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Competitive design of an anthropomorphic gripper

Competitive design of an anthropomorphic gripper

引用

IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Mihai Steopan Timea Györke Florin Popister Szabolcs Gal Department of Design Engineering and Robotics Technical University of Cluj Napoca Cluj-Napoca Romania Robotics Specialization Technical University of Cluj Napoca Cluj-Napoca Romania

In this paper the development of an anthropomorphic gripper is presented. Using competitive engineering tools and techniques like AHP, QFD, TRIZ and FMEA, a low cost human like gripper was developed. The gripper has 5 independently controlled fingers, presenting a high flexibility both in motion and the ability to have certain pre-programmed movements.

关键词： Thumb Grippers Quality function deployment Humans Joints Robots

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Visual Motion Observer-based Stabilizing Receding Horizon Control via Obstacle Avoidance Navigation Function

Visual Motion Observer-based Stabilizing Receding Horizon Co...

引用

IEEE International Conference on Control Applications

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Department of Robotics Kanazawa Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781467345033

This paper investigates stabilizing receding horizon control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-to-hand visual feedback systems. Firstly, a visual motion observer for a controlled mobile robot is presented. Then, visual motion observer-based stabilizing receding horizon control for 3-D visual feedback systems, highly nonlinear and relatively fast systems, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

关键词： Visualization Navigation Mobile robots Collision avoidance Estimation error Vectors Observers

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Hardware-in-the-Loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV

Hardware-in-the-Loop verification for 3D obstacle avoidance ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Saravanakumar Subramanian Thomas George Asokan Thondiyath Robotics Laboratory Engineering Design Department Indian Institute of Technology Madras Tamil Nadu India Mechanical Engineering Department Indian Institute of Technology Hyderabad Andra Pradesh India Engineering Design Department Indian Institute of Technology Madras Tamil Nadu India

Hardware-in-the-Loop (HIL) simulations play a major role in the field of testing of Autonomous Underwater Vehicle (AUV) well before the actual vehicle is developed and deployed in the water. This paper discusses the real-time verification of a 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV using hardware-in-the-loop simulation tool. Software-In-the-Loop (SIL) models are developed in MATLAB/Simulink environment and the HIL simulation is performed using dSPACE environment. The development of HIL test bench and the simulation results are presented in this paper. The results show that the HIL simulation is an effective tool for the verification of control algorithms and the developed obstacle avoidance algorithm can be used in real-time for the flat-fish type AUV.

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A Literature Review on Fault Diagnosis Methods for Manned and Unmanned Helicopters

A Literature Review on Fault Diagnosis Methods for Manned an...

引用

International Conference on Unmanned Aircraft Systems

作者： Xin Qi Didier Theilliol Juntong Qi Youmin Zhang Jianda Han University of Chinese Academy of Sciences CRAN UMR 7039 CNRS University of Lorraine Faculte des Sciences et Techniques B.P. 70239 54506 VANDOEUVRE-LES-NANCY France State Key Laboratory of Robotics Shenyang Institute of Automation(SIA) Chinese Academy of Sciences(CAS) 110016 Shenyang Liaoning Province P.R.China Department of Mechanical and Industrial Engineering Concordia Institute of Aerospace Design and Innovation (CIADI)Concordia University 1455 de Maisonneuve Blvd. W. Montreal Quebec H3G 1M8 Canada

ISBN: (纸本)9781479908158

In the past two decades, the reliability and safety of helicopters have attracted the attention of many researchers. Especially with the development of Unmanned Helicopters, Fault Diagnosis approaches were used for manned or unmanned helicopter platforms. In this paper, a brief state-of-the-art on Fault Diagnosis approaches is presented for helicopters, including analytical model-based, signal processing-based and knowledge-based Fault Diagnosis approaches. A short description of fault types is presented before the main part of the review.

关键词： Literature Review Fault

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design and Evaluation of Robotic Steering of a Flexible Endoscope

Design and Evaluation of Robotic Steering of a Flexible Endo...

引用

IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Jeroen Ruiter Esther Rozeboom Mascha van der Voort Maartcn Bonnema Ivo Broeders Laboratory of Design Production and Management Department of Engineering Technology University of Twente Laboratory of Minimal Invasive Surgery & Robotics Department of Technical Medicine University of Twente

ISBN: (纸本)9781457711992

In current flexible endoscopy the physician faces problems in manipulating the endoscope. A lot of experience is required to master the procedure. This paper describes the design of an add-on robotic module that improves the user interface of traditional endoscopes and allows a single physician to operate it easily. We identified critical user aspects of traditional endoscopes that need to be copied in a robotic setup. In our design the physician uses a remote control that is connected to a light drive system. It allows manipulation of the robotic endoscope in space. We conducted an experiment to judge the usability of our system. Results indicate that robotic steering, using a position-controlled touchpad or a rate-controlled joystick increases efficiency and satisfaction.

