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

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Robotic Platform for Position Control of a Ball 33rd

Robotic Platform for Position Control of a Ball

引用

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

作者： Sim, Simona-Daiana Medgyesi, Attila Lendek, Zs Vaida, Calin Mihaly, Vlad Mihai Susca, Mircea Dobra, Petru Machado, Jose Tech Univ Cluj Napoca Dept Automat Memorandumului 28 Cluj Napoca 400114 Romania Tech Univ Cluj Napoca CESTER Res Ctr Muncii Ave 103-105 Cluj Napoca 400641 Romania Univ Minho Metr Res Ctr Campus Azurem P-4800058 Guimaraes Portugal

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The present paper proposes and describes an approach to stabilizing a ball on a rectangular surface using a three-armed robotic system. The system is based on advanced image detection for accurate ball and surface identification. The hardware includes three servo motors controlled by an Arduino board, and the camera used is a mobile phone connected to the computer. The control of the arm movements is achieved by a PD controller. The components were printed with a 3D printer. The technical details of the system, as well as the PD controller are presented in detail, highlighting the effective interaction between the theoretical and practical sides. The development of this system offers an interdisciplinary perspective, combining knowledge from mechatronics, machine vision, and robotic control.

关键词： Robotic control Image processing Rehabilitation control

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Coupling Motion Characteristics Analysis of a 2-DOF Cable-Driven Parallel Four-Linkage Mechanism 14th

Coupling Motion Characteristics Analysis of a 2-DOF Cable-Dr...

引用

14th International Conference on the Theory of machines and mechanisms (TMM)

作者： Qiao, Shangling Zhang, Lianqing Song, Hongzhou Lv, Bohan Zheng, Zaiping Yu, Zhiyuan Wang, Sicong Beijing Inst Precis Mechatron & Controls Beijing 100076 Peoples R China Innovat Ctr Control Actuators Beijing 100076 Peoples R China Beijing Inst Struct & Environm Engn Beijing 100076 Peoples R China Soochow Univ Suzhou 215021 Peoples R China

ISBN: (纸本)9783031702532;9783031702518;9783031702501

Owing to the motor indirectly driving the joint, the kinematic characteristics of the cable-driven mechanism are different from those of the motor directly driven mechanism. This study presents the coupling motion characteristics and the corresponding analysis of cable driving forces of a 2-DOF cable-driven parallel four-linkage mechanism (CD-PFLM) comprising two motors. The structure and three coupled motion phenomena are illustrated. The equivalent joint-driven and two quasi-static motion models are established in the case where one or two cable driving forces drive the 2-DOF CD-PFLM. Moreover, three quasi-static kinematic modes are obtained, namely, under-actuated motion mode, full-actuated motion mode, and redundant-actuated motion mode. On the basis of the three motion modes, the distributions of cable driving forces and coupled motion strategies are analyzed in two situations. Owing to the cable cannot withstand pressure, the theoretical whole workspace is divided into six regions, and the effective quasi-static motion space is not continuous and reachable in the whole workspace. The typical kinematic characteristic of the cable-driven mechanism is presented theoretically and graphically. Furthermore, three typical quasi-static coupled motion strategies and their corresponding cable driving forces are discussed. Five hypothetical quasi-static motion trajectories are designed to demonstrate the coupled motion strategies. Valid simulations are conducted to verify the accuracy of the quasi-static motion strategy. The analysis of this study can provide guidance and a theoretical reference for the motion analysis of the cable-driven mechanism and control of the cable-coupled-driven mechanism.

关键词： Motion Analysis Quasi-Static Motion Cable-Driven Mechanism Coupled-Driven System

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The Cooperating Robotics in Applications 5th

The Cooperating Robotics in Applications

引用

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

作者： Antos, Jaroslav Busek, Martin VUTS As Liberec Czech Republic

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The article deals with the possibilities, design and implementation of a functional model of the workplace of cooperating robotic arms. It is assumed the possibility of defining precise positioning along a specified contour with force measurement or by checking with the camera system. Synchronization between robotic arms can be ensured by an internal bus, SW and HW modules from FANUC. It is also possible to implement synchronization with a master (superior) PLC control system, which will enable the integration of robotic arms with other devices, machines, input/output elements, safety components and visual communication.

