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

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Accuracy and Repeatability of a Parallel Robot for Personalised Minimally Invasive Surgery 33rd

Accuracy and Repeatability of a Parallel Robot for Personali...

引用

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

作者： Pisla, Doina Tucan, Paul Chablat, Damien Al Hajjar, Nadim Ciocan, Andra Pusca, Alexandru Pisla, Adrian Radu, Corina Pop, Grigore Gherman, Bogdan Tech Univ Cluj Napoca CESTER Cluj Napoca 400114 Romania Iuliu Hatieganu Univ Med & Pharm Dept Surg Cluj Napoca 400347 Romania Iuliu Hatieganu Univ Med & Pharm Dept Internal Med Cluj Napoca 400347 Romania Nantes Univ LS2N CNRS Ecole Cent NantesUMR 6004 F-44000 Nantes France Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experimentally determined by moving (repeatedly) the robot platform in predefined points.

关键词： Parallel robot Robotic assisted surgery Measurement Accuracy Repeatability

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Collaborative Robot for Contouring Machining of 3D-Printed Components 5th

Collaborative Robot for Contouring Machining of 3D-Printed C...

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

作者： Antonelli, Michele Gabrio Brunetti, Jacopo D'Ambrogio, Walter Mattei, Enrico Stampone, Nicola Univ Aquila DIIIE Laquila Italy Univ Aquila DISIM Laquila Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

3D-printed components show external and visible defects that could compromise their functionality and aesthetic quality. Robotic solutions for contouring machining of such components are valid alternatives to CNC machines. The present activity focuses on developing and testing a robotic station based on a collaborative robot for contouring machining of MEX 3D-printed thermoplastic components. To simplify the tool path definition, a procedure is proposed and validated. A prototyped powered and sensorized end-effector is presented to execute the machining task. Experimental results demonstrate the feasibility of adopting the cobot solution for the purpose of the presented activity under specific working conditions and suggest improvements for further developments.

关键词： Collaborative Robotics Robot path-planning procedure Contouring machining MEX 3D printing

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Vision Systems and IMU Signals to Design a Hand-Free Driving HMI 5th

Vision Systems and IMU Signals to Design a Hand-Free Driving...

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

作者： Baglieri, Lorenzo Matsuura, Daisuke Kobayashi, Tsune Quaglia, Giuseppe Politecn Torino Turin Italy Tokyo Inst Technol Tokyo Japan JTEKT Corp Kariya Aichi Japan

ISBN: (纸本)9783031645556;9783031645532;9783031645525

An experimental analysis of a prototype measurement system to construct a hand-free Human-machine Interface (HMI) for controlling wheelchairs, integrating face orientation algorithms and Inertial Measurement Units (IMUs) is presented. The aim is to enable individuals with mobility limitations to achieve independent mobility and social interaction. Moreover, the to-be-designed HMI can be an alternative control interface for people who cannot use typical devices. The HMI system utilizes cameras and IMUs to capture the user's head and torso movements. Experimental results are discussed in comparison of IMU and camera data with the Motion Capture system on accuracy and ease of instrumentation, and it has been demonstrated not only the essential reliability of IMU but also the need for fusion algorithms to enhance camera data accuracy. Thanks to the fusion processing of left and right camera images beside a rider's face, face orientation detection becomes robust while requesting no inconvenience for the rider such as wearing specially-made mounting devices, etc. The findings suggest a promising approach for developing inclusive and efficient wheelchair control systems.

关键词： Human-machine Interface (HMI) Face orientation algorithm Motion Capture Vision system driving logic service robots

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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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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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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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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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Task Oriented Collaborative Robots: Intervention in Repetitive Task for Worker Well-Being 33rd

Task Oriented Collaborative Robots: Intervention in Repetiti...

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

作者： Ashok, Ashita Sumarac, Jovan Rodic, Aleksandar Berns, Karsten Univ Kaiserslautern Landau Robot Res Lab D-67663 Kaiserslautern Germany Univ Belgrade Inst Mihajlo Pupin Belgrade Serbia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

This study investigates the role of Task-Oriented Collaborative Robots in repetitive tasks, specifically focusing on enhancing worker well-being. A comprehensive dataset capturing key human ergonomic factors of fatigue, mood, and motivation across 150 builds of a furniture assembly task was developed. Utilising the precision of ZED2 RGB-D camera, three hours of visual data per 6 participants enabled monitoring of upper body movements. Each build sample is complemented by self-reported questionnaires on psychological states of mental fatigue (MF), mood, and motivation. The key findings reveal significant variations in fatigue levels, mood, and motivation and their correlation with task performance, measured by average task completion time. Notably, gender-based disparities in reporting MF and total completion time were observed. A key proposal to integrate verbal alerts with collaborative robots (cobots) such as UR5 emerges from this study. These findings underscore the potential of cobots in mitigating worker fatigue and improving task efficiency to revolutionize worker well-being and productivity in repetitive industrial tasks.

关键词： Collaborative robotics Human robot collaboration Repetitive task assistance

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