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

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Stiffness Evaluation and Dimensional Synthesis of a 5-DOF Parallel-Serial Robot 6th

Stiffness Evaluation and Dimensional Synthesis of a 5-DOF Pa...

引用

6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Antonov, Anton Russian Acad Sci IMASH RAN Mech Engn Res Inst Moscow 101000 Russia

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This article focuses on the stiffness analysis and dimensional synthesis of a parallel-serial robot with five degrees of freedom (DOFs). The robot includes a 3-DOF redundantly actuated planar parallel mechanism, whose stiffness affects the stiffness of the entire robot. Two geometrical parameters of this mechanism are selected as variables for solving the dimensional synthesis problem. First, we establish the stiffness model and define the stiffness matrix of the mechanism. Next, we analyze two components of this matrix and the inverse of its condition number to evaluate the mechanism stiffness. We perform this procedure for various combinations of geometrical parameters and derive workspaces and stiffness maps for each combination. The chord method provides a computationally fast procedure to obtain the workspaces. Finally, we determine the average values of the stiffness indices and use them for dimensional synthesis. The results of numerical simulations show that the lateral stiffness has increased by 67.4% compared to the initial design.

关键词： parallel-serial (hybrid) manipulator dimensional synthesis workspace stiffness map Jacobian matrix chord method 3T2R motion pattern redundant actuation 4-RPR planar parallel mechanism

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Kinematic Analysis of the 4-U(RPRGR)RU Redundant Parallel Robot 6th

Kinematic Analysis of the 4-U(RPRGR)RU Redundant Parallel Ro...

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6th Symposium on Mechanism Design for Robotics (MEDER)

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

ISBN: (纸本)9783031673856;9783031673832;9783031673825

The work focusses on a novel redundant 3DOF parallel robot, that is actuated by linear actuators through geared linkages. One key advantage of the structure is the ability to avoid singular positions and the ability of having broad angular positions between the links of the Universal-Revolute-Universal joints (URU) kinematic chains. Also, the presented structure has the capacity to maintain imposed workloads in the event of actuator failure due to kinematic redundancy. Determining and validating the robotic structure's kinematic behavior is the aim of this work. In this paper MathWorksMATLAB was the main computing environment evaluate various geometric configurations and imposed trajectories for the redundant parallel robot and verify the achieved analytic results for the kinematic behavior.

关键词： 4-U(RPRGR)RU Redundant parallel robot Geared linkage Kinematic redundancy

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Setting up a Model to Study the Truck Mixer Dynamics I 9th

Setting up a Model to Study the Truck Mixer Dynamics I

引用

9th European Conference on Mechanism science (EuCoMeS)

作者： Afshari, Farshad Garcia-Pozuelo, Daniel Univ Carlos III Madrid Adv Vehicle Dynam & Mechatron Syst VEDYMEC Mech Engn Dept Avda Univ 30 Leganes 28911 Spain

ISBN: (纸本)9783031672972;9783031672958;9783031672941

This article focuses on examining and studying the rotating tank of a truck mixer. The aim is to determine the forces and torques generated by this tank, considering fluid type, tank geometry, and rotation effects, in the steady-state steering tests. Fluent software with the Volume of Fluid (VOF) model is used to simulate air and concrete behavior inside the tank. The tank's unique geometry, meshing, and mesh quality control are addressed. Fluent parameters, including non-Newtonian properties for concrete, are defined. Boundary conditions consider tank rotation and lateral accelerations. Results from Fluent are validated through convergence analysis. The combination of these forces and torques which are derived from the model, is poised to exert a substantial influence on the motion of the truck mixer and its susceptibility to roll over. The study of the truck mixer dynamics and the results of this study could contribute to the development of a warning system based on measuring and observing lateral acceleration, vehicle steering, and vehicle speed.

关键词： Truck mixer Rollover Steady-state steering test Air and concrete behavior Fluid-structure interaction

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Demonstration of Real-Time Event Camera to Collaborative Robot Communication 5th

Demonstration of Real-Time Event Camera to Collaborative Rob...

