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Increasing Lifting Efficiency of a Cable-Driven Crane Through Motion Design 9th

Increasing Lifting Efficiency of a Cable-Driven Crane Throug...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Dona, Domenico Boscariol, Paolo Bottin, Matteo Lenzo, Basilio Rosati, Giulio Univ Padua Dept Ind Engn DII I-35131 Padua Italy Univ Padua Dept Management & Engn DTG I-36100 Vicenza Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Operating large cranes is an energy-intensive process, underscoring the urgent need for strategies that enhance efficiency to yield significant economic and environmental benefits. This paper introduces a novel and cost-effective method focused on motion design to boost the efficiency of crane operations. The problem of finding the most efficient motion law is addressed by solving an optimal control problem using a state-of-the-art toolbox. To validate the effectiveness of our approach, we constructed a scaled prototype, demonstrating our method's practical applicability. A comparative analysis with a conventional reference motion has revealed that the proposed motion design method markedly reduces energy consumption. These promising results advocate for further exploration of our method in real-world crane operations.

关键词： Optimal control energy saving cable-driven cranes

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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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Improved Design of a Discontinuous Shaped Roller-Chain Drive-Type Wave Motion Reducer 14th

Improved Design of a Discontinuous Shaped Roller-Chain Drive...

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

作者： Terada, Hidetsugu Makino, Koji Sun, Xiao Ishida, Kazuyoshi Tagaya, Itsuki Saito, Takeshi Univ Yamanashi Kofu Yamanashi Japan Sankyo Seisakusho Co Kikugawa Shizuoka Japan

ISBN: (纸本)9783031702532;9783031702518;9783031702501

An improved design for an external input cam-type wave motion reducer is proposed to achieve a structure that is less prone to lubrication failure, smaller in size, and possesses higher stiffness. The proposed reducer comprises an input motion section, an externally shaped input cam, an internally shaped fixed tooth gear, a discontinuous shaped roller-chain series, and an output disk featuring multiple elliptical-shaped groove cams. This study also presents a method for calculating the radius of curvature, an index for avoiding the undercutting of each cam profile, and the pressure angle of each cam, which influences the efficiency of motion, to realize smooth motion. Subsequently, the transmission performance was tested using a prototype reducer, which confirmed improved positioning error and reduced backlash compared with the conventional internal shaped input cam-type reducer. Notably, the total positioning error was reduced to 73%, lost motion to 13%, and hysteresis loss to 14% compared with those of the conventional reducer. Furthermore, the spring constant is improved by 20% and efficiency by 6%.

关键词： Reducer Wave motion Discontinuous roller-chain Pressure angle Radius of curvature

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Design, Analysis and Prototype a Novel Two-Limb 3R1T Parallel Robot with Remote Centre of Motion 6th

Design, Analysis and Prototype a Novel Two-Limb 3R1T Paralle...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Yao, Ruihan Craig, Andrew Jian, Yinglun McAleenan, Aislinn Wei, Chongfeng Sun, Dan Moore, Johnny Jin, Yan Queens Univ Belfast Sch Mech & Aerosp Engn Belfast BT9 5AH Antrim North Ireland Cathedral Eye Clin Belfast Antrim North Ireland

ISBN: (纸本)9783031673856;9783031673832;9783031673825

The paper proposes a novel 3R1T cable-driven parallel robot mechanism with a Remote Centre of Motion (RCM) for Minimal Invasive Surgery (MIS). In particular, a cable-driven system designed to drive the rolling and linear motion of the surgical tool is integrated with a 5-bar spherical linkage which is to control the yaw and pitch motions. This design enables to placement of all motors on the base so as to minimize the moment of inertia of the moving structure, therefore leading to high precision. The conceptual and detailed design is first introduced, followed by cable pretension calculation and slippage error analysis, stress analysis on joints, and gravity-induced tool tip deviation. Bespoken components are fabricated using 3D printing and a prototype excluding motors is constructed. Preliminary tests validate the 3R1T mobility. The new robot shows great potential for medical applications.

