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

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Lumped Parameters Robot Models to Study Impact Dynamics 9th

Lumped Parameters Robot Models to Study Impact Dynamics

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9th European Conference on Mechanism science (EuCoMeS)

作者： Caneschi, Alessio Bottin, Matteo Doria, Alberto Cesaro, Andrea Rosati, Giulio Univ Padua Dept Ind Engn I-35131 Padua Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

In the field of collaborative robotics, safety standards are crucial. Collision prevention, in collaborative scenarios, requires a targeted examination of impact dynamics. This paper addresses collision challenges by introducing simplified lumped parameter models that are not widespread in the robotic field. The proposed method is simpler than traditional methods (Newton-Euler or Lagrange formulations), but maintains accuracy in the prediction of the dynamic quantities relevant to impacts (linear momentum and kinetic energy). The study chiefly deals with 2D robots, including the case of off-center centers of mass (CoM), but some hints about the modeling of 3D robots are given. MATLAB simulations and experimental tests with a robot confirm the validity of the proposed method.

关键词： Collaborative Robotics Lumped Parameters Impact Dynamics

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Embracing the Gentle Touch: Design and Simulation of an Intelligent Soft Fingertip for Adaptive Agricultural Harvesting 33rd

Embracing the Gentle Touch: Design and Simulation of an Inte...

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

作者： Al Khatib, Nader Cafolla, Daniele Swansea Univ Fac Sci & Engn Dept Comp Sci Swansea Wales

ISBN: (纸本)9783031592591;9783031592577;9783031592560

The increasing needs of a swiftly growing global population have emphasized the limitations of conventional agricultural methods, especially in agricultural harvesting. Interestingly, the agricultural labour force is anticipated to decrease resulting in unharvested and a subsequent loss of products. This paper presents an intelligent robotic end-effector designed for transformative applications across diverse industries, particularly in manufacturing and agriculture. The innovative system integrates engineering advancements and simulation refinement to achieve adaptability, precision, and controlled release capabilities. Looking forward, the continuous refinement and optimization of this technology are deemed essential. The paper concludes by positioning this project as both a culmination of current achievements and a foundation for the evolving field of intelligent robotic manipulation.

关键词： Intelligent robotics Agricultural robotics Harvesting Manipulation Baromorph end-effector

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On the Tribological Performance of Vegetable Lubricants: Experimental Investigation on Rice Bran Oil with Propyl Gallate 5th

On the Tribological Performance of Vegetable Lubricants: Exp...

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

作者： D'Amato, Roberto Nieto-Marquez Ballesteros, Antonio Sicilia, Alessandro De Stefano, Marco Ruggiero, Alessandro Univ Politecn Madrid ETSIDI UPM Ronda Valencia 3 Madrid 28012 Spain Univ Salerno Dept Ind Engn I-84084 Fisciano SA Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

Due to the limited resources of oil-based lubricants and the increase in environmental pollution that they produce, there is a demand for biolubricants. For this reason, the purpose of this study is to investigate the tribological performance of rice bran oil in the lubricating contact pair of the AISI E52100 steel sliding against the Ti6Al4V titanium alloy. Experimental tests were carried out using an alternative ball-on-flat tribometer for two different frequencies, 10 Hz and 20 Hz and with a normal load of 13 N. Rice Bran Oil with propyl gallate, as an additive, was analyzed, as a novelty, for its chemical and physical properties such as viscosity, density, flash point, and tribological performance. The results of the tribological tests were interpreted on the basis of the evolution of the friction coefficient, the wear volume, the analysis of the surface topographies. The results of the Friction Coefficient obtained in the experimental tests reveal that as the frequency increases there is an increase in the Friction Coefficient values.

关键词： Rice Bran Oil Natural-based Oil Tribological Test Propyl Gallate AISI E52100 steel Ti6Al4V Titanium Alloy

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Predicting Step Length from Heel Acceleration: A machine Learning Approach 8th

Predicting Step Length from Heel Acceleration: A Machine Lea...

