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

共 3195 条记录，以下是481-490 订阅

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From Gestures to Behaviours: An Empirical Study on Behaviour-Driven Development Scenarios to Support End-User Programming of Collaborative Robots 8th

From Gestures to Behaviours: An Empirical Study on Behaviour...

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

作者： De la Rosa, Jose Pablo Solis, Jorge Nakamori, Koyu Ricardez, Gustavo Alfonso Garcia Hakansson, Johan Sorensen, Anders Stengaard Silva, Thiago Rocha Univ Southern Denmark Maersk McKinney Moller Inst Odense Denmark Karlstad Univ Karlstad Sweden Ritsumeikan Univ Kusatsu Shiga Japan Goodtech Solut AB Karlstad Sweden

ISBN: (纸本)9783031598906;9783031598883;9783031598876

In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a user study with 12 participants having an entry level in programming. The participants were asked to code a sequence in which the collaborative robot responds to their body gestures by performing a pick-and-place task. The study's findings indicate that the method is both effective and user-friendly for individuals with limited programming experience, while highlighting opportunities for adopting new end-user development practices.

关键词： End-User programming Robot programming Industry 5.0 Collaborative robots Multimodal interaction Behaviour-Driven Development (BDD) Domain-Specific Languages (DSLs)

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Analysis of the Friction Impact on the Performance of the Linear Quadratic Regulator Controller Applied to the Multibody Model of the Furuta Pendulum 5th

Analysis of the Friction Impact on the Performance of the Li...

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

作者： Pappalardo, Carmine Maria La Regina, Rosario Genel, Omer Ekim Guida, Domenico Univ Salerno Dept Ind Engn Via Giovanni Paolo II 132 I-84084 Fisciano Italy MEID4 Via Giovanni Paolo II 132 I-84084 Fisciano Italy Istanbul Tech Univ Dept Mech Engn Istanbul Turkiye

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This paper investigates the influence of dry friction on a linear control system applied to the Furuta pendulum. First, the various types of dry friction laws applicable in a multibody model are presented and categorized into two main groups, that is, static models and dynamic models. By following a detailed description of the dynamic system considered in this study, as well as a general overview of the linear-quadratic control method, the paper examines first the behavior of the multibody system at hand in the absence of friction. Subsequently, through initial theoretical exploration, the paper analyzes and discusses the response of the multibody system in the presence of several types of friction. All simulations are conducted in the MATLAB-SIMULINK environment utilizing the SIMSCAPE MULTIBODY toolbox. The obtained results contribute to a deeper understanding of how dry friction influences the control system of the Furuta pendulum in particular and underactuated nonlinear multibody systems in general.

关键词： friction multibody Furuta pendulum SIMSCAPE LQR performance evaluation

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The Influence of Vehicle Mass and Cell Type on eVTOL Battery Pack Designs 9th

The Influence of Vehicle Mass and Cell Type on eVTOL Battery...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Xu, Shuonan Raghavan, Madhu Gen Motors Warren MI 48092 USA

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In this work, we take a systematic look at the battery pack design challenge for eVTOL applications. Based on a prior industry survey, three eVTOL vehicle designs were identified for the study. Three different cell candidates were taken from the traditional automotive battery supply chain. The three eVTOL vehicles had masses respectively of 1000 kg, 2500 kg, and 3000 kg, representing 2-seaters, 4-seaters, and 5-seaters. The three cells investigated were respectively a large-sized pouch cell, a medium-sized pouch cell and a cylindrical cell. The findings and key takeaways from this study are summarized as follows. It is important to select the right cell for a particular application, based on the vehicle mass and desired cruise range. Higher specific energy is not always the right answer. A key to achieving longer cruise range, is to reduce cruise power as much as possible. This is far more effective than trying to reduce the hover power by the same percentage.

关键词： eVTOL Battery Energy Cells Power Cells

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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...

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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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Planning of Underactuated Differentially Flat Robot Trajectories with a via Point 9th

Planning of Underactuated Differentially Flat Robot Trajecto...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Tonan, Michele Doria, Alberto Bottin, Matteo Rosati, Giulio Univ Padua Dept Ind Engn DII I-35131 Padua Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Underactuated robots usually perform point-to-point motions exploiting the differential flatness property. This paper aims to extend the capabilities of this class of robots considering a via point in the workspace. A method for trajectory planning in the space of flat variables is presented. Flat variables are described by means of polynomials and have to guarantee the continuity of motor torques. Numerical results and experimental tests carried out on a 2 degree of freedom prototype show the validity of the method, which allows the robot to avoid an obstacle in the workspace.

关键词： Underactuated planar robot Differentially flat Trajectory planning

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Kinematic Calibration of Robots Using a Single Draw-Wire Encoder: A Comparison 5th

Kinematic Calibration of Robots Using a Single Draw-Wire Enc...

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

作者： Boschetti, Giovanni Sinico, Teresa Univ Padua Dept Ind Engn DII Via Venezia 1 I-35131 Padua Italy Univ Padua Dept Management & Engn DTG Stradella S Nicola 3 I-36100 Vicenza Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The demand for industrial manipulators with higher accuracy has been continuously growing over the past two decades, and so has the demand for affordable robot calibration procedures. Recently, different cost-effective calibration procedures have been proposed: among them, we focused on the ones that use 1D distance measurement data obtained through a draw-wire encoder. The aim of this paper is to critically compare these calibration procedures - which differs mainly in the choice of the encoder fixed location and the calibration points - and assess the required accuracy of the encoder in order to obtain reliable results.

关键词： Robot calibration kinematic calibration positioning accuracy robot kinematics draw-wire encoder

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Control System and Data Preparation for Kinetic Sculpture Pendulum 14th

Control System and Data Preparation for Kinetic Sculpture Pe...

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

作者： Dostrasil, Pavel VUTS As Liberec Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

In the realization of kinetic sculptures for the Lasvit company, a work of art is combined with a unique mechatronic system. The same is the case with the sculpture Pendulum, the realization of which is dealt with in this article. The sculpture allows you to draw any shapes in the sand under the 19 m long "pendulum". It is not a pendulum in the true sense of the word, as there are three winding units attached to it that define its movement. This article looks at the technical implementation behind this artwork. From the selection of mechanical components, through the preparation of the mathematical apparatus, to the implementation of the control system. The key point is the processing of image data, or rather the preparation of the trajectory of the movement of the sculpture based on the image template from the client. A unique application was developed specifically for these purposes, enabling a complex and intuitive design of the trajectory. The output is a binary file that is processed by the sculpture control system. In the end, interesting problems that arose during the implementation of the project and possibilities for further development of this unique system are mentioned.

关键词： Electronic Cam 5th Degree Polynomial Analytical Geometry In Space

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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

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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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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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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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