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

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AI-Based Multi-criteria Path Planning of Cartesian Robot with Telescopic Arm for Tree Fruit Picking 33rd

AI-Based Multi-criteria Path Planning of Cartesian Robot wit...

引用

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

作者： Rodic, Aleksandar Ilic, Uros Stevanovic, Ilija Inst Mihajlo Pupin Belgrade Serbia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper presents a hybrid neuro-fuzzy applicative interface for path planning and multi-criteriamotion optimization of an agriculture service robot with a telescopic arm designed for picking fruit from trees on the large orchards. The intelligent optimization system is based on application of artificial intelligence algorithms-neural networks and fuzzy inference system, which includes necessary knowledge about the kinematic and dynamic behavior of the robot in the operation task space, including data on the coordinates of places intended for disposal of the picked fruits from the tree. The intelligent system for path planning of the robot determines in real time the points in the working space that meet three set qualitative criteria for decision-making: (i) the shortest paths, (ii) the fastest paths, and (iii) the minimum energy consumption for catching, picking and carrying away the harvested fruits to the nearest place provided for the disposal of the fruits. The applied artificial neural network, described in the paper, is used for training, i.e. acquisition of the knowledge about the kinematic and dynamic behavior of the robot in the workspace in order to replace the process of numerically demanding calculation of the robot model in real time. Fuzzy classifier as a smart inference system has the role of choosing the best, optimal solution for the robot path that satisfies the set criteria functions.

关键词： Fruit picking robots Knowledge-based path planning Artificial intelligence Artificial neural networks Fuzzy inference system

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Analysis and Modeling of a Mechanical Power Recirculating Test Bench for Gears Testing 5th

Analysis and Modeling of a Mechanical Power Recirculating Te...

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

作者： De Simone, Marco Claudio Veneziano, Salvio Guida, Domenico Univ Salerno Dept Ind Engn Via Giovanni Paolo II 132 I-84084 Fisciano Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

The optimization of a transmission goes through the evaluation of specific parameters such as efficiency, overall dimensions, noise, and economy. Added to these parameters, during sizing, is the need to evaluate the strength of gears subject to phenomena such as pitting, micro pitting, scuffing, and bending. Such evaluations must consider the field of use of the gearbox, which may require its operation at different torque regimes and speeds. The requirements listed above lead to the need to perform test procedures involving the implementation of even quite complex load spectra for the purpose of accurately replicating actual operating conditions. This paper analyzes a mechanical power recirculating test stand and its modeling in Mathworks' Simscape multi-domain environment. In particular, the objective is to test the potential of such a simulation environment for modeling the dynamic aspects that are fundamental for the proper sizing of the test rig. This phase is essential for defining the components for subsequent bench design.

关键词： Closed-loop test rig Gearbox test Mechanical Energy Regeneration Multibody Simscape

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Static and Dynamic Identification of the Mitsubishi RV-5AS-D-S01 Robot 5th

Static and Dynamic Identification of the Mitsubishi RV-5AS-D...

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

作者： Dona, Domenico Boscariol, Paolo Bottin, Matteo Lenzo, Basilio Rosati, Giulio Univ Padua Padua Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Accurate identification plays a pivotal role in establishing a finely tuned dynamic model for a manipulator, particularly when manufacturers provide limited data. In sophisticated robotics applications, such as minimum time and minimum energy problems, or executing impact-aware tasks, a precise dynamic model becomes essential for designing feasible movements. This paper focuses on the development of an identification procedure of the collaborative robot Mitsubishi RV-5AS-D-S01, together with some preliminary experimental data.