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

作者： Tayari, Azza Gbada, Hamza Rezgui, Taysir Bennour, Sami Univ Sousse Mech Lab Sousse LMS Sousse Tunisia Univ Sousse Inst Informat & Commun Technol Sousse Tunisia Univ Carthage Polytech Sch Tunisia Appl Mech & Syst Res Lab LASMAP Carthage Tunisia

ISBN: (纸本)9783031598906;9783031598883;9783031598876

Accurate, real-time step length estimation is valuable for various gait analysis applications, including clinical assessment, rehabilitation, and wearable technology. Wearable sensors are increasingly popular tools for gait analysis. This study investigates the use of machine learning models to predict step length using heel acceleration data captured during the terminal stance phase. Promising results were achieved across four models: Multi-Layer Perceptron (MLP), Random Forest, XGBRegressor, and XGBoost. Notably, Random Forest outperformed the others with the lowest RMSE (36.74 mm) and MSE (25.88 mm). MLP exhibited higher errors (RMSE: 107.99 mm, MSE: 81.86 mm). This study highlights the potential of combining machine learning and acceleration signal for real-time step length prediction. This approach could simplify gait analysis, offering an alternative to traditional motion capture in outdoor settings while enhancing accessibility, practicality, and immediate feedback in clinical practice.

关键词： Step length prediction Gait analysis Wearable technology Heel acceleration machine learning

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An Innovative Low-Backlash Wolfrom Gearbox with Beveloid Gears for Robotic Applications 9th

An Innovative Low-Backlash Wolfrom Gearbox with Beveloid Gea...

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9th European Conference on Mechanism science (EuCoMeS)

作者： Sciarra, Giuseppe Mottola, Giovanni Casamenti, Gustavo Carricato, Marco Univ Bologna DIN Viale Risorgimento 2 I-40137 Bologna BO Italy Univ Genoa DIBRIS Via Opera Pia 13 I-16145 Genoa GE Italy Bonfiglioli SPA Via Cav Clementino Bonfiglioli 1 I-40012 Calderara Di Reno BO Italy

ISBN: (纸本)9783031672972;9783031672958;9783031672941

Industrial robot requirements in terms of positioning accuracy, repeatability, and dynamic performances require gearboxes to have minimal torsional backlash, high tilting stiffness, and low weight;also, a compact design and a long operating life are needed for practical use. In this work, we describe a novel gearbox for serial-robot joints, which combines two known design concepts, namely, a Wolfrom planetary architecture and beveloid gears. It is found that this design can achieve a high reduction ratio (up to 1:125) in a compact shape. The main advantage of beveloid gears is the ability to adjust the contact position through axial movements, achieving a torsional backlash close to zero (<1 arcmin). The novel gearbox is available in two versions, with or without a hollow central axis for cable routing. In this article, we describe the gearbox architecture, its main features, and its kinetostatic model.

关键词： Wolfrom Beveloid Backlash Gearing Gearbox Robotics

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eXoft, Innovative Soft-Rigid Exoskeleton for Smart Factory 5th

eXoft, Innovative Soft-Rigid Exoskeleton for Smart Factory

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

作者： Carbonari, Luca Palomba, Ilaria Solazzi, Massimiliano Visconte, Carmen Univ Politecn Marche Ancona Italy Univ Padua Padua Italy Scuola Super Studi Univ & Perfezionamento St Anna Pisa Italy Politecn Torino Turin Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

Work related musculo-skeletal disorders represent a relevant percentage of occupational diseases in developed countries. Aside the laborers discomfort, they also reflect on companies with relevant economic effects. Nonetheless, the spread of exoskeletons for industrial applications is still limited. The reasons are to be sought on how they are perceived by workers: for many of them, their reduced mobility and not perfect adaptability to the kinematics of the human body make them more of a nuisance than a real help. The spread of wearable devices in industrial scenarios could bring advantages not only to jobs ergonomics and injuries assessment, but also to safety and risk management. The exoskeletons worn by labourers can be conceived as tools able to share quantitative data about the user posture and position within the working environment for active safety strategies and machines command. The object of the eXoft project is an active exoskeleton with innovative mechanical and actuation designs, conceived for integration in collaborative robotics environment. The purpose is to improve the comfort and safety of labourers tasked with heavy or repetitive jobs, while providing a tool for a safer integration of human-in-the-loop workflows.

关键词： Risk management

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Experimental Analysis of Different Dental Implants Surfaces by Using Optical Methods 5th

Experimental Analysis of Different Dental Implants Surfaces ...