关键词： Cable Driven Parallel RCM Mechanism Surgical Robot

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Increasing the Energy Efficiency of Robotic Workplaces 33rd

Increasing the Energy Efficiency of Robotic Workplaces

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

作者： Wierbica, Rostislav Krejci, Jakub Krys, Vaclav Kot, Tomas VSB Tech Univ Ostrava Dept Robot Ostrava 70800 Czech Republic

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Like other industrial sectors, the robotics industry is pressured to reduce energy consumption while maintaining production efficiency. In addition to the economic benefits, reducing consumption also reduces the carbon footprint of production. While reducing consumption by changing mechanical structures and restructuring production lines can be beneficial, it reduces the versatility of robotic workplaces and is time-consuming. Our proposed solution reduces the energy consumption of the robotic workstation based on the optimal placement of the work object in the robotic cell. In this case, the optimization process is simulated on an industrial robot software platform. The result of the optimization is the determination of the most energy-optimal position for the placement of the work object. In experiments, it was found that up to 71.8% of the energy consumption of the 6-DOF industrial robot can be saved by this approach. The correlation between the simulated and real workplace tasks was also verified.

关键词： Energy consumption Industrial robot Workplace layout Simulation Optimization Industry 5.0

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Effect of Bearing Edges Chamfering on the Characteristics of a Wide Range of Journal Bearing Ratio Under 3D Misalignment 5th

Effect of Bearing Edges Chamfering on the Characteristics of...

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

作者： Jamali, Hazim U. Senatore, Adolfo Jweeg, Muhsin Jaber Aljibori, H. S. S. Mohammed, M. N. Abdullah, Oday, I Alfiras, M. Univ Kerbala Coll Engn Mech Engn Dept Karbala Iraq Univ Salerno Dept Ind Engn I-84084 Fisciano Italy Al Farahidi Univ Coll Tech Engn Baghdad 00965 Iraq Univ Warith Al Anbiyaa Coll Engn Karbala Iraq Gulf Univ Coll Engn Mech Engn Dept Sanad 26489 Bahrain Univ Baghdad Coll Engn Dept Energy Engn Baghdad 10071 Iraq Al Farabi Kazakh Natl Univ Dept Mech Alma Ata 050040 Kazakhstan Gulf Univ Coll Engn Elect & Elect Engn Dept Sanad 26489 Bahrain

ISBN: (纸本)9783031626180;9783031626166;9783031626159

The presence of misalignment in the typical journal-bearing application is unavoidable. There is always a level of misalignment in this type of bearing as a result of distortions due to housing supports of the bearing, installation errors, deformation, manufacturing problems, manufacturing tolerances, and many other causes. This deviation problem results in a severe negative impact on the performance of the load-supporting system. This work investigates the effect of introducing a chamfer on the bearing edges in order to enhance the system performance under the effect of a shaft misalignment. The investigation is carried out for a wide range of finite-length bearings under several misalignment parameter values. The finite difference method is considered in the numerical solution of the problem under an overrelaxed Gauss Seidle solution. Results show that the edges chamfering increases the film thickness and reduces both the friction coefficient and the pressure levels. This important outcome is obtained in the whole range of the bearing ratios which emphasizes the generality of the results. Furthermore, the asymmetric pressure distribution that results from the misalignment is reduced as the pressure spike decreases significantly due to the chamfering of the bearing edges.

关键词： Edge Chamfer Misalignment Friction Numerical Solution

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Topography Measurements Analysis Between Road Surfaces and Their Silicone Replicas 5th

Topography Measurements Analysis Between Road Surfaces and T...

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

作者： Avolio, Stefano Lenzi, Emanuele Dell'Annunziata, Guido Napolitano Ruffini, Marco Genovese, Andrea Univ Naples Federico II Dept Ind Engn I-80125 Naples Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Statistical information on randomly rough surfaces such as roads is a cornerstone in the tribology field since it provides great insights into topics such as contact mechanics modeling, friction and wear prediction, and lubrication strategies. Through statistical information obtained via topography measurements, it is possible to study the interaction of bodies and randomly rough surfaces. Silicone replicas for road surfaces are used because sometimes it takes effort to transport the devices for acquiring road surfaces or it is unfeasible because of cost. Through the Silicone pose, it achieves a negative shape replica of surfaces and it is used to provide the information as a real road. In order to clarify similarities between the real road surface and its silicone replica and if it is possible to perform topological acquisitions of a silicone replica road, an analysis was conducted to understand if there are differences in the data and how eventually the difference of the acquired surface influenced the statistical data. The study, aimed to explore, through the use of the profilometer, how road descriptors from silicone replicas can introduce divergence in acquired data compared to the real road surface. It delves into two key parameters, the Power Spectral Density, and the Hurst coefficients, and sheds light on the complexities of the replication process and its implications for statistical analysis in the tribology field and the differences that can be expected. Clarifying the possibility of using silicone instead of real roads.