关键词： Endoscopes Otolaryngologists User Interface Device Component Steering drive train FLEXIBLE touch panels

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The effect of anisotropic friction on vibratory velocity fields

The effect of anisotropic friction on vibratory velocity fie...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Paul Umbanhowar Thomas H. Vose Atsushi Mitani Shinichi Hirai Kevin M. Lynch Department of Mechanical Engineering Northwestern University Evanston IL USA Department of Design Sapporo City University Sapporo Japan Department of Robotics Ritsumeikan University Kusatsu Japan

This paper explores the role of anisotropic friction properties in vibratory parts manipulation. We show that direction-dependent surface friction properties can be used in conjunction with a vibrating plate to help design friction-induced velocity fields on the surface of the plate. Theoretical, simulation, and experimental results are presented quantifying the anisotropic friction effects of textured surfaces such as micromachined silicon and fabrics.

关键词： Friction Force Acceleration Mathematical model Limit-cycles Equations Surface texture

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Modeling of the synchronization of cutaneous mechanoreceptors with Epidermal-dermal dynamics

Modeling of the synchronization of cutaneous mechanoreceptor...

引用

IEEE International Conference on Systems, Man, and Cybernetics

作者： Ryota Ishibashi Tadao Isaka Hiroe Hashiguchi Sadao Kawamura Division of Human Mechatronics Systems Faculty of System Design Tokyo Metropolitan University Faculty of Sport and Health Science Ritsumeikan University School of Robotics Department of Integrated Mechanical Engineering Daido University Department of Robotics Ritsumeikan University

ISBN: (纸本)9781467317139

This paper examined the effects of the nonlinear mechanical properties that originate in the subcutaneous geometric structure and the subcutaneous mechanoreceptors of the fingertip. We briefly analyzed nonlinear biomeehanical properties of the cutaneous surface and showed that the subcutaneous mechanoreceptors affect tactile perception as nonlinear transducers. The validity of our hypothesis was assessed by experimentally investigating the vibrotactile sensation of a fingertip.

关键词： Vibrotactile sensation Synchronization Cutaneous mechanoreceptors Epidermal-dermal dynamics Mechanoreceptors Touch Perceptions Modeling Mechanical properties nonlinearity geometrical construction

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Kinematics and force analysis of a 6 degrees of freedom 3-UPS mechanism with triangular platform for haptic applications

Kinematics and force analysis of a 6 degrees of freedom 3-UP...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Mohammad Khodabakhsh Mehdi Sadeghpour Soroosh Hassanpour Gholamreza Vossoughi Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation (CEDRA) Sharif University of Technology Tehran Iran University of Waterloo Ontario Canada

This paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. This mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg's actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. Then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has been done in the whole workspace without any singularity. Studying several situations of the platform shows that the ranges of the magnitudes of the forces and torques of the active actuators in this mechanism are reasonable, and typical actuators can support them.

关键词： Joints Force Kinematics Torque Vectors Equations Actuators

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Tool Condition Monitoring based on sound and vibration analysis and wavelet packet decomposition

Tool Condition Monitoring based on sound and vibration analy...

引用

International Symposium on Mechatronics and Its Applications, ISMA

作者： Hamed Rafezi Javad Akbari Mehdi Behzad School of Science and Engineering Sharif University of Technology Kish Island Iran Department of Mechanical Engineering Center of Excellence in Design Robotics and Automation Sharif University of Technology Tehran Iran

Tool Condition Monitoring (TCM) is a vital demand of advanced manufacturing in order to develop automated unmanned production. Continuing the machining operation with a worn or damaged tool will result in damages to the workpiece. This problem becomes more important in supplementary machining processes like drilling which the workpiece usually has passed a lot of machining processes and any damage to workpiece at this stage results in high production losses. In this research features of sound pressure and vibration signals in drilling process are recorded and analyzed in order to detect tool wear. Signal statistical features are extracted in time domain, and the features trends as the tool becomes worn are extracted. Frequency spectrum of signals is calculated and Wavelet Packet Decomposition (WPD) is applied to focus on specific frequency bands. In this research capability of both sound and vibration signals for drill wear detection are shown and the most informative features of the signals for wear detection are evaluated and introduced. The results showed that the wavelet packets features make a better contrast between the sharp and the worn tool compared to the primary time domain signal.

关键词： Vibrations Wavelet packets Feature extraction Drilling machines Time domain analysis Condition monitoring Wavelet analysis

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A method for spatial signature estimation with uncalibrated uniform linear array

A method for spatial signature estimation with uncalibrated ...

引用

Sensor Signal Processing for Defence (SSPD 2012)

作者： Xiang Cao Jingmin Xin Yoshifumi Nishio Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xian Jiaotong University Xian China Department of Electrical and Electronic Engineering University of Tokushima Tokushima Japan Department of System Design Engineering Keio University Yokohama Japan

ISBN: (纸本)9781627485975

In this paper, a multidimensional search procedure is presented for estimating spatial signature with uniform linear array in the presence of unknown gain and phase errors. The proposed method fully exploits multiple invariances in the interior of the sensor array and it is desirable that the quality of estimate improves as more and more array invariances are used. A Gauss-Newton iterative algorithm is applied for solving the multidimensional nonlinear problem. Simulation results indicate that a solution close to the minimum is obtained after only two or three iterations. Furthermore, the introduction of a weighting matrix, similar to weighted subspace fitting, can tone up the performance of our method.

关键词： uniform linear arrays Sensor arrays interior invariance MULTIDIMENSIONAL signatures phase error

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