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

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Response of a Vertical Flexible Rotor Supported by Superconducting Bearings on Excitation Caused by the Disc Unbalance 14th

Response of a Vertical Flexible Rotor Supported by Supercond...

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

作者： Zapomel, Jaroslav Kozanek, Jan Kolacek, Jan Inst Thermomech Prague Czech Republic VSB Tech Univ Ostrava Ostrava Czech Republic Inst Phys Prague Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

A frequent requirement put on operation of rotating machines is minimizing energy losses and wear in the support elements. This is offered by mounting the rotors in superconducting bearings. These coupling elements consist of two parts of a permanent magnet attached to the shaft journal and of a stationary part formed by high temperature superconducting material of the second kind. The performed research was focused on analysis of vibration of vertical rotors composed of a flexible shaft and one rigid disc. The superconducting bearings are implemented in the computational model by means of a force coupling. The magnetic forces and moments acting on the shaft are determined by application of the frozen image method. Results of the analysis show that (i) amplitude of the rotor vibration induced by the disc unbalance remains sufficiently low, (ii) the load bearing capacity of the superconducting bearings is sufficiently high, and (iii) the change of the electrodynamic damping acting on the rotor disc does not induce excessive lateral oscillations. The performed study is based on computational simulations utilizing theories from the field of mechanics and electromagnetism that were experimentally verified.

关键词： Flexible Vertical Rotors Superconducting Bearings Frozen Image Method Response on the Rotor Unbalance

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Assessment of Track Chain Tensioning on the Vertical Dynamic Behaviour of a High-Speed Tracked Vehicle 5th

Assessment of Track Chain Tensioning on the Vertical Dynamic...

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

作者： Dimauro, Luca Venturini, Simone Tota, Antonio Galvagno, Enrico Velardocchia, Mauro Politecn Torino I-10129 Turin TO Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In this paper, the influence of tensioning force of the track chain on the dynamics of a high-speed tracked vehicle is investigated, through a sensitivity analysis. The tensioning force is responsible of two different effects: the variation of the track chain geometry, since the tensioner acts on the position of idle gear, and the variation of the stiffness of the connections between two different track assemblies. In this paperwork only the second aspect is modelled, connecting two adjacent track assemblies with beam elements, including a constant pre-tensioning, depending on the tensioner force. The vehicle model, comprising sprung and unsprung masses, torsional bars and the two track chains is realised in an in-house developed open-source FEM code. The performed analyses include the evaluation of natural frequencies and mode shapes, and the vehicle vertical dynamics, considering a condensed model to reduce computational efforts. The impact of tensioning is examined within the frequency domain, focusing on several critical acceleration frequency response functions of the vehicle under synchronous excitation caused by road profile input. The presented outcomes have proven a substantial effect of chain tensioning on the vibrations of the above-ground track assemblies, with a minimal influence on the vehicle sprung mass dynamics.

关键词： Vehicle vertical dynamics Frequency analysis Stiffening effect

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Exploiting the Redundancy of Cable Suspended Parallel Robots for the Actuation of the End-Effector 5th

Exploiting the Redundancy of Cable Suspended Parallel Robots...

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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 Minto, Riccardo Univ Padua Dept Ind Engn I-35131 Padua Italy Univ Padua Dept Informat Engn I-35131 Padua Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

Cable-driven parallel robots are a class of parallel robots whose performance, and lightweight and inexpensive design are of interest for industrial applications. For the design to be effective in the industrial field, an end-effector should be designed, and traditional end-effectors require an external power source for the actuation, which can be limiting in larger workspaces. This work presents the design of an end-effector which exploits the redundancy in the tension configuration to actuate a gripper. To fully exploit the variation in cable tension, a force-transmission mechanism is presented. Given the influence of the end-effector Cartesian position on the tension configuration, this work presents the available gripping force in the robot workspace. The results show a promising solution for the design, which is effective in grasping a mass of 1.5 kg in the workspace.

