作者：
L. GoldhammerH.-B. WoyandDepartment D
Mechanical Engineering Chair of Mechanical Engineering Informatics University of Wuppertal Wuppertal Germany
Information and knowledge have become an important factor in product development. the approach of a CAD assistance system is for many companies a major step towards the future. For a successful integration of knowledg...
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Information and knowledge have become an important factor in product development. the approach of a CAD assistance system is for many companies a major step towards the future. For a successful integration of knowledge systems, the factors: knowledge management, KBE, object-oriented modeling, CAx-automation and a multifunctional programming language, play a decisive role. In this paper we present an approach for a CAD assistance system based on the programming language Python. Python can controlthe CAD system CATIA V5 via Windows COM interface and also edit CAD data. An object-oriented modeling of CAD components facilitates a knowledge-based design. Simultaneously the knowledge of design can be created and formalized in a knowledge base (ontology). this ontology is also based on the programming language Python. thus, an opportunity in Python has been created in which the CAD system and the knowledge management can be controlled and used in one level. therefore this approach paves the way for a CAD-automation or a CAD assistance system.
In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kineti...
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ISBN:
(纸本)3908451884
In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.
the purpose of this paper is to determine the dynamic equations for a hybrid robot structure which consists of a mobile robot named PatrolBot and a 2TR robot serial structure. the motion equations will be determined o...
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ISBN:
(纸本)3908451884
the purpose of this paper is to determine the dynamic equations for a hybrid robot structure which consists of a mobile robot named PatrolBot and a 2TR robot serial structure. the motion equations will be determined on the basis of the new concepts in advanced mechanics, such as Matrix Exponentials Algorithm and Variation Principles in Analytical Mechanics, concerning the kinetic and acceleration energy part of important scientific researches deployed by the main author.
the proceedings contain 72 papers. the special focus in this conference is on robotics and automation Systems. the topics include: Application of simulators and simulation tools for the functional design of mechatroni...
ISBN:
(纸本)9783908451884
the proceedings contain 72 papers. the special focus in this conference is on robotics and automation Systems. the topics include: Application of simulators and simulation tools for the functional design of mechatronic systems;determination of generalized coordinates and forces for generation of the three dimensional curves with torsion by PKM parallel kinematik machines;automatic page turner;CAD based design optimization of planar parallel manipulators;automated test bench for study of the fuel injection process;about an experimental approach used to determine the kinematics of the human finger movement;exteroceptive sensor system of a new developed artificial hand;mechatronic design of a planar parallel robot actuated by pneumatic artificial muscles;robot motion synchronization in cooperative tasks;method for planning multitasking robot application programs in RAPID;remote controlled video inspection manipulator of sewage networks pipes;specific mechanisms for construction mobile robots;social interaction in systems of humans and mobile robots;software system for mechanism and robot simulation;some AI based approaches on mobile robots motion planning;actuation strategy for a new driving simulator setup;scaled experimental stand for testing control algorithms on brake systems with anti-lock capability;3D control for a truncated cone tentacle kinematics;modeling and analysis of soccer robot tasks using generalized stochastic petri nets;video camera measuring application using matlab;triangulation 3D scanning method in biomedical reconstruction and modeling of shape memory alloy actuators using matlab and dspace platform.
this work presents a robotic platform for upper-limb rehabilitation robotics. It integrates devices for human multi-sensorial feedback for engaging and immersive therapies. Its modular software design and architecture...
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ISBN:
(纸本)9781424448937
this work presents a robotic platform for upper-limb rehabilitation robotics. It integrates devices for human multi-sensorial feedback for engaging and immersive therapies. Its modular software design and architecture allows the implementation of advanced control algorithms for effective and customized rehabilitations. A flexible communication infrastructure allows straightforward devices integration and system expandability.
Socially Assistive robotics is a newly emerging area of robotics where robots are used to help a human through social interaction. this paper describes an ongoing project on the use of robotics as therapeutically or e...
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ISBN:
(纸本)3908451884
Socially Assistive robotics is a newly emerging area of robotics where robots are used to help a human through social interaction. this paper describes an ongoing project on the use of robotics as therapeutically or educationally useful tools for treating individuals with Autism Spectrum Disorders (ASD). the robotic Lego NXT platform was used to develop an economical, practical and efficient means of helping teach social behavior to individuals with ASD in school/home environments. In addition, our approach to treatment is described as an educational intervention which is a combination of Socially Assistive robotics, the DIR/Floortime intervention model and social script/stories.
this paper, presents first, using Polya's theorem of enumeration of distinct structures, the number of closed plane five-link kinematics chains. these chains differ among them by the number and the position of re-...
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ISBN:
(纸本)9783908451884
this paper, presents first, using Polya's theorem of enumeration of distinct structures, the number of closed plane five-link kinematics chains. these chains differ among them by the number and the position of re-volute and prismatic joints. From these chains, by interchanging the link connected to the frame, may be obtained different mechanisms with 2 degrees of freedom. Forward, it is presented the design with CATIA software of some mechanisms with five elements, with applicability in robotics. these may represent the mechanical structure of some manipulators for graving, inscription and other work. Also, they may be used in the design of a robot arm, with more degrees of freedom such as SCARA robots.
this paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fis...
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ISBN:
(纸本)9781617387197
this paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fish robots. Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the fish robots for verification, and vice versa. Finally, a series of fishlike robots with different mechanical design have been built to validate our well-formed ideas and to reach a new level of performance close to actual fish for real applications.
In this paper are described the main stages of structural and cinematic synthesis and analysis, design and functional simulation regarding the mechanism of the human hand prosthesis. For the structural scheme, one use...
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ISBN:
(纸本)9783908451884
In this paper are described the main stages of structural and cinematic synthesis and analysis, design and functional simulation regarding the mechanism of the human hand prosthesis. For the structural scheme, one uses three pivot joints only, and one movement for closing the palm. the technical project is complete. One command scheme is shown too. the functional simulation has been made in CAD and virtual reality for to identify the best solutions and to optimize the constructive solution and to use the prosthesis by human operator.
the proceedings contain 93 papers. the topics discussed include: tutorial: cognitive analysis methods applied to human-robot interaction;interaction science perspective on HRI: designing robot morphology;HRI pioneers ...
ISBN:
(纸本)9781424448937
the proceedings contain 93 papers. the topics discussed include: tutorial: cognitive analysis methods applied to human-robot interaction;interaction science perspective on HRI: designing robot morphology;HRI pioneers workshop 2010;grand technical and social challenges in human-robot interaction;robots asking for directions: the willingness of passers-by to support robots;a larger audience, please! encouraging people to listen to a guide robot;judging aA bot by its cover: an experiment on expectation setting for personal robots;perception of affect elicited by robot motion;cooperative gestures: effective signaling for humanoid robots;similarities and differences in users' interaction with a humanoid and a pet robot;learning context-based feature descriptors for object tracking;RoboLeader: an agent for supervisory control of multiple robots;and towards industrial robots with human-like moral responsibilities.
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