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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

机械工程前沿 2012年第4期7卷 357-370页

作者： Conghui LIANG Marco CECCARELLI Yukio TAKEDA Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino 03043 Italy Department of Mechanical Sciences and Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of robotics and mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

关键词： biped robots leg mechanisms simulation

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Planning of legged race-walking gait for an ePaddle-based amphibious robot

Planning of legged race-walking gait for an ePaddle-based am...

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Sun, Yi Ma, Shugen Yang, Yang Department of Robotics Ritsumeikan University 525-8577 Shiga Japan School of Mechatronics Engineering and Automation Shanghai University 200072 Shanghai China

ISBN: (纸本)9783902823113

To enhance the mobility of the rescue robot in amphibious environments, an eccentric paddle mechanism (ePaddle) has been proposed as the locomotion module for utilizing versatile locomotion gaits. In this paper, we focus on a unique legged race-walking gait among all the potential gaits of an ePaddle-based amphibious robot. This gait has advantages in stability and energy efficiency. We present kinematic-based methods for achieving race-walking by one ePaddle module. A planar path tracking method using race-walking gait is then proposed. Ideas of the race-walking gait as well as its planning methods are finally verified by simulations. © 2012 IFAC.

关键词： Robot programming

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General subtask controller for redundant robot manipulators

General subtask controller for redundant robot manipulators

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2012 12th International Conference on Control, Automation and Systems, ICCAS 2012

作者： Maaroof, Omar W. Gezgin, Erkin Can Dede, Mehmet Ismet Department of Mechatronics Engineering Mosul University Mosul Iraq Department of Robotics Engineering DGIST Korea Republic of Department of Mechanical Engineering Izmir Institute of Technology 35430 Izmir Turkey

ISBN: (纸本)9781467322478

This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask controller is used for minimizing the total joint motion and for singularity avoidance in this study. Specifically, objective function for each subtask is formed and then the gradient of the objective function is used in the subtask controller to either minimize the joint motion or avoid singularities while tracking a given end-effector trajectory. A 7-DOF LWA4-Arm (SCHUNK) is modeled first in SolidWorks® and then converted to MATLAB® Simulink using SimMechanics CAD translator for the simulation tests of the controller. The kinematics and dynamics equations are derived to be used in the controllers and the simulation results are presented for the 7-DOF redundant robot manipulator operating in 3D space. © 2012 ICROS.

关键词： Controllers

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A Hybrid Controller with Chedoke-McMaster Stroke Assessment for Robot-Assisted Rehabilitation

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Procedia engineering 2012年 41卷 629-635页

作者： Shahrul Naim Sidek Abu Ubaidah Shamsudin Elliana Ismail Department of Mechatronics Engineering International Islamic University Malaysia Department of Mechatronics & Robotics Engineering University Tun Hussein Onn Malaysia

Amongst the major challenges in post-stroke rehabilitation are the repetitiveness nature of rehabilitation procedure, and the accessibility of therapists for long-term treatment. In manual rehabilitation procedure, the patient is subjected to repetitive mechanical movement of the affected limb by the therapist. In one of the techniques called active-assist exercise , the subject moves his affected limb along a specified trajectory with the therapist guiding the motion. The therapist gives some assistance to the subject to complete the course if deemed necessary and the procedure repeats. The significant advantages of using robots in assisting rehabilitation are its efficiency and it is fatigue free. The robots however need to be developed to have the capability of human therapist in providing the rehabilitation more naturally. In this paper, the work focuses on developing a new framework for the robot controller system. In particular, a low-level controller, which is in the form of force controller based on impedance control theory is discussed. The controller is capable of governing the active-assist exercise through autonomous guidance during the therapeutic procedure based on the Chedoke-McMaster stroke assessment method.

关键词： Rehabilitation robot Low-level Controller Chedoke-McMaster Stroke Assessment

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Computational analysis of a miniature 3-DOF flexure-based micro/nano mechanism

Computational analysis of a miniature 3-DOF flexure-based mi...

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16th International Conference on mechatronics Technology, ICMT 2012

作者： Bhagat, U. Clark, L. Shirinzadeh, B. Qin, Y. Chea, P. Tian, Y. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia School of Mechanical Engineering Tianjin University Tianjin China

ISBN: (纸本)9787900769428

The work presented in this paper focuses on the computational analysis of a miniature flexure-based mechanism. This novel flexure-based mechanism is capable of delivering planar motion with three degrees of freedom (3-DOF). With this computational study, we examine the stress distribution at all flexure joints, modal analysis and the workspace envelop of the mechanism. This mechanism is designed to use three piezoelectric actuators to achieve desired displacement in X, Y and Θ. The knowledge of mechanism's workspace envelop will be very important in path planning and defining motion trajectories. The computational analysis confirms the stress distribution at flexure hinges do not exceed the allowable stress of the material. Analysis of the workspace predicts maximum displacements of 76.7 μm in the X-direction, 69.1 μm in the Y-direction and 3.47 mrad in θ-rotation.

关键词： Finite element method

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Modeling and simulation of novel method of single cell viability detection via electrical measurement using dual nanoprobes

Modeling and simulation of novel method of single cell viabi...

