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

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Accuracy of the Inverse Kinematics of a Planar Redundant Manipulator Solved by an MLP Neural Network 14th

Accuracy of the Inverse Kinematics of a Planar Redundant Man...

引用

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

作者： Hlavac, Vladimir Czech Tech Univ Fac Mech Engn Prague Czech Republic

ISBN: (纸本)9783031702532;9783031702518;9783031702501

The inverse kinematics of manipulators can be solved by approximating the data obtained using forward kinematics through the use of a multi-layer perceptron neural network, provided the input and output data are swapped before training. However, with redundant manipulators, reaching the same point is possible with an infinite number of joint angle settings, rendering the existence of an inverse function impossible. Data for training the neural network must be prepared so that only one combination of angles is used for each point reached. Achieving this may involve supplementing the obstacle avoidance function, even though the forward kinematics of the manipulator lacks a clear, analytically accessible solution. The paper addresses how to find a solution to forward kinematics that optimally fulfills the function describing the obstacle avoidance problem, ensuring uniqueness and continuity for use in neural network training. The acquired data were used to train a neural network with one hidden layer, and the accuracy of the resulting network was verified on a simple trajectory.

关键词： Redundant Manipulator Inverted Kinematics Multilayer Perceptron Neural Network Obstacle Avoidance Planar Manipulator

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A Study on the Effective Operation of Multiple Supply and Demand mechanisms in Children’s Public Reading Spaces 30th

A Study on the Effective Operation of Multiple Supply and De...

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30th International Conference on Computational and Experimental Engineering and sciences, ICCES 2024

作者： Zhang, Lina Zhao, Yanqing Zhu, Shiwei Yu, Junfeng Liu, Yue Guo, Jing Xie, Jing Information Research Institute of Shandong Academy of Sciences Jinan China Library Jinan China

ISBN: (纸本)9783031829062

The "Public Library Law of the People’s Republic of China" mandates that government-established public libraries should establish reading areas for children and adolescents, staff them with professionals tailored to the unique characteristics of this demographic, and initiate reading guidance and social education programs specifically for young readers, while also supporting school-affiliated extracurricular reading activities [1]. The developmental stage of childhood is pivotal, and the essence of creating a children’s reading space is to focus on "child-centric growth," catering to the multifaceted reading interests of children, allowing them to be inspired by the environment and to relish the reading experience [2]. The cognitive abilities of children differ significantly from those of adults, and traditional reading spaces often overlook children’s specific reading behaviors and psychology. To improve, children’s reading spaces need to move away from adult-centric designs and tackle common issues like closed spaces, repetitive patterns, and limited presentation styles. Addressing these challenges is essential for enhancing the operational efficiency of children’s reading spaces. This study delves into the influence of the interplay between supply and demand factors on the operational efficiency of children’s public reading spaces, with potential marginal contributions including: firstly, a profound dissection of the mechanisms underpinning the operational efficiency of these spaces from a configural and comprehensive standpoint, examining how supply and demand can synergistically affect operational outcomes;secondly, an in-depth analysis of how various influencing factors within children’s public reading spaces can be combined to achieve their efficient operation. Efforts have refined resource allocation and improved reading service quality in children’s public reading spaces, enhancing their operational efficiency and supply structure. © The Author(s), under ex

关键词： Efficiency

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Acoustic Emission-Based Detection of Starved Conditions to Prevent Adhesive Wear Damage in Journal Bearings 5th

Acoustic Emission-Based Detection of Starved Conditions to P...

引用

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

作者： Konig, Florian Wirsing, Florian Klinghart, Benjamin Rhein Westfal TH Aachen Inst Machine Elements & Syst Engn MSE D-52062 Aachen Germany

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Many technical applications, such as wind turbines, place high demands on journal bearings regarding wear and reliability. The sequential start-stop operation as well as high-load and low-speed operation lead to a higher probability of wear-critical loads on the bearings. Particularly, adhesion is one damage mode that can lead to catastrophic failures within a short period of time. Therefore, this study aims to study the suitability of Acoustic Emission (AE)-based condition monitoring as an appropriate countermeasure to detect critical operational conditions of journal bearings while shutting off the oil supply on a journal bearing test rig.

关键词： Adhesive wear journal bearing acoustic emission

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Integration of Convolutional Neural Networks and Finite Element Analysis for Fast Evaluation of Implant Stress on Orthopedic Bone Plates 30th

Integration of Convolutional Neural Networks and Finite Elem...