关键词： Randomly rough surfaces Silicone replica Power Spectral Density

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Study Concerning Design and Optimization of a Multifunction Actuation Group for an Industrial Exoskeleton 5th

Study Concerning Design and Optimization of a Multifunction ...

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

作者： Raparelli, Terenziano Mazza, Luigi Eula, Gabriella Politecn Torino Dept Mech & Aerosp Engn Turin Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Industrial exoskeletons are increasingly used in a wide range of applications. The paper presents a prototype industrial exoskeleton supporting the wearer's trunk. In particular, the paper illustrates the optimization of the multifunction actuation units positioned on each hip to provide three operating modes: allowing the wearer's legs to move freely during emergencies, assisting the wearer's trunk movements, and supporting the wearer's trunk in tasks that involve bending forward while stationary. Actuation unit optimization focused on reducing axial dimensions to design an efficient layout for all components. Results of the study were highly promising, as an original final actuation unit configuration was developed.

关键词： Active exoskeletons for workers actuation group for industrial exoskeletons exoskeletons to support the operator's trunk optimization of industrial exoskeleton actuation groups

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Surface Fatigue of DLC-Coated Spur Gears 5th

Surface Fatigue of DLC-Coated Spur Gears

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

作者： Michalczewski, Remigiusz Kalbarczyk, Marek Luszcz, Maciej Pieniak, Daniel Skolek, Emilia Nedza, Jakub Wieczorek, Andrzej N. Lukasiewicz Res Network Inst Sustainable Technol Radom Poland Warsaw Univ Technol Fac Mat Sci & Engn Warsaw Poland Patentus SA Ul Gornoslaska 11 PL-43200 Pszczyna Poland Silesian Tech Univ Fac Min & Geol Gliwice Poland

ISBN: (纸本)9783031626180;9783031626166;9783031626159

DLC coatings offer many benefits in machine component applications, such as reducing the tendency to adhesive wear and scuffing. However, in the case of surface fatigue wear (pitting), the reported results are contradictory. The authors present the results of model and component tests. The model tests were performed under single load using a cone-three ball tribosystem. The component testswere conducted on a back-to-back gear test rig under a wide range of Hertzian stresses. Both test types employed the W-DLC/CrN commercial antiwear coating for gear application. In model tests, the use of the coating resulted in a significant reduction in pitting resistance. A significant plastic deformation was visible on the wear surface. Similar tendency was observed when the W-DLC/CrN coating was deposited on one gear (pinion). The resistance to pitting decreased regardless of the applied load stage. However, it was observed that, with regard to the L50 life, the difference between an uncoated pair and a pair with a coated pinion became less noticeable when Hertzian stresses decreased. The results of the tests under different loads enabled the generation and analysis of the S-N curve and calculation of $ Hlim (the allowable stress number). The obtained values of allowable stress numbers for uncoated and DLC-coated gears were comparable. Thus, the coating influence on pitting resistance is complex, on one hand being highly dependent on the applied stresses, and on the other hand, very difficult to be properly determined during typical single load model tests.

关键词： Surface Fatigue Life DLC Coatings Model Test Gear Test

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The Future of E-Mobility: An Innovative Course to Approach Big Global Challenges 5th

The Future of E-Mobility: An Innovative Course to Approach B...

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

作者： Pinheiro, Henrique de Carvalho Carello, Massimiliana Politecn Torino Mech & Aerosp Engn Dept Turin Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Education in engineering and STEM follows traditional methods and is usually focused on hard skills and science. Although essential, these disciplines are not sufficient to fully equip students for dealing with multidisciplinary and inherently socially complex problems. In this context, the article describes one of the courses offered in the "Big Global Challenges" initiative by Politecnico di Torino. "The Future of E-Mobility" applies innovative strategies for teaching, tutoring, and evaluating students, with the goal of preparing the next generations of engineers for the always more complex challenges in modern society.

关键词： Mobility Big Global Challenges Education in engineering Electric vehicles

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