关键词： Robot Synchronization PLC Safety

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Wrist Exoskeleton Actuated by a Parallel Manipulator 6th

Wrist Exoskeleton Actuated by a Parallel Manipulator

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Craciun, Narcis-Gratian Tulcan, Elida Gabriela Ciapa, Cristian Lovasz, Erwin-Christian Politehn Univ Timisoara Timisoara 300006 Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This work has as its main subject the study of exoskeletons for the wrist joint used in rehabilitation applications for patients who have suffered a stroke. The increasing number of people who suffer a stroke is becoming more and more worrying, especially since the number of cases of people under 50 who have a stroke is constantly increasing. Most patients who survive a stroke are left with serious sequelae, especially in the limbs, thus making it difficult for them to carry out daily activities by themselves. There are numerous therapies used during the recovery period, in which the general goal is to regain strength, muscle tone, and the ability to orient the limbs. The disadvantage of these classic therapies is the fact that they take place in specialized clinics or require a medical staff to travel to the patient's home. This is often inconvenient for patients, who are difficult to move, but also imposes a series of very high costs. For this reason, lately, the attention of researchers has turned to the use of exoskeleton-type mechatronic devices for rehabilitation applications. In this work, a brief description of the main devices that have been developed so far is made, and in the second part of the work, a possible exoskeleton device model is presented that allows both flexion/extension and abduction/adduction of the wrist.

关键词： wrist exoskeleton rehabilitation of wrist stroke

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A Modeling Approach to Study the Dynamic Behavior of Bicycle 8th

A Modeling Approach to Study the Dynamic Behavior of Bicycle

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

作者： Othman, Safa Khadr, Aymen Houidi, Ajmi Univ Sousse Natl Sch Engn Sousse Lab Mech Sousse LMS Sousse Tunisia Univ Sousse Higher Inst Appl Sci & Technol Sousse Sousse Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This research focuses on the modeling of a bicycle using a multi-body dynamic approach. The particularity of the bicycle is that it is an unstable system at rest. The multi-body system is with six rigid bodies and eleven degrees-of-freedom. Employing method is the Lagrange method and the virtual work principle. The proposed model includes a Magic Formula-based tire dynamic representation. Validation against established multi-body simulation software reveals strong correlations, particularly in straight or curve line driving. Beyond handling tests, the model serves as a versatile tool for diverse vehicle simulation needs. This work contributes to advancing two wheeled vehicles design methodologies, providing a distinct and robust approach for real-world driving scenarios.

关键词： Two-wheeled vehicle Bicycle Dynamic modeling Simulation Longitudinal dynamic behavior Magic formula Tire modeling Multi-body

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Pin-on-Disk Wear Investigation on Bronze Coating - Part 2: Analysis of the Experimental Results 5th

Pin-on-Disk Wear Investigation on Bronze Coating - Part 2: A...

引用

5th International Tribology Symposium of IFToMM (ITS-IFToMM)

作者： Grabovic, Eugeniu Ciulli, Enrico Univ Pisa Dipartimento Ingn Civile & Ind I-56122 Pisa PI Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This study expands the research described in Part 1 with additional tests and an in-depth analysis of the results. The contact between bearing steel balls and the flat surface of bronze-coated disks is investigated with velocity set at 0.1 m/s, normal load of 10 N and sliding distances of 1 km and 500 m. Wear volume, constant and depth are deeply analyzed by using the experimental data and measurements and by comparing them with analytical estimations. Results confirm the influence of the initial surface condition and of the radius of the track found in Part 1. In particular, the presence of an oxide layer has a great impact on bronze-coated parts providing unpredictable run-in phases that are nearly eliminated when it is removed through surface grinding. The track radius employed for the experiments seems to have negligible impact on the wear constant.

关键词： Wear Pin-on-Disk Bronze Coating Experimental Tests Wear depth Wear Analysis

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Diagnostics of Wind Turbine by Detectivity 5th

Diagnostics of Wind Turbine by Detectivity

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

作者： Cocconcelli, Marco DElia, Gianluca Strozzi, Matteo Rubini, Riccardo Univ Modena & Reggio Emilia Reggio Emilia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Hjorth's parameters were initially proposed in literature, to characterize the morphology of an ECG signal in the field of medicine. They consist of three scalar values that summarize in a compact form time and frequency properties of an input signal. They are the Activity defined as the variance of the time-domain signal, the Mobility related to the variance in the frequency content and the Complexity which is related to the shape of the signal itself. In a previous paper, the authors introduced a new parameter called Detectivity that fuses together the Hjorth ones. Detectivity can be seen as the total gain of the actual Hjorth parameters with respect to a reference condition (i.e. healthy machine). In this paper, Detectivity is used to analyse a wind turbine dataset, publicly available from the LuleaUniversity website, in order to monitor the occurrence of damage in one of the six tested turbines. The challenge is to make the Detectivity robust in the face of a significant change in the instantaneous rotation speed of the turbine. A down-sampling pre-processing allows to filter data corresponding to a limited speed range. The cumulant of the Detectivity value evolves in a different trend for the faulted turbine.

