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

共 3195 条记录，以下是541-550 订阅

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A Feasibility Analysis of a Six-Wheel Drive Rover for Bush Clearing Operations 5th

A Feasibility Analysis of a Six-Wheel Drive Rover for Bush C...

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

作者： Di Massa, Giandomenico Pagano, Stefano Rocca, Ernesto Savino, Sergio Univ Napoli Federico II Naples Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The paper deals with the possibility of adopting an autonomous mobile robot for brush cutting in areas characterized by strong surface irregularities. The robot consists of a rover with six-wheel drive and equipped with rocker bogie suspension to operate on rough terrain. The cutting head can reach surfaces adjacent to the rover being the end effector of a manipulator mounted on the rover. The manipulator can position the cutting head in front or to the side of the rover;the latter pose can reduce the risk of robot rollover on paths with strong transversal slopes. This type of mobile robot can be useful for clearing bushes such as those located at the edges of cultivated fields as, compared to traditional tracked vehicles, they have the advantage of not emitting polluting gases, of having a greater ability to move on very irregular soils, of have lower production and maintenance costs.

关键词： rover rocker bogie manipulator bush clearing

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Design of a Flexible Member in the Shed Forming Mechanism of a Weaving machine 14th

Design of a Flexible Member in the Shed Forming Mechanism of...

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

作者： Zak, Josef Hrus, Tomas Tech Univ Liberec Studentska 1402-2 Liberec 46117 1 Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

Increasing demands on the performance of weaving machines require new solutions for their drives. One possible approach in drive solution is the use of various auxiliary flexible members for energy storage during the machine working cycle. However, these flexible members increase the complexity of the drives, it is necessary to connect them to the standard rigid members of the mechanisms by using additional links or connecting rods. This brings along not only an increase in the inertia of the moving masses, but above all increases costs for the production and maintenance of such mechanisms. In our approach, we tried to avoid the use of any bearings in these links, while at the same time trying to minimize their weight.

关键词： weaving machine maintenance-less mechanisms

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Feasibility Study for the Development of a Diagnostic and Prognostic System on a High-Speed Rotating Cutter 5th

Feasibility Study for the Development of a Diagnostic and Pr...

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

作者： Viale, Luca Daga, Alessandro Paolo Garibaldi, Luigi Caronia, Salvatore Ronchi, Ilaria Politecn Torino Dept Mech & Aerosp Engn Corso Duca Abruzzi 24 I-10129 Turin Italy Tecnau SRL Ivrea Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

The integration of artificial intelligence and advanced machine learning techniques has radically changed the safety and reliability of industrial systems. This innovative paradigm led to the widespread adoption of condition-based maintenance strategies, with vibration monitoring emerging as a milestone technique. This study, conducted in collaboration with Tecnau SRL, investigates the feasibility of implementing a diagnostic and prognostic system for their "Revolution 50" series apparatus. This work explores machinery behaviour through endurance tests to lay the foundation for the future development of anomaly detection and machinery health classification. Experimental tests facilitate continuous monitoring under various operating conditions to potentially conceive real-time industrial diagnostic systems. Endurance tests reveal promising results, showing the potential for accurate recognition of the machine state of health. Multi-scale signal analysis highlights the significance and the detection of transient and steady-state phases, improving the effectiveness of potential real-time monitoring strategies. Future research directions include further industrial development of real-time monitoring systems, optimization of classification models, and exploration of cost-effective sensor selection and acquisition systems.

关键词： machine diagnostics machine prognostics condition-based maintenance vibration monitoring signal processing multi-scale analysis

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A Novel Approach Exploiting Contact Points on Robot Structures for Enhanced End-Effector Accuracy 33rd

A Novel Approach Exploiting Contact Points on Robot Structur...

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

作者： Sifrer, Jan Petric, Tadej Jozef Stefan Inst Dept Automat Biocybernet & Robot Jamova Cesta 39 Ljubljana 1000 Slovenia Jozef Stefan Int Postgrad Sch Jamova Cesta 39 Ljubljana 1000 Slovenia

ISBN: (纸本)9783031592591;9783031592577;9783031592560

In this paper, we propose a novel approach that leverages contact points on the robot's structure to significantly enhance the precision of robotic mechanisms. This method involves a detailed analysis of how strategic contact utilization can lead to improved accuracy in robotic operations. Through experimental validation and comparative studies, we demonstrate the efficacy of this technique in refining the performance of robotic systems. Our findings highlight the potential of this approach in optimizing robotic functionality, opening new avenues for advanced robotic applications in various fields.