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30th International Conference on Computational and Experimental Engineering and sciences, ICCES 2024

作者： Shih, Kao-Shang Hsu, Ching-Chi Lin, Tzu-Chieh Department of Orthopedic Surgery Shin Kong Wu Ho-Su Memorial Hospital Taipei111 Taiwan Department of Mechanical Engineering National Taiwan University of Science and Technology Taipei106 Taiwan

ISBN: (纸本)9783031829062

Four-point bending tests have been used to investigate the flexural strength of orthopedic bone plates. This flexural strength can also be predicted by using the finite element method. However, calculating various metal bone plate designs’ flexural strength is time-consuming. This issue would become worse for the design optimization of bone plates. Thus, this study aimed to develop a fast-computing method that integrated finite element analysis and deep learning techniques to evaluate the plate's flexural strength. Three-dimensional parametric finite element models of a metal bone plate under a four-point bending load were developed using ANSYS Workbench. Six design variables of the bone plate were considered. The bone plate's implant stress was calculated and used as learning and verification data for developing the deep-learning model. The convolutional neural network (CNN) was used in this study. The finite element study showed that the implant stress of the bone plates could be evaluated. The CNN-based deep learning model could be successfully developed to predict implant stress quickly. The CNN-based deep learning model could promptly predict the mechanical performances of the bone plate designs. This deep learning model was expected to reduce the cost and time needed to design and optimize bone plates. Integrating finite element analysis with deep learning technique was a feasible and effective tool for predicting the flexural strength of the metal bone plate designs under a four-point bending load. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Convolutional neural networks

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Spiral Groove Thrust Bearing Modeling with Finite Difference Method 5th

Spiral Groove Thrust Bearing Modeling with Finite Difference...

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

作者： Colombo, Federico Goti, Edoardo Lentini, Luigi Politecn Torino Dipartimento Ingn Meccan & Aerosp Turin Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The paper aims to simulate the static load capacity of a gas spiral groove thrust bearing for a high-speed compressor. The pressure distribution inside the bearing air film is computed by discretizing and solving the Reynolds equation through a finite difference numerical scheme. The mesh convergency analysis is performed to investigate the accuracy of the solution when the number of nodes is increased inside the computational domain. The effect of the number of grooves on the load carrying capacity is also investigated while maintaining the other geometrical parameters of the bearing. The results are compared with an analytical model available in the literature.

关键词： finite difference technique spiral groove thrust bearing dynamic gas bearings high-speed turbomachinery

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A Short Overview on Terrestrial Hybrid Locomotion Mobile Robots 33rd

A Short Overview on Terrestrial Hybrid Locomotion Mobile Rob...

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

作者： Straticiuc, Cosmin 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

Hybrid locomotion mobile robots represent a state-of-the-art combination of different forms of locomotion that seamlessly combine multiple locomotion methods to improve adaptability and efficiency in different environments. Unlike traditional mobile robots, which are limited to a single movement, terrestrial hybrid locomotion mobile robots are using a combination of wheels, legs or tracks to navigate different terrains and overcome obstacles. These robots will be able to traverse complex landscapes, a challenge for traditional wheeled or legged robots. Hybrid locomotion mobile robots can be used in various applications, such as search and rescue missions, exploration of hostile and different environments, and military operation. In this paper a short overview of on terrestrial hybrid locomotion mobile robots is presented.

关键词： Terrestrial Hybrid locomotion Mobile robot

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State-of-the-Art and Challenges of Contact-Impact Problems Using Multibody Dynamics Methodologies 9th

State-of-the-Art and Challenges of Contact-Impact Problems U...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Flores, Paulo Lankarani, Hamid M. Univ Minho Dept Mech Engn CMEMS UMinho Campus Azurem P-4804533 Guimaraes Portugal Wichita State Univ Dept Mech Engn Wichita KS USA

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Multibody dynamics deals with the modeling and analysis of mechanical systems comprising multiple bodies, whose interactions are governed by kinematic constraints and external applied forces. Contact-impact events represent one of the most critical and challenges issues when dealing with dynamical systems, because they can significantly affect the behavior of multibody systems. The accurate response of a collision in multibody dynamics is strongly dependent on some critical factors, including the geometry of contacting surfaces, material properties of the bodies involved, and the constitutive laws utilized to evaluate the contact forces. This work provides a comprehensive overview of the main aspects and state-of-the-art techniques for modeling contact-impact events in multibody dynamics. In the sequel of this process, contact detection and contact resolution tasks are presented. In addition, some of the most prominent force models available in the literature to compute normal and tangential forces developed within contact-impact events are discussed. Moreover, this work examines key numerical aspects related to contact-impact events that strongly influence the computational accuracy and efficiency. Finally, an application example is presented, whose results permit to discuss the key aspects related to the modeling process of friction contact-impact events in multibody dynamics.