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

作者： Duarte, Laura Polito, Michele Gastaldi, Laura Neto, Pedro Pastorelli, Stefano Univ Coimbra Coimbra Portugal Politecn Torino Turin Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic system. Data output of an event camera is high-frequency and extremely lightweight, with only 8 bytes per event. To evaluate the hypothesis of using event cameras as data source for a real-time robotic system, the position of a waving hand is acquired from the event data and transmitted to a collaborative robot as a movement command. A total time delay of 110 ms was measured between the original movement and the robot movement, where much of the delay is caused by the robot dynamics.

关键词： Human-robot Interaction Collaborative robotics Computer Vision Event Camera

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Broad Frequency Range Decoupling Based on Elastic Bedding and Zero Stiffness Design 9th

Broad Frequency Range Decoupling Based on Elastic Bedding an...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Archut, Jan-Lukas Bolk, Johannes Nefzi, Marwene Corves, Burkhard Rhein Westfal TH Aachen Inst Mech Theory Machine Dynam & Robot Eilfschornsteinstr 18 D-52062 Aachen Germany Carl Zeiss SMT GmbH Rudolf Eber Str 2 D-73447 Oberkochen Germany

ISBN: (纸本)9783031672972;9783031672958;9783031672941

This paper highlights the challenge of designing a high-mass decoupling system for a broad frequency range, taking into account several practical requirements for implementation in ultra-high precision manufacturing. This includes avoiding conventional joints to prevent particle abrasion and meeting mechanical restrictions such as the material strength and buckling of the used helical compression springs. To achieve a particular low frequency isolation, a three dimensional layout based on a zero stiffness approach is designed. Compared to conventional decoupling systems, this approach enables the reduction of the overall stiffness, and therefore the system's natural frequency, without sacrificing the load capacity. The demand for high frequency isolation is met by the design of an elastic bedding of the system, allowing the use of small helical springs with high natural frequencies. The system layout is determined by numerical optimization of the design parameters. It was possible to design a system to decouple a mass of 1000 kg in a frequency range from 1Hz to 1000 Hz. Compared to a conventional decoupling system without zero stiffness design, a reduction of the system's natural frequency by approximately 80% was achieved.

关键词： Dynamic decoupling Zero stiffness Elastic bedding

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Optimal Design of the Two-Loop Control System for a Single-Axis Solar Tracker 14th

Optimal Design of the Two-Loop Control System for a Single-A...

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

作者： Alexandru, Catalin Transilvania Univ Brasov Brasov 500036 Romania

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The paper deals with the optimal design of the control system for a sun tracking mechanism, which is used to increase the efficiency of the photovoltaic (PV) modules. The tracking mechanism is one of single-axis (mono-axial) type, which is able to realize the orientation of the PV module according to the daily movement axis (so the East to West movement, that is, from sunrise to sunset). The rotation axis of the PV module is tilted toward the local horizontal plane at an angle equal to local latitude (that is, it is arranged parallel to the polar axis), which allows the module to be oriented with good accuracy relative to the sun trajectory throughout the day light. The tracking mechanism is driven by using a linear actuator, which is controlled by means of an open-loop scheme (based on predefined tracking program). Controller optimization aims at determining the optimal values of its proportional, integral and derivative gains, in order to minimize the tracking errors, i.e. the differences between the imposed and current position angles of the PV module. The study is carried out by using the virtual prototyping package ADAMS of ***.

关键词： Photovoltaic System Solar Tracker Open-Loop Control PID Controller Optimal Design

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A Method for Tire Damping Evaluation Based on a Free Fall Test and Image Processing 5th

A Method for Tire Damping Evaluation Based on a Free Fall Te...