关键词： Robotic mechanisms Accuracy Jacobian matrix Inverse kinematics

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Design and Analysis of a Torque-Compensated Spatial 3-DOF Manipulator 14th

Design and Analysis of a Torque-Compensated Spatial 3-DOF Ma...

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

作者： Chesnot, Arthur Arakelian, Vigen INSA Rennes 20 Av Buttes CoesmesCS 70839 F-35708 Rennes France LS2N ECN 1 Rue Noe F-44300 Nantes France

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The energy consumption of a robot is one of the major issues in today's industry. Robotics emerges as a promising domain for manufacturers endeavoring to tackle this challenge. This paper introduces a novel torque-compensated spatial three degrees of freedom manipulator. In the design concept of the manipulator, the well-known geometric properties of the Scott-Russell straight-line linkage are employed. First, its kinematics ans statics are discussed. Then, the conditions of the optimal redistribution of moving links' masses are disclosed. It is notable that in the proposed solution, the common center of mass of the manipulator is not fixed but moves in a straight line. This approach can be considered more efficient, as it results in a lesser increase in mass compared to traditional static balancing methods. To demonstrate the effectiveness of the proposed design methodology, simulations were carried out using ADAMS software.

关键词： Input torque Minimization Scott-Russell mechanism Optimal mass redistribution Static balancing

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Irregular-Shaped Torsion Spring Design for Gravity Compensation Mechanism Using Chain Algorithm and DIRECT Optimization 5th

Irregular-Shaped Torsion Spring Design for Gravity Compensat...

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

作者： Shan, Zexin Endo, Mitsuru Nakamura, Hiroshi Tsutsui, Yukio Tokyo Inst Technol Meguro Ku 2-12-1 Ookayama Tokyo 1528550 Japan Yaskawa Elect Corp Yahatanishi Ku 2-1 Kurosakishiroishi Kitakyushu Fukuoka 8060004 Japan

ISBN: (纸本)9783031645556;9783031645532;9783031645525

A method that uses a modified chained-pseudo-rigid body model (CPRBM) to design an irregular-shaped torsion spring to function as a compact and lightweight gravity compensation mechanism for linkage systems was previously proposed. In this paper, the method that combines the chain algorithm for approximating the deformation of modified CPRBM and the DIRECT optimization algorithm to optimize the spring design is attempted to improve the accuracy and efficiency of the optimization process. By using the chain algorithm, the deformation of the irregular-shaped torsion spring can be approximated quickly and accurately without the need for parallel computing as in the previous method. The DIRECT optimization algorithm is used to optimize the spring design by minimizing the difference between the desired and approximated endpoint positions of the spring more efficiently. A preliminary case study is conducted to verify the effectiveness of the proposed method.

关键词： Gravity compensation mechanism Irregular-shaped torsion spring design Chained-pseudo-rigid body model Chain algorithm DIRECT optimization

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A Simple Revolute Joint with Coactivation Principle 9th

A Simple Revolute Joint with Coactivation Principle

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9th European Conference on Mechanism science (EuCoMeS)

作者： Wenger, Philippe Chevallereau, Christine Nantes Univ LS2N CNRS Ecole Cent Nantes F-44000 Nantes France

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Designing joints with adjustable stiffness is of great interest in human-robot collaboration tasks. In addition, remote cable actuation allows inertia reduction. Actuating a revolute joint with a pulley and two antagonistic cables is a simple solution, but stiffness modulation is possible only with nonlinear springs or other additional devices. This paper proposes a simple solution to overcome this limitation. It consists in using an eccentric pulley. We show that this solution allows coactivation as in biological joints, i.e. increasing antagonistic forces increases stiffness.