关键词： Contact-Impact Frictional Contacts Multibody Dynamics Contact Detection Contact Resolution

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Neural Network Task Time Mapping of a 3-DOF Clavel's Delta Robot 5th

Neural Network Task Time Mapping of a 3-DOF Clavel's Delta R...

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

作者： Righettini, Paolo Strada, Roberto Cortinovis, Filippo Univ Bergamo Dept Engn & Appl Sci Viale Marconi 5 I-24044 Dalmine Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

The throughput of robotized pick and place cells can be improved by scheduling algorithms that determine optimal task sequences using estimates of the robot's cycle times;the latter however depend on factors such as the robot's dynamics, the motion planning algorithm, and the specific configuration of the task, which is often not known in advance. Exact evaluation of the task times is therefore a computationally expensive procedure that should be performed as sparingly as possible during real time calculations. In this paper a recently developed architecture for the efficient approximation of a manipulator's task times is applied to a 3-DOF Clavel's Delta robot. Such an architecture is composed of a dynamic and kinematic model of the robot, of an optimizing motion planner, and of a neural network able predict the task times quickly enough to be used in online process-optimizing scheduling algorithms.

关键词： robot process optimization real-time task scheduling AI in robotics

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Contributions on Mathematical Determination of Surfaces in Unconventional Worm Gear

Contributions on Mathematical Determination of Surfaces in U...

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12th International Conference of machine and Industrial Design in Mechanical Engineering

作者： Roland, Ninacs Simion, Haragas Tech Univ Cluj Napoca Fac Ind Engn Robot & Prod Management Cluj Napoca Romania Tech Univ Cluj Napoca Dept Mech Engn Fac Ind Engn Robot & Prod Management Cluj Napoca Romania

ISBN: (纸本)9783031805141;9783031805127;9783031805110

Unconventional worm gear make it possible to change sliding friction in rolling friction, respectively to reduce the backlash in transmission. The aim of this paper is to determine the mathematical relations which generate the worm grooves surfaces from unconventional worm gear, transmission where the teeth of worm wheel is changed with bearings. Practically this study will perform the determination and writing of an equation which generate the raceway for bearings. This type of gear is an interest from research because it is come with many advantages in comparison with classics worm gears. Based on the studies done about the geometry and kinematics of the gear, followed by a modelling of this gear, the contact areas have been determined as well as some parameters necessary to write generating relations and surfaces descriptions. Thus surfaces determination will be realized taking in to consideration the contact area on the bearing was in gearing and description about this in correlation with rotation move which is made around the worm wheel axis, together with a worm rotation move. Starting from the gearing, seen from the frontal median plane of the worm wheel and inserting a coordinate axis system, will be written the trajectory that the bearing follows, referred once to the worm wheel and then to the worm. Then we make the graphic, representing the worm groove surfaces.

关键词： Unconventional Worm Gear Surface Equations Worm Grooves Proprieties

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Exploiting the Natural Motion of a SCARA-Like Manipulator for Pick-and-Place Tasks 9th

Exploiting the Natural Motion of a SCARA-Like Manipulator fo...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Bruzzone, Luca Verotti, Matteo Fanghella, Pietro Univ Genoa DIME Dept I-16145 Genoa Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

The paper discusses the exploitation of the natural motion of a SCARA-like manipulator to reduce energy consumption in pick-and-place tasks. The considered architecture is derived from a classical SCARA robot (RRPR) by substituting the prismatic joint with a four-bar mechanism, obtaining the RR-4R-R scheme. When a torsional spring is added to one of the revolute joints of the four-bar for elastic balancing, a natural motion of the end-effector in the vertical plane arises, which can be exploited to reduce energy consumption in repetitive pick-and-place tasks. A multibody model of the manipulator has been employed to compare the energy consumption in case of no balancing (WB), elastic balancing by means of a linear spring with exploitation of the natural motion (NB), and exact elastic balancing (indifferent equilibrium) by means of a zero free-length spring (EB). Simulation results indicate that EB overperforms NB for slow motions, while NB is favorable for fast cyclic motions, providing an estimation of the convenience threshold between the two approaches, and indicating that the proposed manipulator can replace the widespread SCARA architecture, remarkably improving the energy efficiency of many robotized lines.

关键词： Natural Motion SCARA-like Manipulator Elastic Balancing Pick-and-Place Energy Efficiency

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