number of practical applications. A challenging variant is the inversion of a double pendulum mounted on a sliding cart. The problem consists in erecting ('swinging-up') the pendulum from the 'straight-down' to a 'straight-up' position in the minimum time. In this paper a nonlinear optimal control approach is employed to investigate the structure of the optimal swing-up. A bang-bang control, possibly with a singular arc, is revealed. In addition, the same straight-up position can be reached with different strategies, namely with the pendulum links undergoing one or more revolutions during the manoeuvre. The different strategies call for different control structure, with a different manoeuvre time required to perform the inversion. Interesting enough, the optimal solution is not the one involving the shortest path in terms of rotations of the links, since dynamic effects can be leveraged to obtain faster swing-ups.

关键词： inverted pendulum erection & straightening optimal control bang-bang singular arc optimization dynamics

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Lab Experiences with 5R mechanisms for Teaching 6th

Lab Experiences with 5R Mechanisms for Teaching

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Silva-Garces, K. N. Sanz-Sanchez, S. Russo, M. Ceccarelli, M. Inst Politecn Nacl Secc Estudios Posgrad & Invest Escuela Super Ingn Mecan & Elect Mexico City 07738 DF Mexico Univ Carlos III Madrid Inst Vehicles Safety Assurance Dept Mech Engn Madrid 28911 Spain Univ Roma Tor Vergata Dept Ind Engn Lab Robot Mechatron I-00133 Rome Italy

ISBN: (纸本)9783031673856;9783031673832;9783031673825

Experimental experiences in LARM2 in Rome are presented to analyze a 5R mechanism for teaching in designing, prototyping and operating. A 5R mechanism prototype has been manufactured through 3D printing, assembled with low-cost commercial components, and then validated experimentally. One Inertial Measurement Unit (IMU) sensor measures the output motion, and two current sensors monitor the power consumption. Test results are discussed in terms of prototype performance to show how parallel mechanisms can be taught in university courses by using a simple 5R mechanism.

关键词： Education MMS teaching 5R mechanism Lab experience Tests

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Dynamic Safety Evaluation and Risk Mitigation Strategies for Collaborative Kitting 9th

Dynamic Safety Evaluation and Risk Mitigation Strategies for...

引用

9th European Conference on Mechanism science (EuCoMeS)

作者： Lettera, Gaetano Bajrami, Albin Costa, Daniele Callegari, Massimo Univ Politecn Marche I-60131 Ancona AN Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

The Collaborative Kitting (CoKitting) approach in manufacturing combines human dexterity and robot repeatability to simplify assembly tasks, improving efficiency and safety. The proposed methodology aligns with the Industry 5.0 (I5.0) perspective, aiming at optimizing the collaborative task by proposing guidelines for both quantitative safety definition and reactive control algorithms. The first aspect is pursued by a review of the applicable norms and the development of advanced vision algorithms and AI-based strategies for the continuous human pose monitoring and behavioural models prediction with the objective of realising a real-time risk assessment. The second aspect anticipates interactions and minimises risks by introducing novel collision avoidance algorithms which re-plan in real time trajectories that avoid contact between the robot and any obstacles present in the work area, whether fixed or mobile, by considering the evaluated safety index.

关键词： Collaborative Kitting Obstacle Avoidance Risk Assessment Human Safety AI Vision Situation Awareness

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Hybrid Soft-Rigid Robotic System for Hand Rehabilitation 5th

Hybrid Soft-Rigid Robotic System for Hand Rehabilitation

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

作者： Tiboni, Monica Loda, Davide Univ Brescia Dept Mech & Ind Engn Via Branze 38 I-25123 Brescia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This article proposes the design and development of a cost-effective hand rehabilitation system based on the principle of mirror therapy, and a hybrid soft-rigid structure. The developed system uses mirror therapy, by focusing on cortical reorganization to improve the recovery of hand movements. The system integrates a sensory glove on the healthy hand equipped with bending sensors to detect finger movements. Two different types of bending sensors (one of which is a soft sensor) were considered and compared, and the sensors were extensively characterized. The movements of the healthy hand, detected by the sensing glove, control an exoskeleton-like rehabilitation glove worn on the affected hand. The presented rehabilitation glove contains 3D-printed components with compliant flexural hinges that are actuated by electric servomotors and wires. The extension of the fingers is active (for the hand opening), and the finger flexion is mixed passive/active, thanks to the flexural hinges. The finger interface ensures a customized fit. The modular design of the system facilitates adjustments and optimizations. This cost-effective hand rehabilitation system offers a promising approach to improving motor recovery through mirror therapy for patients with various hand problems, including rehabilitation at home through a low-cost personalized device.