关键词： End effectors

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Consistent Model Descriptions for the Visualization and Simulation of a Reconfigurable Parallel Kinematic Structure in ROS2 6th

Consistent Model Descriptions for the Visualization and Simu...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Wiartalla, Jan Yan, Yicheng Huesing, Mathias Corves, Burkhard Rhein Westfal TH Aachen Inst Mech Theory Machine Dynam & Robot Eilfschornsteinstr 18 D-52062 Aachen Germany

ISBN: (纸本)9783031673856;9783031673832;9783031673825

This contribution addresses the integration challenges of the PARAGRIP robot, a reconfigurable parallel kinematic manipulator, into ROS2. Despite its exceptional capabilities in Multidirectional Additive Manufacturing with pure object manipulation, its closed kinematic loops impede direct ROS2 integration. Available solutions use a conversion of incomplete URDF models to SDF. However, this approach lacks a clear 'Single Source of Truth' for the robot model. Furthermore, a solution for the parametrization of non-treelike closed-loop topologies is missing. Therefore we propose a novel concept for the simulation and visualization of robots with closed kinematic loops in ROS2. Introducing Embedded Ruby in SDF files greatly enhances parametrization capabilities. By extending the functionality of the pysdf conversion tool with an optional cut parameter, we enable the automated conversion of closed-loop kinematic SDF models into treelike URDF files. Additionally, a joint state conversion methodology is presented to seamlessly integrate the PARA-GRIP robot into the ROS2 simulation and visualization pipeline.

关键词： ROS2 closed-loop kinematic chains SDF URDF pysdf Embedded Ruby

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Torque and Angular Velocity Estimation of an Electric machine Through Neural Networks Based Approach 5th

Torque and Angular Velocity Estimation of an Electric Machin...

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

作者： Fornaro, Enrico Melluso, Francesco Nicolella, Armando Spirto, Mario Univ Naples Federico II Dept Ind Engn Via Claudio 21 I-80125 Naples Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

In this work, two Feedforward Neural Networks are presented for the estimation, respectively, of the angular velocity and torque of a permanent magnet electric motor. The inputs for both networks were statistical indices directly calculated from accelerometer signals sampled for various operating conditions of the system. The study of relative errors and root mean square errors calculated for the test phase demonstrated the predictive reliability of the two networks. The purpose of this work is to provide, through a preliminary study, an alternative to the current techniques for estimating and measuring the angular velocity and torque delivered by an electric motor.

关键词： Neural Network machine Learning Signal Processing Torque Estimation Angular Velocity Estimation

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PneuNets Soft Actuators: Characterization and Deformation Conditioning 5th

PneuNets Soft Actuators: Characterization and Deformation Co...

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

作者： Loda, Davide Tiboni, Monica Univ Brescia Dept Mech & Ind Engn Via Branze 38 I-25123 Brescia Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

This article deals with soft PneuNets actuators, an innovative type of actuators that have a high potential for application in soft robotics in the biomedical field, especially for the development of rehabilitation robots. The main objective of the work is to introduce methods for the efficient characterisation of PneuNets soft actuators and an innovative solution for deformation conditioning. Finite element method (FEM) simulations are presented to evaluate the actuator design based on the bending capacity and the generated forces, as well as simple and cost-effective experimental setups and procedures to characterise the actuators and validate the simulation results. The experimental results successfully validate the simulations and confirm the feasibility and effectiveness of an optimised simulation-based design approach. Additional experiments describe the response of the actuator to input pressure steps and a novel method for conditioning its deformation profile is presented.

关键词： soft actuators PneuNets robotic rehabilitation monolithic structure FEM analysis experimental characterization

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Analysis of Bend-Over GestureWearing a Trunk-Support Exoskeleton 5th

Analysis of Bend-Over GestureWearing a Trunk-Support Exoskel...

