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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...

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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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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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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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Development of a New Spinning System for Spinning of Hard Textile Fibres 14th

Development of a New Spinning System for Spinning of Hard Te...

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

作者： Natarajan, Venkatachalam Palanisamy, Palaniappan Vignesh, Sasidaran Thirunavukkarasu, Ganesan Raghu, Thukaram Sankar, Ramasubbu Dr MGR Educ & Res Inst Adv Res Inst Chennai 600095 India

ISBN: (纸本)9783031702532;9783031702518;9783031702501

Large variation in length and coarseness of hard textile fibres necessitates different preparatory processes and spinning technology and system. In this paper, development of a new spinning system suitable for coir fibre spinning is reported. A coir spinbox assembly consisting of feed roller, opening roller, fibre assembling channel and twister forms the spinning functional unit of the spinning system. This system enables manufacturing of long spinning machine to replace the presently used coir spinning machines, which can accommodate only upto 4 twisting heads in a machine. 3 prototype machines in different versions developed for technology demonstration have been proved as capable of producing 100% coir yarn without a core thread in a range of 150-350 Runnage (3000-6000Tex) at a twisting speed of 3000 rpm. Improved machine configuration and modular spinbox enables construction of spinning machine with 50-60 spinbox.

关键词： coir hard fibre open-end spinning spinbox spinning machine TRIZ methodology

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Robotic 3D Laser Cutting of Textiles 14th

Robotic 3D Laser Cutting of Textiles

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

作者： Antos, Jaroslav Busek, Martin VUTS As Liberec Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

In the serial production of final upholstery products in the automotive segment, the operation of manual cutting and trimming of two- and three-dimensional textile semi-finished products with scissors or special knives is considered dangerous. Therefore, it is advisable to replace this operation with a more modern, faster, more accurate and especially safer automated robotic laser cutting operation. The specific requirement of cutting spatial fabric brings with it new situations compared to the approach of processing flat textiles, especially the need for an appropriate pad under the textile being cut. Also important is the appropriate selection of the tool carried by the robot adapted to the given task. The article deals with the process of designing and implementing a 3D trajectory of a robot with an installed laser head as an EOA. This brings specific circumstances and conditions consisting in limiting the scope of the robot, singularity or maintaining a constant focal length of the laser head and the cutting material. The paper describes the virtual simulation of the process as well as the main technologies with an installed media channel for basic positioning and determination of robot ranges. After completing the design of the trajectory in the simulation, the export process to the real equipment, which successfully cuts the spatial fabric, is analyzed. The conclusion of the paper answers the questions of meeting the safety of the laser workplace. The entire concept is made with regard to the high safety standards and requirements of the automotive industry.

关键词： Robot Laser Robot trajectory PLC Safety

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A Concise Review of Upper Limb Prostheses 33rd

A Concise Review of Upper Limb Prostheses

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

作者： Sandu, Radu-Octavian Doroftei, Ioan Cazacu, Cristina-Magda Gheorghe Asachi Tech Univ Iasi 43 D Mangeron Blvd Iasi 700050 Romania Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Upper arm amputations typically result in partial limb loss, thus involving the development of various devices in order to aid the hand function rehabilitation. The trend concerning medical advancements for these types of devices is permanently growing and it is characterized by complex designs and precise constrains regarding mass and size. The main goal of these mechanisms is to replicate normal human limb functions, ensuring a proper reproduction of basic actions. This paper provides a succinct overview of upper limb prosthetic devices, examining various classification criteria.

关键词： Rehabilitation Prosthetic devices Upper limb

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Design and Testing of a Holter Device for Respiration Monitoring 9th

Design and Testing of a Holter Device for Respiration Monito...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Mugisha, Elie Shalom Ceccarelli, Marco Russo, Matteo Dept Ind Engn Rome Tor Vergata I-00133 Rome Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

A new design of the RESPIRholter device is presented by reconsidering structure and operation features towards a better user-oriented operation. The mechanical and hardware design is obtained for a more compact solution for a more versatile operation. The data acquisition is ensured for a long duration of respiration monitoring. Illustrative examples clarify the novel features.

关键词： Biomechanics Respiration Holter monitoring Design Testing

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A Monolithic Tendon-Driven Continuum Robot Design for Easy 3D Printing and Assembly 5th

A Monolithic Tendon-Driven Continuum Robot Design for Easy 3...

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

作者： Perugini, Nicola Russo, Matteo Univ Roma Tor Vergata Dept Ind Engn LARM2 Robot & Mechatron Lab Via Politecn 1 I-00133 Rome Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

This paper introduces a 3D-printable tendon-driven continuum robot design for experimental and educational purposes. Differently from similar robots, made of a flexible backbone and separate vertebrae for tendon routing, the proposed design is monolithic. Thus, the entire flexible segment can be 3D printed as a single part with a flexible filament. To validate the proposed design, a 3D-printed segment is here experimentally tested and characterized, showing an accuracy on par with similar, but more complex and expensive, designs.

关键词： Continuum Robots Tendon-Driven Robots Design 3D Printing

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Necessity of the Tire Temperature-Dependant Parameters in Vehicle Virtual Sensing 5th

Necessity of the Tire Temperature-Dependant Parameters in Ve...

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

作者： Barbaro, Mario Romagnuolo, Fabio Farroni, Flavio Timpone, Francesco Sakhnevych, Aleksandr Univ Naples Federico II Dept Ind Engn I-80125 Naples Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Vehicle state estimation plays a crucial role in the design and development of advanced systems for vehicle control and autonomous driving applications. In this context, the knowledge of vehicle side slip angle is required to optimize lateral dynamics control, improving the overall handling performance. On one hand, the direct measurement of lateral velocity can only be provided by employing sophisticated and expensive onboard sensors. On the other hand, the vehicle system and, in particular, the tires can significantly modify their behaviour through time due to temperature, pressure and wear influences, thus modifying both the vehicle handling behaviour and the parameters of the installable control logic. For this reason, the authors propose an innovative estimation method, combining the vehicle mathematical implementation with a double-track model enriched with virtual observations obtained through a kinematic observer. To validate its applicability in contexts covering a wide range of tire thermodynamic conditions, the proposed estimation approach has been integrated with a multiphysical tire formulation, proposed by the authors in the previous studies, able to take into account of temperature and pressure effect on the tire dynamic response. The results have been analysed in terms of the vehicle sideslip angle acquired in a dedicated experimental campaign comparing the accuracy of the proposed approach to the commonly adopted one, not accounting for temperature and pressure influences.

关键词： tire-based estimation multiphysical mf-evo model-based state estimator vehicle sideslip angle temperature influence cornering stiffness friction level

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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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