关键词： Dynamic models

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Design of a Data Collection System for Robot Digital Twins 33rd

Design of a Data Collection System for Robot Digital Twins

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

作者： Ionut, Lentoiu Theodor, Borangiu Silviu, Raileanu Univ Politehn Bucuresti Dept Automat & Appl Informat Bucharest Romania Acad Romanian Scientists Bucharest Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper presents a software architecture designed for data gathering in robot digital twins (DT). This system acquires information and data from the industrial robot, the automated process performed by the robot, and the devices linked to the robot (such as conveyor belt, ASRS, and smart meters). The data retrieval is facilitated by an edge processing framework that includes the robot controller and IoT gateways. The software system comprises a data acquisition agent that is directly linked to the edge processing hardware, a local database for storing the acquired information, and a user interface that offers various data display possibilities. The DT software is designed to collect robot data in two modes: continually from the robot controller and the IoT gateways using specialized software tools provided by the robot manufacturer, and discretely from special program instructions through messages. Experiments with the DT data collection system are conducted for ABB IRC5 industrial robot controllers.

关键词： Industrial robot Digital twin Data acquisition Edge processing

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A Feasibility Study for a Cable Driven Parallel Robot for Integrated Wrist and Fingers Rehabilitation 5th

A Feasibility Study for a Cable Driven Parallel Robot for In...

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

作者： Pugliese, Vincenzo Sciocchetti, William De Nisi, Mario Abramo, Giuseppe Lago, Francesco Curcio, Elio Matteo Carbone, Giuseppe Univ Calabria DIMEG Arcavacata Di Rende Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This paper explores the feasibility of a Cable-Driven Parallel Robot (CDPR) for rehabilitating wrist and finger movements. The proposed design is inspired by 3D printed braces and utilizes cables for actuation. Kinematic models for both wrist and fingers are presented, along with an inverse kinematic approach to calculate cable adjustments for desired movements. A prototype was built and tested, validating the model, and demonstrating impressive accuracy and range of motion in both wrist and finger movements. This study paves the way for a rehabilitation solution using CDPRs, offering potential improvements in precision and consistency for physical therapy.

关键词： feasibility study cable-driven robots rehabilitation

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Neural Network-Based Virtual Measurement of Road Vehicle Wheel Displacements 5th

Neural Network-Based Virtual Measurement of Road Vehicle Whe...

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

作者： Marotta, Raffaele De Matteis, Luca Univ Naples Federico II Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In the automotive industry, sensors play a crucial role in enabling the advancement of autonomous vehicles. However, physical sensors often present challenges due to their cost or practical limitations. Consequently, virtual sensors offer a viable and cost-effective alternative, where relevant metrics can be estimated using available data and mathematical models. This paper introduces a virtual sensor designed to measure the vertical displacement of a road vehicle's wheels, specifically aimed at enhancing the control of the vehicle's suspension systems. The virtual sensor utilizes a multi-output neural network to predict the displacements of all four wheels simultaneously. Inputs to the network include longitudinal, lateral, and vertical accelerations from an Inertial Measurement Unit (IMU), along with anti-roll torques from both front and rear anti-roll bars, and currents in the actuators of active suspensions. Experimental validation was conducted using data collected from a Range Rover vehicle, demonstrating the efficacy of the virtual sensor in measuring vertical displacements of unsprung masses. Results were assessed through comparison with measurements obtained from a physical sensor, with Root Mean Square Error (RMSE) values confirming the accuracy of the virtual sensor's estimations.

关键词： Artificial intelligence neural network wheel displacements

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Stress Analysis of the Composite Disc with Inserts of an Indexing Gearbox Turret Follower 14th

Stress Analysis of the Composite Disc with Inserts of an Ind...

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

作者： Zboncak, Radek VUTS As Liberec Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The hybrid indexing gearbox turret follower consists of a composite body with the steel inserts for pins and a steel shaft flange. Isotropic steel interacts with generally orthotropic composite through adhesive layer. The simulation results presented in this work map a stress transfer from one material to another. Inserts and flange geometry combinations are analyzed with aim to prevent stress peaks to occur in material interface. Four types of cylindrical inserts are regular, concave, convex and convex with notches. Flange types have regular and concave geometry. Analyzed configurations of flanges and inserts show the same character of stress distribution. Stress peaks are located around loaded pin-holes edges and in areas of polygon bearing vertices. Maximum stress in disc's composite body is about 20 MPa for disc A and 26 MPa for disc B across all analyzed insert-flange variants. It can be said that the insert and flange geometry does not fundamentally influence the stress distribution and its value. However geometry of metallic parts has an effect on locking of the inserts and flange in composite. From that point of view, the convex cylindrical insert with notches prevents the insert displacement in all three directions of the insert's cylindrical system of coordinates.

