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

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Low-Cost Functional Infrared Spectroscopy Based System as a Brain-Computer Interface 33rd

Low-Cost Functional Infrared Spectroscopy Based System as a ...

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

作者： Fenesan, Ana Cristina Ianosi-Andreeva-Dimitrova, Alexandru Mandru, Dan Silviu Tech Univ Cluj Napoca Dept Mechatron & Machine Dynam Cluj Napoca Romania

ISBN: (纸本)9783031592591;9783031592577;9783031592560

Functional infrared spectroscopy is a non-invasive, non-ionizing imaging method for measuring the functional hemodynamic response to brain activity. This study aims to explore the method, proposing the development of a functional prototype to measure hemodynamic activity on the scalp. At first, we outlined the application of functional infrared spectroscopy in scalp hemodynamic monitoring. The state-of-the-art section delves into the theoretical foundations of photoplethysmography, its functioning, physiological aspects, and clinical importance. Also, it discusses the current state of scalp hemodynamic monitoring systems, the principles of infrared spectroscopy, advantages, limitations, and relevant literature examples. We aimed to create an experimental demonstrator, from modeling to circuit design, assembly, and testing. The conclusions present the need for a non-invasive neuronal interfacing method, personal contributions, and potential future research directions.

关键词： Infrared spectroscopy Hemodynamic Non-Invasive Photoplethysmography Oxygen saturation

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An Interactive Combined Mechatronic Approach to Enhance Upper Limb Rehabilitation 5th

An Interactive Combined Mechatronic Approach to Enhance Uppe...

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

作者： Leone, Simone Laribi, Med Amine Castillo-Castaneda, Eduardo Carbone, Giuseppe Univ Calabria DIMEG I-87036 Arcavacata Di Rende CS Italy Univ Poitiers Pprime Inst CNRS Dept GMSC ENSMAUPR 3346 Poitiers France Inst Politecn Nacl CICATA Unidad Queretaro Queretaro Mexico

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The rehabilitation of the upper limbs represents a significant challenge for the medical community, being a field of fundamental importance for the recovery of patients affected by various pathologies. This article proposes an innovative solution to improve the effectiveness and experience of rehabilitation through the use of a variable stiffness device called ReHArm Prototype and a dynamic user interface called A.R.M.S. (Arms Rehabilitation Management System). The device, characterized by small size, lightness, and customizable treatment options, offers versatile support for a wide range of rehabilitation exercises. The user interface provides an interactive and progressive rehabilitation pathway, guiding users through a series of targeted exercises. Preliminary results obtained from tests conducted on beta users are presented.

关键词： Upper Limb Rehabilitation Robotic Rehabilitation User Interface Rehabilitation Technology Personalized Treatment Real-Time Feedback

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A Geometric Approach for the IK of 6R Robots with Non-spherical Wrist 8th

A Geometric Approach for the IK of 6R Robots with Non-spheri...

引用

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

作者： Abbes, Manel Poisson, Gerard Univ Orleans INSA CVL PRISME EA 4229 F-18000 Bourges France

ISBN: (纸本)9783031598906;9783031598883;9783031598876

The inverse kinematic (IK) solution is of great importance for advanced IK control of serial robotic arms. In some cases, computing these solutions is very challenging. It is the case of the CRX cobot by Fanuc, for which no literal IKM is available. This work presents a complete IK calculation approach for 6R robotic manipulators, that we called "MAGIK". Regarding the Direct Kinematic (DK) model, it was developed based on the Denavit-Hartenberg formalism. The MAGIK approach was first developed to compute IK solutions of the FANUC cobot CRX series. We then used the same method to establish the IK model of UR3 cobot by Universal Robots, in order to ensure MAGIK's robustness to various kinematic architectures. For a specific pose of the robot, different IK solutions are obtained (up to 8 for UR3 and to 16 for CRX-10ii A). This approach helps then to establish not only the exact number of IK solutions in each area of the workspace, but also the different angle solution sets. The results analysis enables better understanding of how the kinematic architecture of the robot, especially the wrist (but not only), impact the number of IK solutions.

关键词： Inverse kinematic Aspect number FANUC's cobots Universal robots

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Friction and Wear Properties of Super-Hydrophobic Diamond-Like Carbon (DLC) Coating 5th

Friction and Wear Properties of Super-Hydrophobic Diamond-Li...

