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

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Antifrictional Effect of Biobased Fillers on Bioceramic Alumina 5th

Antifrictional Effect of Biobased Fillers on Bioceramic Alum...

引用

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

作者： Matijosius, Tadas Zunda, Audrius Staisiunas, Laurynas Selskiene, Ausra Padgurskas, Juozas Vytautas Magnus Univ LT-53362 Akademija Lithuania State Res Inst Ctr Phys Sci & Technol LT-10257 Vilnius Lithuania

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Nanoporous coatings suggest new opportunities for anodic alumina (Al2O3) as an innovative bioceramic material. Despite its hardness, the wear of bioceramic coatings presents a major problem in many applications, including biomedicine. In biological systems, wear must be avoided. In this study, friction was evaluated on bioceramic coatings using biobased fillers. Several lipids including oleic acid, stearic acid, lauric acid and trilaurin were chosen for impregnation on anodized 6082 and 7075 alloys to evaluate the possible friction conditions of the biomaterials in the body. Lipids improved the friction resistance of bioceramic coatings up to 10 times when compared to solid lubricants based on polytetrafluoroethylene (PTFE). Biobased fillers sustained up to 10000 friction cycles with a Coefficient of Friction (COF) below 0.1 before abrasion, especially on 7075 alloys. According to friction and scratch results, oleic acid had the highest friction and wear resistance on 6082, while trilaurin showed better resistance on 7075 alloy against corundum. The ability to reduce friction and wear for stearic acid was insufficient under high loads. Combining the optimal biobased filler with nanoporous Al2O3 can further improve tribological performance for biomedical purposes.

关键词： Bioceramic Alumina Lipids Friction Wear

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Impedance-Based Interaction Strategies for a Serial Collaborative Robot 5th

Impedance-Based Interaction Strategies for a Serial Collabor...

引用

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

作者： Maddio, Pietro Davide Sinatra, Rosario Cammarata, Alessandro Univ Catania Dept Civil Engn & Architecture Via S Sofia 64 I-95123 Catania Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

This study introduces a method focusing on both obstacle avoidance and interaction techniques for a serial collaborative robot, employing impedance control. Collaborative robots operate in conjunction with humans within the same workspace, necessitating advanced control strategies to prevent human-robot collisions. The paper elaborates on an impedance control strategy that integrates force and position control, incorporating a virtual stiffness concept around objects. This approach facilitates not only the evasion of obstacles but also controlled interactions with objects when necessary. The efficacy of the proposed method is validated through numerical analyses, demonstrating its applicability in scenarios that demand both avoidance and intentional contact with objects.

关键词： Cobots Impedance control Obstacle avoidance

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Design and Stiffness Modeling of a Novel Planar Parallel Robot with Variable Stiffness Actuators 6th

Design and Stiffness Modeling of a Novel Planar Parallel Rob...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Majumder, Arunabha Kiziloklu, Ibrahim Doruk Oliveira, Anderson Souza Bai, Shaoping Aalborg Univ Dept Mat & Prod DK-9220 Aalborg Denmark

ISBN: (纸本)9783031673856;9783031673832;9783031673825

Human-robot interaction applications require compliant actuation for enhanced safety and comfort. While compliant actuators were adopted in many robots of serial configurations, they are rarely used in parallel robots. This paper introduces a novel planar parallel robot (PPR) designed with variable stiffness actuators (VSAs). The stiffness models for the VSA-based parallel robot are developed, upon which simulations are conducted to reveal stiffness distribution over the entire workspace. The models were experimentally validated for both joint and Cartesian stiffness.

关键词： Cartesian stiffness planar parallel robot (PPR) variable stiffness actuator (VSA)

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Synthesis of Chebyshev Four-Bar Linkages and Analysis of Their Motion Properties via the Centrodes 5th

Synthesis of Chebyshev Four-Bar Linkages and Analysis of The...

