Mechanism Design for Robotics

Name: Mechanism Design for Robotics | MEDER 2021
Brand: Springer
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MEDER 2021

Saïd Zeghloul Med Amine Laribi Marc Arsicault(Herausgeber*in)

Springer (Verlag)

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Erschienen am 8. Mai 2021

XIV, 334 Seiten

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Beschreibung

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Inhalt

Intro
Preface
Organization
Program Chair
Program Committee
Introduction to the Special Session in Honour of Prof. Said Zeghloul
Contents
I Linkage and Manipulators
Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform
1 Introduction
2 Analytical Model
3 Simulation Results and Discussion
4 Conclusions
References
Inverse Kinematics and Velocity Analysis of a 6-DOF Hexapod-Type Manipulator with a Circular Guide
Abstract
1 Introduction
2 Manipulator Architecture
3 Kinematic Analysis
3.1 Inverse Kinematics
3.2 Velocity Analysis
3.3 Case Study
4 Conclusions
Acknowledgements
References
Torque Minimization of Dynamically Decoupled R-R Spatial Serial Manipulators via Optimal Motion Control
Abstract
1 Introduction
2 Dynamic Decoupling of the R-R Spatial Serial Manipulator
3 Motion Generation via "Bang-Bang" Profile
4 Illustrative Example and Simulation Results
5 Conclusion
References
Kinematic Analysis of a Coaxial 3-RRR Spherical Parallel Manipulator Based on Screw Theory
1 Introduction
2 Coaxial SPM Description
3 Position Analysis
3.1 Inverse Kinematics
3.2 Forward Kinematics
3.3 Numerical Results
4 Velocity Analysis
4.1 Numerical Results
5 Conclusions
References
A Novel Design for an Autonomous Mobile Agricultural Fruit Harvesting Robot
1 Introduction
2 Motivation
3 Design Considerations
4 Mechanical Design
4.1 Chassis Design
4.2 Manipulator Design
4.3 End-Effector Design
5 Architecture
6 Concluding Remarks
References
II Parallel Manipulators
A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots
Abstract
1 Introduction
2 Workspace Determination
2.1 Workspace Discretization
2.2 Algebraic Geometrical Approach
3 Numerical Examples
3.1 CaPaMan
3.2 3-UPR Mechanism
3.3 Results and Discussion
4 Conclusions
References
Symbolic Kinematics of Special 3-RSR Parallel Mechanism with Zero Coupling Degree
Abstract
1 Introduction
2 The Antenna PM with Zero Coupling Degree
3 Position Analysis
3.1 Descriptions of the Kinematics Modeling
3.2 Analysis of Forward Position Solution
3.3 Analysis of Inverse Position Solution
4 Examples
5 Workspace Analysis of Decoupling Optimized Model
6 Conclusions
Acknowledgments
References
Inverse Kinematics and Workspace of a 3-PRRS Type Parallel Manipulator
Abstract
1 Introduction
2 Workspace Analysis
3 Numerical Results
4 Conclusions
Acknowledgment
References
Investigation of Interference-Free Workspace of a Cartesian (3-PRRR) Parallel Manipulator
1 Introduction
1.1 Description of the Mechanism
2 Link Interference
2.1 Algorithm 1- Interference Free Workspace
2.2 Algorithm 2- Largest Inscribed Cuboid
3 Results and Discussions
4 Conclusions and Further Works
References
Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots
1 Introduction
2 CDPR Modelling
3 Identification Methodology
4 Simulation Results
4.1 Effect of Tuning Parameters
4.2 Effect of Number of Poses
4.3 Results Analysis
5 Conclusions and Future Work
References
Kinematic Simulation of a Geared Planar Parallel Manipulator
Abstract
1 Introduction
2 A 3-R(PRRGR)RR Planar Parallel Manipulator with Geared Linkages
2.1 Inverse Positional Kinematic Approach
3 Numerical Example
4 Conclusions
References
III Mechanics of Robots
Design Criteria Study for Underactuated Symmetric Pinching Mechanism of Pinch Roll Machine in High-Speed Wire Rod Product Line
Abstract
1 Introduction
2 Existing Problems Discussion
3 Underactuated Pinching and Conveying Mechanisms
4 Design Criteria Study Based on Statics and Kinematics
5 Conclusion and Prospection
References
Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons
Abstract
1 Introduction
2 Design Modeling and Stiffness Simulation
2.1 Basic Concept of HLCFM
2.2 Design of a Reconfigurable Constant-Force Mechanism
2.3 Simulations
3 Prototype and Testing
3.1 Prototype Design and Test Rig
3.2 Experiments
4 A Compact Design of a Passive Upper-Body Exoskeleton
5 Conclusion
Acknowledgments
References
Aerodynamic Double Pendulum with Nonlinear Elastic Spring
Abstract
1 Introduction
2 Aerodynamic Double Pendulum
3 Equations of Motion
4 Limit Cycles
5 Conclusions
References
Design of a Flexible Interphalangeal Joint
Abstract
1 Introduction
2 Design Requirements
3 Experimental Test Model
4 Results
5 Conclusion
Acknowledgements
References
IV Mechanism Deign
A Reconfigurable Underactuated Grasper with In-Hand Manipulation
Abstract
1 Introduction
2 Grasper Design
3 Analysis
4 Prototype and Testing
5 Conclusions
Acknowledgments
References
Design of a Robotic Brace with Parallel Structure for Spine Deformities Correction
Abstract
1 Introduction
2 From Medical Specifications to Brace Concept
3 Mechanical Design of Robotic Brace
3.1 The Mechanism Architecture
3.2 Kinematic Constraints
4 Robotic Brace Integration
4.1 Actuator
4.2 Control of the Stewart Platform
4.3 Sensors