关键词： Indexing turret follower Composite material CFRP Hybrid structure FEA

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D-Star-Based Optimized Trajectory Planner for Mobile Robots Operating in Dense Environments 9th

D-Star-Based Optimized Trajectory Planner for Mobile Robots ...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Vukolov, Andrey ELETTRA Sincrotrone Trieste ICT Grp Str Statale 14163-5kmArea Sci Pk I-34149 Trieste Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

This paper proposes the path planner module designed for the robots operating in the dense dynamic environments. It contains description of the novel ROS module that implements adopted version of the known and well described D-star (D*) algorithm accompanied with customized heuristic, and optimizer pipeline for trajectory decompaction, and postprocessing engine for holding a safety distance from the obstacles. The module removes the known problems that D-star experiences on high-resolution maps, providing sparse trajectory useful for the industrial unmanned ground vehicles (UGVs) with simple actuation trackers installed. Test results of the algorithm are given for the dense industrial environment containing closed loops.

关键词： Path planning D D-star trajectory optimizer raytracing potential field sparse path

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Dynamic Analysis of a Quay Crane Using Lumped Parameter Models 5th

Dynamic Analysis of a Quay Crane Using Lumped Parameter Mode...

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

作者： Remino, Carlo Incerti, Giovanni Solazzi, Luigi Tomasi, Ivan Adamini, Riccardo Univ Brescia Dept Mech & Ind Engn DIMI Via Branze 38 I-25123 Brescia Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The objective of this research activity is to evaluate the extent to which models with lumped parameters might be appropriate for the development of lifting devices. The models we used have only one or two degrees of freedom, but the parameters of the crane were derived by a FEM analysis of its structure, while the viscoelastic parameters of the ropes took into account their time-varying behavior. The results showed that it is useful to consider the length of the ropes in order to calculate more accurately the dynamics of the crane, since the stiffness and the damping change during the load movement. According to the results, higher stress values were also obtained using the model with one degree of freedom for the ropes. This implies that the model can be useful for rope selection as it ensures a conservative estimate of their coefficient of safety. In the case of the two-degree-of-freedom model, the same is true for the structure.

关键词： lifting equipment crane dynamic effect lumped parameters

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Design and Implementation of a Digital Twin for a Multi-robot Surgical Platform 8th

Design and Implementation of a Digital Twin for a Multi-robo...

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

作者： Trabelsi, Amir Sandoval, Juan Mlika, Abdelfattah Lahouar, Samir Laribi, Med Amine Univ Poitiers Pprime Inst Dept GMSC UPR 3346CNRS Poitiers France Univ Sousse Natl Engn Sch Sousse LMS BP 264 Sousse Erriadh Sousse 4023 Tunisia Nantes Univ Ecole Cent Nantes CNRS LS2NUMR 6004 F-44000 Nantes France Univ Monastir Natl Engn Sch Monastir LGM Monastir 5019 Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

Digital twins are revolutionizing healthcare by creating virtual models of physical systems and processes, allowing for real-time simulation, validation, and training. This technology has the potential to significantly improve the safety and efficiency of surgical applications, transforming the medical field. The proposed study aims to develop a digital twin for a multi-robot platform, by creating a virtual replica of the surgical platform that reflects the physical behavior of the multi-robot system. The proposed digital twin framework consists of physical and virtual environments that are interconnected through bi-directional data flow, serving as a bridge between the physical and virtual worlds. By offering a virtual replica of the physical system, digital twins enable real-time testing and optimization of surgical procedures, allowing for the simulation of various scenarios, validation of new techniques, and training of surgeons within a virtual environment. This approach can reduce the risk of complications and improve patient outcomes, ultimately transforming the field of surgery.

关键词： Digital twin Multi-robot systems Robotic surgical platform

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