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

作者： Figliolini, Giorgio Lanni, Chiara Tomassi, Luciano Univ Cassino & Southern Lazio Cassino Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The subject of this paper is the synthesis of Chebyshev four-bar linkages as three-poses rigid body guidance for obtaining an approximated long straight path of the coupler link midpoint. Moreover, the kinematic analysis of each type of the designed Chebyshev four-bar linkages is formulated in order to validate the proposed design procedure and to analyze the coupler rigid body motion by means of the centrodes, which take the form of approximated, circle and straight line (cycloidal motion) or internal circles (hypocycloidal motion) that tend to Cardan circles at infinity. Finally, applying the Roberts-Chebyshev theorem, the corresponding six-bar mechanisms are designed to obtain approximated long straight path parallel motions. Thus, implementing this formulation in Matlab, the proposed design procedure has been validated.

关键词： Chebyshev mechanism synthesis analysis centrodes parallel motion

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Analysis of the Transmission Error and Mesh Stiffness of Load-Induced High Contact Ratio External Spur Gears 9th

Analysis of the Transmission Error and Mesh Stiffness of Loa...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Pedrero, Jose, I Pleguezuelos, Miguel Sanchez, Miryam B. UNED Dept Mecan Juan Rosal 12 Madrid 28040 Spain

ISBN: (纸本)9783031672972;9783031672958;9783031672941

The tooth deflections caused by the transmitted load in spur gears results in a sooner start of contact (and a delayed end of contact) and parabolic loading and unloading processes along the additional contact intervals. For spur gears with contact ratio close to 2 and heavy load, the increase on the length of contact may lead to an effective contact ratio above 2. In this case, the interval of single tooth contact is eliminated and intervals of three pair tooth contact arise inside the additional contact intervals. The load sharing, meshing stiffness and loaded transmission error are therefore influenced, and not adequately described by the dynamic behavior models for high contact ratio spur gears. This paper presents an analytic model for the time-varying mesh stiffness and quasi-static transmission error of spur gears with contact ratio greater than 2 under loading conditions.

关键词： External Spur Gears Transmission Error Time-Varying Mesh Stiffness Profile Modifications

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Experimental Approach on the Force for Robotic Pipetting in Automated PCR (Polymerase Chain Reaction) 6th

Experimental Approach on the Force for Robotic Pipetting in ...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Sandu, Melania-Olivia Gruescu, Corina-Mihaela Kristof, Robert Sticlaru, Carmen Ciupe, Valentin Lovasz, Erwin-Christian Politehn Univ Timisoara Timisoara 300006 Romania

ISBN: (纸本)9783031673856;9783031673832;9783031673825

The paper approaches the design, simulation, manufacturing and testing of the devices meant to work within an automated process of handling samples in view of PCR (Polymerase Chain Reaction) analysis. Automation is justified by the requirement to reduce positioning uncertainty and to eliminate all sorts of errors due to the human operator. The system consists of the industrial robot UR3, a customized gripper, the pipetting assembly, tips, and mechanical parts to support chemical substances and genetic material. The handling of different materials needs attaching and dismantling of tips at the end of the pipette. As theoretical calculus is not reliable, the paper displays an experimental study for the determination of the minimum, maximum, and optimal pressing force on a pipetting device, when it descends along the Z axis in order to attach a tip to the end effector.

关键词： Robotic Handling Pick and Place Force

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Modelling Viscoelastic Adhesion and Friction in Sliding Contact Mechanics 5th

Modelling Viscoelastic Adhesion and Friction in Sliding Cont...

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

作者： Mandriota, Cosimo Carbone, Giuseppe Menga, Nicola Polytech Univ Bari Dept Mech Math & Management Bari Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

We present our recent study on rough adhesive contacts of viscoelastic materials in steady-state sliding, focusing on the interplay between adhesion and viscoelasticity by means of a novel energy approach. We investigate tribological features over a wide range of velocity values, exploring the effect of small- and large-scale viscoelasticity on the overall contact behavior. The former is associated with viscoelastic dissipation close to the adhesive neck at the contact edges;the latter refers to material hysteresis involving the entire bulk of the solid. Depending on the sliding velocity, we predict highly enhanced adhesive strength compared to the purely elastic conditions, increased friction compared to the adhesiveless case, and non-monotonic trend of the energy release rates at the contact leading and trailing edges. Most of our results are supported by existing experiments.