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

作者： De Stefano, Marco Lanza, Antonio Sicilia, Alessandro Ruggiero, Alessandro Univ Salerno Dept Ind Engn Via Giovanni Paolo IINr 132 I-84084 Fisciano Italy Univ Salerno Schola Med Salernitana Dept Med Surg & Dent Via S Allende I-84081 Salerno Italy

ISBN: (纸本)9783031626180;9783031626166;9783031626159

In this paper a novel topographical investigation of eight different biphasic implants was performed by using an interferometric and confocal apparatus and by discussing the results after a data statistical analysis. Firstly, the topography of the sample profiles was obtained thanks to an optical microscope according to ISO standard 4288-1997: the analysis was focused mainly on the analysis of arithmetical roughness R-a values since it represents one of the most investigated parameters in surface profile interpretation for a good osseointegration and the consequent prosthesis stability. Each implant was analyzed in five zones: high, middle, last, connection and potential cut area. The results showed mainly that the roughness is very variable both among the implants and inside the different zones of them with values out of the preferable range for the osseointegration. More in details, the implant machined was the smoothest as well as the connection zone whereas the high and the middle ones the roughest. Lastly, the diameter did not affect the roughness of the medical devices. However, more investigations are required in order to have a better and deeper understanding of this complex and wide biotribological field.

关键词： Dental implants Roughness Statistical analysis Surface topography

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Condition Monitoring of Gears via Time-Frequency Techniques 5th

Condition Monitoring of Gears via Time-Frequency Techniques

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

作者： Niola, Vincenzo Melluso, Francesco Spirto, Mario Univ Naples Federico II Dept Ind Engn Via Claudio 21 I-80125 Naples Italy

ISBN: (纸本)9783031645556;9783031645532;9783031645525

In this study, the vibrational analysis of cylindrical helical gears has been addressed. Accelerometric signals were acquired for various gears rotational speeds, both under lubricated and dry gear conditions. Through a time-frequency approach, it was possible to discriminate between the two different operating conditions and observe how impacts between teeth are concentrated at high frequencies. The aim of this study is to provide a methodology for the condition monitoring of gears.

关键词： Vibration Analysis Gearwheels FFT Wavelet RMS

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Evaluation the Tribological Properties of Different Fiber Reinforced Polymers 5th

Evaluation the Tribological Properties of Different Fiber Re...

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

作者： Cioaza, Mircea Birleanu, Corina Pustan, Marius Bere, Paul Contiu, Glad Tech Univ Cluj Napoca 400641 Romania

ISBN: (纸本)9783031626180;9783031626166;9783031626159

This study examined and compared the wear and friction properties of three test stages of glass, basalt, and carbon fiber reinforced epoxy composites (GFRP, BFRP, and CFRP). These materials exhibited weight fraction ratios (wf) of 65%. The test investigations were carried out at 10 N to 30 N load, fixed speed, and distance of 2600 km on a pin on disc tribometer. The test has been performed under dry conditions at room temperature. Understanding how these composites behave under different loading conditions allows for predicting their performance in real-world applications. Engineers can anticipate potential wear issues and take preventive measures or design modifications to enhance the reliability of the components.

关键词： Glass fiber Basalt fiber Carbon fiber Polymer composites Friction coefficient Abrasive wear Pin on disc tribometer

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The Control Architecture of a Spherical Robot for Minimally Invasive Surgery 6th

The Control Architecture of a Spherical Robot for Minimally ...

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6th Symposium on Mechanism Design for Robotics (MEDER)

作者： Rus, Gabriela Al Hajjar, Nadim Tucan, Paul Zima, Ionut Vaida, Calin Radu, Corina Jucan, Daniela Chablat, Damien Antal, Tiberiu Pisla, Doina Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing CESTER Cluj Napoca 400641 Romania Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 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 Ecole Cent Nantes CNRS LS2NUMR 6004 F-44000 Nantes France

ISBN: (纸本)9783031673856;9783031673832;9783031673825

Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring precision and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and thoracic regions. The proposed control system, employing the master-slave concept, is presented alongside the experimental model. Functional validation is obtained by performing a Siemens NX simulation and comparing the results with several experimental runs using the experimental model of the robot. With its compact size and stiffness, the system holds promise for integration with other robotic systems. Future efforts will be dedicated to exploring and optimizing this potential collaboration to enhance the overall capabilities of robotic-assisted surgery.

关键词： Control Architecture Robotic-Assisted Surgery Minimally Invasive Surgery Master-Slave architecture

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