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

作者： Antonelli, Mattia Polito, Michele Pastorelli, Stefano Gastaldi, Laura Politecn Torino Dept Mech & Aerosp Engn Turin Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

In the context of industrial tasks, back exoskeletons aim at reducing operator's muscular effort during the work gesture and prevent professional illnesses. Passive devices have the limitation of providing fixed support based on a single angle of bending kinematics. In this study, a multibody model previously validated was used to evaluate the biomechanical effects of assistance provided by passive exoskeletons in terms of joint actions. Specifically, the model, which involves the DOF allowed by the spine in the waist joint, reproduced experimental kinematics of two subjects realizing stoops and squats at various speeds. Kinematics was measured using an active exoskeleton prototype developed by the authors and inertial sensors (IMUs). Simulations revealed that passive assistance results in joint internal reactions mainly along the sagittal axis, which may lead to discomfort and instability in squat bending. Results underscore the importance of developing flexible laws for active systems able to adjust support dynamically to users' movements and preferences.

关键词： Wearable Robotics trunk-support exoskeleton biomechanical model bend-over strategy lifting strategy

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machine Learning Algorithm for Identifying Longer Straight-Line Crank Rocker Coupler Curves 5th

Machine Learning Algorithm for Identifying Longer Straight-L...

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

作者： Nagrurkar, Mohan R. Sonkhaskar, Y. M. Shiwalkar, P. B. Ctr Dev Adv Comp C DAC Bengaluru India Shri Ramdeobaba Coll Engn & Management Nagpur Maharashtra India

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The paper addresses the longstanding need to transform uniform rotational motion into a significantly long approximate straight-line path at the application point. This requirement has inspired the search for a robust methodology to predict the possibility of tracing such an approximate straight-line path, with a length exceeding twice the crank length. Initially, traditional sources of such information, such as the Atlas, are briefly described. However, the limitations of these sources, including the lower yield of desired coupler curves and the considerable effort required to segregate them, are emphasized. To overcome these challenges, a solution is sought from the domain of machine Learning to streamline the process, bypassing the extensive graphic analysis typically required for the selected crank-rocker. Recognizing the need for a substantial dataset to develop an efficient predictive algorithm, this paper demonstrates the development and utilization of the Naive Bayes Classifier Algorithm as the initial step to identify the right mix of data points for future use. The development and successful validation of the Naive Bayes Classifier algorithm for identifying the desired type of longer straight-line coupler curves are illustrated.

关键词： Naive Bayes Thematic Database categorization crank-rocker straight line

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Optimization of a Herringbone Grooved Thrust Bearing 5th

Optimization of a Herringbone Grooved Thrust Bearing

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

作者： Colombo, Federico Goti, Edoardo Lentini, Luigi Trivella, Andrea Politecn Torino Dept Mech & Aerosp Engn Turin Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This paper analyses a state-of-art model of herringbone grooved thrust bearings (HGTB), i.e. dynamic gas journal bearings widely employed in various very high-speed applications where friction reduction is a key aspect. After the presentation of the state of the art about the applications of such bearings, the simplified analytical model from Whipple is briefly reviewed and the main simplifying assumptions are highlighted. This model provides a first approximation of the behavior of HGTB. Whipple model is then applied for the design of micro thrust bearings for a micro turbo-compressor applied in fuel cells systems. A sensitivity analysis is carried out to evaluate the effect of the main geometrical parameters on the maximum pressure and on the load capacity of the thrust bearing. The specific operative conditions of the given application are considered in the analysis. Finally, the geometry is optimized in order to maximize the load capacity within the bounds of the geometrical constraints of the application.

关键词： dynamic gas bearings narrow-groove theory lubrication thrust bearings

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A Comparison of Control Strategies for Collaborative Mobile Robots 9th

A Comparison of Control Strategies for Collaborative Mobile ...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Boschetti, Giovanni Minto, Riccardo Univ Padua Dept Ind Engn I-35131 Padua Italy Univ Padua Dept Informat Engn I-35131 Padua Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Mobile collaborative robots are more and more common in the industrial scenario, increasing the workspace of collaborative manipulators and, thus the shared workspace. This work compares different admittance controllers for mobile collaborative robots. In particular, we focused on an application where a human operator manually moves a mobile collaborative robot by applying forces to a collaborative manipulator attached to the mobile platform. Three different forms of admittance control were presented and tested with experiments on a real mobile robot. Finally, the capabilities of these controllers were compared.

关键词： Mobile robots Human-Robot interaction Admittance control

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