关键词： Detectivity Hjorth's parameters Wind turbine Diagnostics

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Theoretical Research on Transient Process in Hydraulic Cylinder with Conical Cushioning Devices 12th

Theoretical Research on Transient Process in Hydraulic Cylin...

引用

12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Dimitrov, Sasko Srebrenkoska, Sara Krstev, Dejan Dzidrov, Mishko Cekerovska, Marija Cekerovski, Todor Goce Delcev Univ Fac Mech Engn Stip North Macedonia

ISBN: (纸本)9783031805141;9783031805127;9783031805110

Hydraulic cylinders are devices that very often move large masses with high potential energy at high speeds. Abrupt stopping at its end positions, the hydraulic cylinders may damage or destroy itself or the whole system. To prevent the hydraulic system from damaging, the incorporation of the cushioning devices is introduced in the design of the hydraulic cylinder to help smoothly stop at the end position. In this work a mathematical model of a conical cushioning device in vertically mounted hydraulic cylinder is developed and simulated the transient process at the end of its stroke.

关键词： Hydraulic Cylinder Cushioning Transient Process

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Experimental Study on the Tensile and Compressive Mechanical Properties of Basalt Fiber Reinforced Concrete 30th

Experimental Study on the Tensile and Compressive Mechanical...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Deng, Zhiyun Lin, Peng Zhou, Hao Xia, Yong Ma, Xiang Li, Dan Du, Libing Beijing Jiaotong Univ Sch Civil Engn Beijing Peoples R China Tsinghua Univ Dept Hydraul Engn Beijing Peoples R China Tianjin Huaneng Yangliuqing Co Generat Ltd Liabil Tianjin Peoples R China PowerChina Chengdu Engn Corp Ltd Chengdu Peoples R China Technol Innovat Ctr Hydropower Wind Solar & Energ Tibet Peoples R China Xian Thermal Power Res Inst Co Ltd Xian Peoples R China China Huaneng Grp Co Ltd North China Branch Beijing Peoples R China Southwest Petr Univ Sch Geosci & Technol Chengdu Peoples R China

ISBN: (纸本)9783031816758;9783031816734;9783031816727

Studying the tensile and compressive properties of fiber-reinforced concrete and obtaining the optimal fiber content is the premise of applying fiber-reinforced concrete to engineering practice. Based on the axial tensile and axial compressive tests of basalt fiber reinforced concrete (BFRC), the tensile and compressive constitutive models of concrete containing basalt fiber are established and the optimal fiber content is obtained. The results show that compared with B0 (plain concrete), 0.2% volume ratio is the optimal fiber content, and the axial tensile strength, splitting tensile strength and bending strength of BFRC increase by 12.53%, 14.79% and 21.26%, respectively. The compressive stress-strain curve of BFRC can be fitted by peak compressive strength (f(c)), peak compressive strain (epsilon(c)) and compressive shape parameter (alpha(c)). The tensile stress-strain curve can be fitted by peak tensile strength (f(t)), peak tensile strain (epsilon(t)) and tensile shape parameter (alpha(t)).

关键词： Basalt fiber reinforced concrete Tensile and compressive properties Optimal fiber content Laboratory test Numerical simulation

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LiteGeoPro: A Lightweight and Cheap IP Geolocation Algorithm Based on Location Propagation 30th

LiteGeoPro: A Lightweight and Cheap IP Geolocation Algorithm...

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30th International Conference on Computational and Experimental Engineering and sciences

作者： Liu, Chong Zu, Shuodi Yuan, Fuxiang Shi, Wenqi Ding, Shichang Key Lab Cyberspace Situat Awareness Henan Prov Zhengzhou Peoples R China

ISBN: (纸本)9783031774911;9783031774898;9783031774881

IP geolocation can provide geographical locations of network users. It is widely used in location-based services (LBS), such as online advertising, account protection, and localized content delivery. Service providers require a cheap, accurate, and fast IP geolocation method. However, existing IP geolocation algorithms rely on high computation or a large number of distributed vantage points to improve accuracy, which is not cost-effective. Therefore, this paper proposes a lightweight and cost-effective IP geolocation method called LiteGeoPro. LiteGeoPro uses only one vantage point to collect network paths and delay information. Landmark locations then propagate along the shortest path with the smallest delay, and the target location is estimated based on its closest router. City-level geolocation results in China and the U.S. networks demonstrate that LiteGeoPro achieves an average accuracy of over 97% on IPv4 and IPv6 networks. Further experimental results on six datasets in IPv4/6 networks showthat the median errors of LiteGeoPro range from 0.01 to 8.94 km. Compared with typical geolocation algorithms SLG and MLP-Geo, LiteGeoPro reduces geolocation errors by up to 99%.

关键词： IP Geolocation Shortest Path Network Measurement LBS

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