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

作者： Stefanelli, Raffaele De Giuli, Carlotta Pagano, Gianluca Mandragora, Geraldino Dell'Annunziata, Guido Napolitano Univ Naples Federico II Via Claudio 21 Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The estimation of the tire damping coefficient is a fundamental topic in several fields, including vehicle dynamics, ride comfort, suspensions design or modeling and the overall vehicle stability. This paper presents an innovative approach for the damping coefficient evaluation with a non-contact methodology. A video of the vertical free fall of the tire from a specific height is acquired and through an image processing procedure the kinematics of the center of mass is extracted. The differential equations of the acquired motion are solved to estimate the damping coefficient. This innovative approach, thus, reveals how starting from a simple experiment combined with an image processing procedure it is possible to estimate the damping coefficient and it enhances the understanding of how the tire inflation pressure influences the coefficient itself.

关键词： Tire Damping Coefficient Vehicle Dynamics Motion Equations Damped Harmonic Oscillator

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Analysis of the Impact Mechanism of the "Single Hammer" Type Impact Wrench 14th

Analysis of the Impact Mechanism of the "Single Hammer" Type...

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

作者： Konecny, Martin Tech Univ Liberec Dept Text Machine Design Studentska 1402-2 Liberec 46117 Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The article deals with the description of the function of the impact mechanism of the impact wrench with the functional mechanism "Single hammer" and the calculation of the dynamic forces acting on the mechanism together with the determination of the contact pressures between individual parts of the mechanism. Part modeling was done in Creo Parametric. The design of the mechanism and determination of dynamic forces was carried out in the Creo Parametric - Mechanism add-on module and the determination of contact pressures in the Creo Parametric - Simulate module.

关键词： Hammer mechanism Single hammer Impact wrench Dynamic analysis Contact pressure

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Use of Depth Camera for Motion Tracking of Cable-Driven Parallel Robot Intended for Functional Rehabilitation 8th

Use of Depth Camera for Motion Tracking of Cable-Driven Para...

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

作者： Ghrairi, Kaiss Lamine, Houssein Chaker, Abdelbadia Bennour, Sami Univ Sousse Natl Sch Engineers Sousse Mech Lab Sousse LMS Sousse Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

This paper addresses the development of a position control system for a planar cable driven parallel robots (CDPR) made out of four cables in order to drive the moving platform (MP) in the plane. The main target application of our control and tracking system is functional rehabilitation. The kinematic control model is implemented such that angular joints feedbacks are processed via encoders and the moving platform pose is retrieved through a depth camera. Due to the complexity of the forward kinematic and the uncertainties on cable lengths, direct 3D tracking of the MP is very valuable. First, the kinematic model as well as the inverse kinematic computing of the CDPR are presented. Then, the method of MP motion tracking and pose computing are described. Finally, an error analysis is conducted on both: the joint trajectories and the cartesian trajectory of the MP.

关键词： CDPR Depth camera Biomechanics Functional rehabilitation Motion tracking Joint kinematics

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Dynamic Error Analysis for Linear-Elasticity FE Problems 5th

Dynamic Error Analysis for Linear-Elasticity FE Problems

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

作者： Karpik, Anna Cosco, Francesco Alvaro, Francesca Mundo, Domenico Univ Calabria Dept Mech Energy & Management Engn DIMEG Arcavacata Di Rende Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Over the last decades, Computer Aided Engineering affirmed as a valid design tool. Among all, Finite Elements (FE) surged as the main validation tool to assess the structural reliability, and more in general the vibrational behavior of a modern manufact. Usage of the same - already validated - models during all stages of the product lifetime is crucial to enable modern technologies such as predictive condition monitoring, digital twin, virtual sensing, damage detection. Therefore, ensuring the proper level of accuracy in FE simulation is crucial. This paper reviews a set of metrics to be used to assess the dynamic error of FE elements, or rather the accuracy of FE models used in dynamic contexts. Among all, we highlight the benefits of using a comprehensive errormetric, which comprises contributions related to both eigenvalue and eigenvector accuracy. Performance of the proposed design methodology is showed considering a numerical case study, regarding the eigenvalue analysis of a cube, modelled using linear brick FEs.

关键词： finite element error estimation accuracy dynamic analysis assurance criterion virtual sensing

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