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

作者： Jang, Young-Jun Kousaka, Hiroyuki Umehara, Noritsugu Korea Inst Mat Sci KIMS Chang Won South Korea Gifu Univ Gifu Japan Nagoya Univ Nagoya Aichi Japan

ISBN: (纸本)9783031626180;9783031626166;9783031626159

In this research, the fabrication of super-hydrophobic DLC coating with micro/nanoscale of the double roughening structure by employing 2.45 GHz surface-wave excited plasma (SWP) CVD and tribological evaluation of DLC coatings. The microscale friction and wear properties of super-hydrophobic DLC coating in surface wettability and wear particle generation at the running interface have been investigated. Experimental results showed that at the microscale, the friction property of DLC coatings decreases with the surface wettability and their rough morphology. In addition, the contact area of the DLC coatings decreases with the coating wettability, owing to the increases in their root-mean-square (RMS) roughness. In the case of wear, super-hydrophobicity led to the formation of small wear debris and helpful to take away out of the rubbing interface before being removed.

关键词： Super-hydrophobic DLC coating Friction Wear Wear debris

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Dynamic Compressive Behavior of an Anisotropic Magnetorheological Elastomeric Composite 14th

Dynamic Compressive Behavior of an Anisotropic Magnetorheolo...

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

作者： Nam, Tran Huu Petrikova, Iva Marvalova, Bohdana Tech Univ Liberec Fac Mech Engn Studentska 1402-2 Liberec 46117 1 Liberec Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The dynamic mechanical behavior of an anisotropic magnetorheological elastomeric composite (aMEC) made of silicone rubber and micro-sized carbonyl iron particles (CIPs) was investigated via cyclic compression tests. The dependence of aMEC dynamic moduli on frequencies (1-50 Hz) at various pre-strains (5-20%), strain amplitudes (0.1-3%), magnetic field intensities (00.296 T), and temperatures (RT-60 degrees C) were studied experimentally. Experimental results showed that the storage modulus of aMEC was increased with increasing frequency to 50 Hz. The loss modulus was enhanced with rising frequency to about 20 Hz, then changed irregularly. Besides, the storage and loss moduli rose with increasing pre-strain and magnetic field intensity but reduced with rising strain amplitude and temperature. Moreover, the change of aMEC dynamic moduli with frequency at various pre-strains, strain amplitudes, magnetic field intensities, and temperatures was numerically examined using a fractional derivative hybrid Maxwell and Kelvin-Voigt viscoelastic model. The investigated model was fitted very well to the storage modulus of aMEC. The present model parameters were identified by fitting simultaneously the storage and loss moduli to measured data of aMEC. In general, the fractional hybrid Maxwell and Kelvin-Voigt model can be applied to simulate the dynamic compressive behavior of aMEC.

关键词： Magnetorheological elastomer Dynamic mechanical behavior Cyclic compressive test Fractional viscoelastic model Fractional calculus

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Contact Force Recognition in Robotic Fingertips' Interface 5th

Contact Force Recognition in Robotic Fingertips' Interface

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

作者： Achilli, Gabriele Maria Burini, Virginia Logozzo, Silvia Valigi, Maria Cristina Univ Perugia Via G Duranti Perugia Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Contact force recognition is a tribological topic of great significance in many industrial applications and especially in robotic grasping and manipulation. In fact, grasping is a very delicate operation which implies dexterity and precision to ensure proper support and no damage to the grasped object. Furthermore, in many industrial and medical applications a controlled grasping with force recognition and tuning is crucial to help humans performing specific harmful or delicate tasks. For these reasons, contact force detection methods should be implemented in robotic grippers to allow the grasping of specific objects or to perform specific tasks preventing object falls and avoiding deformations or breakages. This paper is focused on the application of Force Sensing Resistors to different fingertips of robotic fingers to get information to calibrate the grasping for specific objects and tasks. In particular, the characterization of the force sensors is performed and then the calibration of the sensor on two fingertips in order to obtain accurate values of contact forces detected in the normal direction to the sensor's sensing area. In addition, the contact model of the studied fingertips is deduced and stiffnesses are calculated. All these information will be useful to design grippers with controlled grasping forces for different industrial applications.

关键词： Contact Force Force Sensing Resistor Robotic Fingertip Contact Force Characterization Power-law contact model Tribological characterization

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Condition Monitoring of Rolling Bearings for Automotive Water Pumps 5th

Condition Monitoring of Rolling Bearings for Automotive Wate...