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2012 International Conference on Enabling Science and Nanotechnology, ESciNano 2012

作者： Sulaiman, Abdul Hafiz Mat Ahmad, Mohd Ridzuan Dept. of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia Ibnu Sina Institute Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9781457707988

Cell viability is important in biological studies. The detection of cell viability is simply checking whether the cell is alive or dead. This is important in experiments when cells are placed in a new foreign environment and when cells are being manipulated for testing either mechanically, chemically or electrically. Basically, there are two ways to determine the cell viability, one is through the cell's function for example the metabolism which can be tested by the ability of the cell to produce glucose and the other is through the cells properties like when cells lose their plasma membrane integrity and hence allow any chemicals or other substances to enter the cell [1]. A conventional method is based on the examination of the property of cell membrane integrity by using colorimetric dyes such as tyrapan blue and fluorescent dyes [2] which can change the color of the dead cells. The main drawback with the conventional method is the addition of the chemical agents (i.e. dye) may change the cell physiology [3] due to the chemical interaction and thus having the cell in its original condition for further testing becomes impossible. Furthermore, such methods require time for the cells to incorporate the discrimination chemical. Also these methods lack the capability to produce quantitative cell viability information [1]. Measuring the electrical properties to detect for viable cells overcome some of these limitations. This paper is a continuation and extension of our earlier work [4]. Previously, we experimentally demonstrated a novel method for cell viability detection using dual nanoprobe. Now, by using finite element approach, four more factors, i.e. material types, cross-sectional shapes, opening gaps and penetration depth of the dual, have been studied. In brief, the dual nanoprobes work by slightly penetrating the cell wall and measure the current that flow in the cells when exposed to a voltage. A detected current shows that a cell is alive. The main advantage

关键词： Physiology

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Calibration and mosaicing of forward-scan sonar DIDSON images

Calibration and mosaicing of forward-scan sonar DIDSON image...

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2012 5th International Conference on Intelligent Computation Technology and Automation, ICICTA 2012

作者： Xie, Shaorong Xu, Yuanyu Chen, Jinbo Jin, Wenjun Luo, Jun School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics Shanghai University Shanghai 200072 China

ISBN: (纸本)9780769546377

DIDSON(Dual-frequency identification sonar),a new generation of acoustic video cameras, is applied to research and detect the underwater environment in this paper. In order to solve the shortcomings of the DIDSON in underwater environment, we propose a real-time forward-scan sonar image mosaicing method and system. Through a series of processing to the DIDSON images, such as image registration , image matching and image fusion, a few DIDSON images with small viewing angle and low resolution have be mosaicing to be a large-scale and high resolution sonar image. This improves DIDSON's target detection and expand observing angle to detect bigger underwater targets. © 2012 IEEE.

关键词： Image fusion

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A novel tool for force/torque sensing in robotic surgery

A novel tool for force/torque sensing in robotic surgery

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16th International Conference on mechatronics Technology, ICMT 2012

作者： Schwalb, W. Shirinzadeh, B. Qin, Y. Smith, J. Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Melbourne Australia School of Surgery Monash University Melbourne Australia

ISBN: (纸本)9787900769428

Minimally invasive surgery has drastically changed modern day surgery, and has become the standard for various procedures. MIS however has its own difficulties, and as a result, has seen robotic surgery rise in popularity over recent years. It is yet to be seen whether robotic surgery will cause another major paradigm shift, as these systems still require large costs, take up too much space, have an unclear cost benefit, and provide little or no force feedback. This paper presents a surgical tool for force/torque sensing, and uses a novel overcoat method to deal with sensor corruption at the trocar. A static analysis was conducted to compare force feedback accuracy when using a surgical tool with and without an overcoat. The former resulted in errors of 2% or lower, where the latter introduced errors up to 238%.

关键词： Robotic surgery

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Modal analysis in diagnostics of rotating machinery

Modal analysis in diagnostics of rotating machinery

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9th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies 2012, CM 2012 and MFPT 2012

作者： Bednarz, Jaroslaw Barszcz, Tomasz Department of Robotics and Mechatronics Faculty of Mechanical Engineering AGH University of Science and Technology al. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9781622764334

In the last few years, for the purposes of identification of mechanical systems during their normal work the OMA (Operational Modal Analysis) methods are frequently used. These methods can be applied under the assumption that the excitation acting on the tested system is random. This requirement is not met in case of some industrial machines (e.g. in power engineering) while the excitation related to rotating elements significantly worsen the accuracy of modal models estimated by means of the OMA methods. Therefore the methods making it possible to overcome this problem arise great interest. One of such methods is OMAX that nowadays is more and more frequently applied to operational identification of mechanical structures. The paper concerns comparison of the classical methods (OMA) and OMAX method. The results were verified experimentally for the characteristics measured on the laboratory object and on the wind turbine.

关键词： Modal analysis

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Predictive Functional Controller design for pneumatic actuator with stiffness characteristic

Predictive Functional Controller design for pneumatic actuat...

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IEEE/SICE International Symposium on System Integration

作者： Khairuddin Osman Ahmad 'Athif Mohd Faudzi M.F. Rahmat Nu'man Din Mustafa Koichi Suzumori Department of Industrial Electronics Universiti Teknikal Malaysia Melaka Durian Tunggal Melaka Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Skudai Malaysia Department of Control and Mechatronics Engineering Universiti Teknologi Malaysia Skudai Malaysia Universiti Teknologi Malaysia Skudai Johor MY Graduate School of Natural Science and Technology Okayama University Okayama Japan

This paper presents a model and controller design for a pneumatic actuator system. Three control strategies of position, force and compliance control are proposed. From the compliance control, stiffness characteristic of the pneumatic actuator will be presented in real-time system. Model of the pneumatic actuator system (transfer function) is obtained from System Identification (SI) method. Next, Predictive Functional Control (PFC) with observer design is selected as the control strategy for the pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiment. Result shows that the PFC controller is adapted to the system and able to control successfully in both simulation and experiment.

关键词： Mathematical model Force Equations Observers Computational modeling Pneumatic systems Real-time systems

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