5 Simulation and Results
5.1 Evaluation of Position Controller
5.2 Determination of the Range of Motion
5.3 Validation of the Force Control
6 Conclusion and Future Works
Acknowledgements
References
An Adaptive Drive of Spacecraft Docking Mechanism
Abstract
1 Introduction
2 Description of the Docking Mechanism
3 Adaptive Gear Variator Description
4 Description of Adaptive Drive of Docking Mechanism
5 Mathematical Model of Adaptive Drive
6 Analysis of Drive Modes
7 Conclusion
References
Driving Mechanism in Robotized Hospital Bed for Patients with COVID 19
Abstract
1 Introduction
2 Problem and Requirements
3 The Proposed Driving Mechanism
4 Performance Analysis
5 Conclusions
References
Synthesis of a Function Generator Six-Bar Linkage in Two Steps with Genetic Algorithm
Abstract
1 Introduction
2 Methods
3 Results and Discussion
4 Conclusions
References
Design and Analysis of a Device for Enlarging the Allowable Position Error for Screwing Task
Abstract
1 Introduction
2 Design Concepts
3 Motion Analysis
4 Conclusions
References
Dimensional Synthesis of a Four-Bar Linkage Assessing the Path and Reformulating the Error Function
Abstract
1 Introduction
2 Synthesis Equations
3 Path Characterization of the Coupler Point of a Four-Bar
3.1 Analytical Formulation of Branches and Circuits
3.2 Treatment of Synthesis Considering Branches and Circuits
3.3 Avoiding Order Defect
4 Error Function Reformulation by Adding the Slope of the Curve
5 Demonstrative Example
6 Conclusions
Acknowledgments
References
V Actuators and Control
Motion Control of 6-DOF Relative Manipulation Device
Abstract
1 Introduction
2 RS Model Development
3 Development of a RS Model Taking into Account the Geometry of the End Effector and the Relative Position of the Modules
4 Numerical Experiments
5 Conclusions
Acknowledgements
References
Genetic Algorithm with Iterative Learning Control for Estimation of the Parameters of Robot Dynamics
Abstract
1 Introduction
2 Problem Formulation
3 Genetic Algorithm with ILC for Estimation of the Parameters of the Dynamics
3.1 Initialization of the First Generation
3.2 Selection
3.3 Crossover Operation
3.4 Mutation Operation
3.5 Terminal Condition
4 Simulation Results
5 Conclusion
Acknowledgement
References
Control of the Vibrations of a Cartesian Automatic Machine
1 Introduction
2 Experimental Tests on the Cutting Machine
3 Structural Modifications
4 Prediction of the Effect of a TVA by Means of the Sherman-Morrison Formula
5 Effect of Machine Acceleration
6 Conclusion
References
VI Innovative Mechanism/Robot and their Applications
Design of the 2 D.o.F Compliant Positioning Device Based on the Straight-Line Watt's Mechanisms
Abstract
1 Introduction
2 Compliant Straight-Line Mechanisms
3 Design of the 2 D.o.F Positioning Platform
4 Conclusion
Acknowledgment
References
Optimal Design of a Five-Bar Mechanism Dedicated to Assisting in the Fingers Flexion-Extension Movement
Abstract
1 Introduction
2 Fingers Rehabilitation Devices
2.1 Kinematical Analysis for the Five-Bar Mechanism Proposal
3 Synthesis Problem
3.1 Formulation of the Problem
3.2 Gradient Implementation
4 Conclusion
Acknowledgments
References
An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area
Abstract
1 Introduction
2 A Geometric Analysis and Evaluation Indices to Determine a Workspace Capable of Avoiding Insufficient Configurations
3 Experimental Validation Using a Prototype Setup
4 Conclusion
Acknowledgement
References
Mobile Manipulator and EOAT for In-Situ Infected Plant Removal
Abstract
1 Introduction
2 Project Overview and Simulated Model of Potato Field in the Lab
3 Analysis the Possible Options for Roguing Mechanism
3.1 Grasping Mechanism Design Methodology
3.2 The Best Options
4 Final Design
4.1 Parts of the Mechanism
4.2 Motion Study
5 Prototype Model
6 Conclusion
References
New Variable Stiffness Joint (VSJ): Study and Simulation
Abstract
1 Introduction
2 Variable Stiffness Joint Proposal
3 VSJ Mathematical Model
4 Simulation
5 Conclusions
References
VII Special Session in Honor of Prof. Said Zeghloul
Design of an 8-DoF Redundant Robotic Platform for Medical Applications
Abstract
1 Introduction
2 Robot Modelling
2.1 Denavit-Hartenberg Parameters
2.2 Kinematic and Dynamic Modeling
2.3 Control Law
3 Preliminary Results
4 Prototype
5 Conclusion
Acknowledgements
References
Serial Approach for Solving the Forward Kinematic Model of the DELTA Robot
1 Introduction
2 DELTA Robot
2.1 Forward Kinematic Model
2.2 Inverse Kinematic Model
3 Serial Approach Numerical Validation
4 Conclusion
References
On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising
Abstract
1 Introduction
2 The LAWEX Rehabilitation Device
2.1 The LAWEX Robot
3 Multi-objective Synthesis of LAWEX Robot
3.1 Compactness Objective Function
3.2 Patient Safety Characterization
3.3 Cables Tensions Minimization
3.4 Problems Constraints
3.5 Problem Formulation
3.6 Implementation and Results
4 Conclusion
References
A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace
Abstract
1 Introduction
2 Prescribed Workspace Analysis
3 Formulation of the Optimization Problem
4 Optimization Results and Reconfigurable CDPR
5 Conclusion
Acknowledgments
References
Author Index

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