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

作者： Tiboni, Monica Antonini, Massimo Remino, Carlo Univ Brescia Dept Mech & Ind Engn Via Branze 38 I-25123 Brescia Italy Polibrixia Srl Via Branze 43 I-25123 Brescia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The paper presents a study aimed at comparing the results of the classification of the operating conditions of rolling bearings for automotive water pumps based on different methods, all of which are experimental in nature and based on different features and different classification and clustering techniques. Various operating conditions of the bearings were taken into account. Vibration measurements on rolling bearing housings were experimentally recorded using a dedicated test rig and also analysed in the time and frequency domain. The statistical indices (Standard Deviation, Skewness, Kurtosis, Mean, Peak, and Crest Factor) were calculated for the analysis in the time domain, while the FFT was used for the frequency analysis. The indicators Standard Deviation and Skewness were used as input for a clustering procedure to perform an automatic identification of the health status of the rolling element bearing. A self-organizing-map is used for non-supervised clustering. A feed-forward back-propagation neural network and the DTW technique are used for supervised classification. The proposed approaches are compared with each other based on the results and their different characteristics.

关键词： diagnostics water pump bearing statistical indexes Neural Networks Dynamic Time Warping

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Design of a Pick-and-Place Mechanism for a Filter Bag-Forming machine 6th

Design of a Pick-and-Place Mechanism for a Filter Bag-Formin...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Chen, Yu-Hsun Wang, Sin-Yi Ceccarelli, Marco Natl Taiwan Univ Sci & Technol Taipei 106 Taiwan Natl Taiwan Univ Taipei 106 Taiwan Univ Roma Tor Vergata I-00133 Rome Italy

ISBN: (纸本)9783031673856;9783031673832;9783031673825

In modern manufacturing, filter bags are crucial consumables for liquid purification, yet their production lacks full automation. To enhance efficiency, an automatic pick-and-place mechanism is proposed to replace manual operations. The systematic design procedure with four steps is presented to meet the motion requirements. Firstly, a feasible mechanism structure with a single degree of freedom, six links, and seven joints is generated using the Creative Mechanism Design methodology. Then, the Geometric Constraint Programming method is applied to achieve dimensional synthesis, followed by motion analysis to ensure the motion trajectory. Spring installation positions and parameters are determined based on static equilibrium theory with consideration of the potential energy. Finally, a computer-aided design is employed to finalize the mechanism design, resulting in nearly constant energy by under 3% in simulations, and the performance of static equilibrium is validated by prototype testing.

关键词： Mechanism design statically-balanced mechanism automation

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A Flexible Instrument for Robotic Assisted Minimally Invasive Esophagectomy 9th

A Flexible Instrument for Robotic Assisted Minimally Invasiv...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Tucan, Paul Birlescu, Iosif Pusca, Alexandru Gherman, Bogdan Jucan, Daniela Antal, Tiberiu Vaida, Calin Pisla, Adrian Chablat, Damien Pisla, Doina Tech Univ Cluj Napoca CESTER Cluj Napoca 400114 Romania Nantes Univ Ecole Cent Nantes CNRS LS2NUMR 6004 F-44000 Nantes France Tech Sci Acad Romania Bucharest 030167 Romania

ISBN: (纸本)9783031672972;9783031672958;9783031672941

The paper presents a medical flexible instrument for esophagus stapling that can be integrated in robotic assisted esophagectomy. Starting with several considerations required for esophagectomy surgery, the forward kinematic model of the instrument is presented, followed by a numerical and a graphical simulation to validate the mathematical model of the instrument. A 3D printed mockup is developed in order to test the design of the instrument while simulating the stapling procedure.

关键词： medical instrument robotic-assisted surgery kinematic modeling esophagus stapling

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Implementation of Meshless Method: Application to Composite Materials 8th

Implementation of Meshless Method: Application to Composite ...

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

作者： Sarraj, Riheme Hassine, Tarek Univ Sousse Lab Mech Sousse Sousse Tunisia Univ Kairouan Preparatory Inst Engn Studies Kairouan Kairouan Tunisia Univ Monastir Natl Engn Sch Monastir Monastir Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

Although the standard Finite Element Method (FEM) has a very wide range of applications, it still has limitations where it does not give acceptable results. Indeed, it cannot sufficiently capture defects that involve strong and weak discontinuities: i.e. a jump in the displacement or in the stress field. In this context, the element Free Galerkin (EFG) method is capable of resolving these problems. This paper presents a comparative simulation based on the FEM and the meshless EFG method on a mechanical structure. We demonstrate the effectiveness of the meshless EFG method for characterizing the static behavior of the plate subjected to tensile loading in plane stress, by comparing the performance of this method (via the MATLAB code) with that of the classical finite element method (in Abaqus). The results obtained by this method are coherent and closer to analytical results than those obtained by the finites elements method.

关键词： Meshless Nodes Galerkin method Stress Deformation 2D structures

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