关键词： Contact mechanics Adhesion Friction Viscoelasticity Hysteresis

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Technological Analysis of Types of Milking Systems and Robots: A Review 33rd

Technological Analysis of Types of Milking Systems and Robot...

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

作者： Chikurtev, Denis Chikurteva, Ava Blagoeva, Elena Bulgarian Acad Sci Inst Informat & Commun Technol Sofia Bulgaria

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Automated milking systems are sophisticated pieces of equipment that find a very large application on modern farms. They carry out milking processes completely autonomously, thanks to a robotic arm that is equipped with numerous sensors and auxiliary devices. In this paper, the components of automated milking systems are analyzed in terms of their technological characteristics, focusing mainly on the robots used. Typically, these systems use specialized robots that have a different design structure from industrial robots and are equipped with attachments to perform different operations. As a result of the technological analysis of the systems and robots used in automated milking systems, we can summarize that the development of robotics in the livestock sector has made a significant contribution to improving milking and animal care processes. The main issues that need to be further investigated are related to improved methods for collecting animal data and milk parameters, methods and algorithms for better udder and teat recognition and localization of cows, providing improvedmobility and control of robotic arms, improving additional attachments and adding additional functionality and modularity to robotic arms.

关键词： Automated milking systems Milking robots Intelligent animal husbandry Smart farms

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Forward Kinematics and Workspace Analysis of 2-Axes Continuum Keops-Delta 9th

Forward Kinematics and Workspace Analysis of 2-Axes Continuu...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Erezuma, Jose Luis Ruiz Altuzarra, Oscar Urizar, Monica IDOM C Zarandoa 23 Bilbao 48015 Spain Bilbao Sch Engn Plaza Torres Quevedo 1 Bilbao 48013 Spain

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In this paper, the authors perform the kinematic analysis and obtain the workspace of the 2-axes continuum Keops-Delta manipulator. Basing on Cosserat's theory, the deformed shape of the slender rods that form the kinematic chains of the mechanism under study can be achieved. Due to the flexibility of these rods, a purely translational movement is not generated, being necessary to assess the resulting workspace, emphasizing the analysis of the parasitic motion of the end-effector. It will be shown that a quasi-translational motion can be achieved. Other relevant parameters, such as stiffness and Jacobian norm, will be evaluated.

关键词： Continuum manipulators Cosserat rods Workspace

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Comparative Study of the Kinematic Performance Indices for the 3-U(RPRGR)RU and the 3-URU Parallel Robots 33rd

Comparative Study of the Kinematic Performance Indices for t...

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

作者： Oarcea, Alexandru Tulcan, Elida-Gabriela Kristof, Robert Lovasz, Erwin-Christian Polytech Univ Timisoara Timisoara 300006 Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The research focuses on a novel three-degree-of-freedom parallel robot structure that is powered by using linear actuators, driving geared linkages. The main advantage of this design is the ability to avoid singular positions of first and second type as well as the large angular positions imposed on the links of the URU (U-Universal joint;R-Revolute joint) kinematic chains. The purpose of this article is to compare the kinematic performance of the 3-URU parallel robot with that of the robotic structure presented in this paper, the 3-U(RPRGR)RU parallel robot (P-Actuated prismatic joint;G-Geared transmission joint). To assess various configurations and compute the performance indices of the two given structures, and to compare them, MathWorks MATLAB was utilized. Analytical and numerical methods were used for determining the performance indices distributions. The obtained results show that the use of the actuating linkage improves the kinematic performance of the structure in the lower regions of the workspace.

关键词： Parallel robot 3-U(RPRGR)RU parallel robot 3-URU parallel robot Kinematic performance analysis Geared linkage Performance indices

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