关键词： antagonist actuation stiffness modulation cable actuated joint eccentric pulley

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Rapid and Precise Method for Object Detection and Localization Based on Primitive Geometrical Forms 8th

Rapid and Precise Method for Object Detection and Localizati...

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

作者： Nguyen, Hong Phuoc Nguyen Keunecke, Sophie Charlotte Corves, Burkhard Brell-Cokcan, Sigrid Husing, Mathias Rhein Westfal TH Aachen Inst Getriebetech Maschinendynam & Robot Aachen Germany Rhein Westfal TH Aachen Lehrstuhl Individualisierte Bauprod Aachen Germany

ISBN: (纸本)9783031598906;9783031598883;9783031598876

In an era where industries are becoming increasingly automated, the role of robotic manipulators is vital, particularly in tasks such as various pick-and-place operations. To enhance the capabilities of robotic manipulators, this study develops a rapid detection and localization method for simple objects using a depth camera. The method is implemented on an Kawasaki Astorino 3D-printed low-cost robot connected to a low-performance personal computer running ROS2. The methodology involves the development of a detection method that uses a combination of a Haar cascade classifier and a Support Vector machine (SVM) with Histogram of Oriented Gradient (HOG). Utilizing the information from the depth camera, the system determines the pose of detected objects in the robot's base frame. The models are subsequently trained, tested, and evaluated with two types of objects: boxes and cylinders. The results are promising. Both models achieve a precision score of 1 and a recall score of approximately 0.85. Remarkably, both operate at a speed exceeding 60 FPS. Furthermore, grasp tests yield a success rate of at least 80%. The finding of the research was conducted as part of the MASTERLY project and not only solves the need for fast and efficient object detection and localization in the context of friendly-budget systems but also paves the way for more advanced applications not only in manufacturing but also in other industries and adaptive pick-and-place tasks.

关键词： Fast object detection Low-cost object localization Haar feature-based cascade classifiers Histogram of oriented gradient Support vector machine MASTERLY project

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Anti-sloshing Motion Laws for One-Dimensional Piecewise Trajectories 9th

Anti-sloshing Motion Laws for One-Dimensional Piecewise Traj...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Brasina, Filippo Guagliumi, Luca Di Leva, Roberto Carricato, Marco Univ Bologna Dept Ind Engn Viale Risorgimento 2 I-40136 Bologna Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In the field of industrial automation, sloshing is a common issue when high accelerations cause undesired liquid stirring inside containers. This paper studies rectilinear rest-to-rest movements of cylindrical vessels subjected to piecewise motion laws with a preassigned profile (e.g. modified trapezoidal motion laws), which are among the most used ones in industrial contexts. Anti-sloshing trajectories are designed by optimizing the durations of the motion-law segments, mitigating sloshing during the resting phase. Experimental results are presented and discussed, thereby demonstrating the effectiveness of the proposed approach.

关键词： Sloshing Anti-sloshing trajectory Industrial automation Trajectory planning

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Design Solutions of Healthcare Carts for Optimized Assisted Motion 5th

Design Solutions of Healthcare Carts for Optimized Assisted ...

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

作者： Consolati, Davide Marmaglio, Paolo Formicola, Raffaele Rodella, Roberto Faglia, Rodolfo Tiboni, Monica Amici, Cinzia Univ Brescia Dept Mech & Ind Engn Brescia Italy Antares Vis SPA Travagliato Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Efficient management of medical equipment and supplies in healthcare facilities is crucial for streamlined operations and patient care. This article explores the integration of smart carts with assisted motion capabilities, focusing on state-of-the-art technologies and regulatory requirements. It discusses advancements in smart technologies, such as remote connectivity, and proposes a framework for the development of smart carts that emphasizes efficiency and safety. A set of research objectives are outlined and investigated, namely power consumption, ergonomic considerations, and human-machine interface integration. Theoretical concepts and experimental validation aimed at optimizing cart performance and user experience, are applied to an illustrative case study. The preliminary testing reveals promising results, with the potential for further reduction in energy consumption and user interface design improvement. Overall, this work aims to provide insight into the potential of assisted motion technology to enhance healthcare logistics and patient care delivery.

关键词： digital healthcare assisted motion electric cart electric trolley smart cart

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