关键词： robotic rehabilitation flexural hinges soft flex sensors mirror therapy 3D-printing

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Control Advances in Upper Limb Prostheses: A Review. Part I: Invasive Methods 6th

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

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

Recent advancements in materials science, robotics and signal processing have significantly enhanced upper limb prostheses, emphasizing the crucial role of control systems in their functionality. These systems determine how effectively users can manipulate objects and perform daily tasks, driving the demand for more intuitive and functional devices. This paper reviews advances in control strategies for upper limb prostheses and highlights the importance of effective control mechanisms to improve the functionality and usability of prostheses. The review classifies the control strategies based on the invasiveness of signal acquisition methods and describes invasive approaches. Invasive techniques such as implantable myoelectric sensors and neural interfaces provide precise control using direct muscle or nerve signals, but carry surgical risks. The review emphasizes the need for ongoing research to optimize these technologies and expand their applications, aiming to improve the quality of life for amputees by restoring mobility and functionality.

关键词： control strategies upper limb prostheses invasive methods

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Physical Interaction Interpretation in Industrial Robotics Using Dynamic Time Warping Principles 33rd

Physical Interaction Interpretation in Industrial Robotics U...

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

作者： Gordic, Zavisa Jovanovic, Kosta Univ Belgrade Sch Elect Engn ETF Robot Lab Belgrade 11000 Serbia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

This paper presents an approach to interpretation of the context of physical interaction of a robot with its surroundings using principles of Dynamic Time Warping (DTW). Forces originating from physical interaction reflect their influence on robot joints through the measurements of robot joint currents, which deviate from their values without interaction. Contextual information is annotated to a representative example of deviations and used as reference value for the contact task-induced signal deviations. Context of ongoing task executions obtained by comparing recent measurements of deviations and comparing them with the most similar section of their reference values using modifications of the original DTW algorithm. The analysis is based on previously recorded experimental measurements of robot joint currents while performing different types of contact tasks including assembly and load manipulation tasks. Results are discussed in terms of their reliability, accuracy and additional signals or rules needed to interpret them correctly.

关键词： Industry 4.0 Dynamic time warping Context extraction and interpretation Industrial robot

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Hybrid Physics-Based and Data-Driven Modelling for Vehicle Dynamics Simulation 5th

Hybrid Physics-Based and Data-Driven Modelling for Vehicle D...

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

作者： Valente, Giuseppe Perrelli, Michele Adduci, Rocco Cosco, Francesco Bossio, Roberto Mundo, Domenico Univ Calabria Dept Mech Energy & Management Engn DIMEG Arcavacata Di Rende Italy Toyota Motor Europe Zaventem Belgium

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In the vehicle dynamic sector, the study of phenomena affecting the dynamics of cars is often performed by means of physics-based simulation models. Nowadays, artificial neural networks are largely used as predictive tools thanks to their enormous versatility and efficiency in emulating several system behaviours. In this paper, the implementation of a dynamic vehicle model is investigated, by combining physics-based and Deep Learning subsystem modelling in the Simcenter AMEsim software. Specifically, Artificial Neural Networks are proposed for data-driven modelling of the powertrain sub-system, comprising the engine, the gearbox and the differential, while a physics-based vehicle model is employed to simulate the dynamic behaviour of the vehicle. After trained with a sufficiently large amount of simulated data, the implemented neural network is embedded in a hybrid full vehicle model, in which the powertrain surrogate interacts with the physics-based model of the vehicle remainder in a closed-loop. The accuracy of the hybrid model is investigated by assessing its fidelity in terms of predicted drive torque, engine speed and longitudinal velocity of the vehicle.

关键词： vehicle dynamics physics-based model Artificial Neural Network machine Learning

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