Robotics and Mechatronics

Name: Robotics and Mechatronics | Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM 2019)
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Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM 2019)

Chin-Hsing Kuo Pei-Chun Lin Terence Essomba Guan-Chen Chen(Editor)

Springer (Publisher)

1st Edition

Published on 26. September 2019

XV, 521 pages

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978-3-030-30036-4 (ISBN)

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Content

Intro
Preface
Organization
Honorary Chair
General Chair
General Co-chair
Program Chair
Program Co-chairs
Special Session Co-chairs
Publication Chair
Organized Sessions Chair
Publicity Chairs
Local Arrangement Chairs
Best Paper Awards Chair
International Scientific Committee
Program Committee
Best Paper Awards Committee
Webmaster
Contents
Mechanism Synthesis, Analysis, and Design
Stiffness Analysis of a Semi-symmetrical Three-Translation Delta-CU Parallel Robot
Abstract
1 Introduction
2 Delta-CU Structure
3 Stiffness Modeling
3.1 Motion Equation of the Limb
3.2 Equilibrium Equation
3.3 Cartesian Stiffness Matrix
4 Numerical Analysis
4.1 Structural Parameters
4.2 Delta-CU Mechanism Stiffness Analysis
4.3 Stiffness Comparison of Delta-CU and Delta
5 Conclusion
Acknowledgments
References
Review on Powered Mobility and Meal Preparing Assistive Devices for Physically Disabled Persons
Abstract
1 Introduction
2 Challenges and Issues Faced by Disabled in Daily Living
3 Powered Mobility Device
4 Transfer Aides for Bathroom and Toilet
4.1 Transfer Aides for Bathroom
4.2 Transfer Aides for Toilet
5 Meal Preparing Assistive Devices
6 Discussion
7 Conclusion
References
Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators
Abstract
1 Introduction
2 The Studied Manipulators
3 Performance Evaluation
3.1 The 1-DOF Articulated Manipulator
3.2 The 2-DOF Articulated Manipulator
3.3 The 3-DOF Articulated Manipulator
4 Discussion and Conclusions
References
Design and Analysis of a Mechanism for Spherical Surface Processing
Abstract
1 Introduction
2 Mechanism Design
3 Structural Analysis
4 Kinematic Analysis
5 Conclusions
Acknowledgments
References
A Short Note on Equivalent Four-Bar Linkages of Direct-Contact Mechanisms
Abstract
1 Introduction
2 Equivalent Four-Bar Linkage of a Three-Link Direct-Contact Mechanism
3 Kinematic Analysis for Planar Gear Mechanisms with Involute Spur Gears
4 Kinematic Analysis for Disk Cam Mechanisms with a Circular-Arc Cam and an Oscillating Roller Follower
5 Conclusions
Acknowledgement
References
Dynamic Analysis and Motion Simulation of the 3 DOFs Waist Mechanism for Humanoid Robots
Abstract
1 Introduction
1.1 The Human Trunk
2 State of the Art
3 Dynamic Analysis
4 Motion Simulation and Results
5 Conclusion
References
Kinematics and Dynamics of Multibody Systems
On Kinetostatics and Workspace Analysis of Multi-platform Cable-Driven Parallel Robots with Unlimited Rotation
Abstract
1 Introduction
2 Kinetostatics of Single-Platform Cable Robots
3 Multi-body Modeling of Cable Robots with Multiple Platforms
3.1 Position Constraints of Platform and Linkage
3.2 Kinetostatics of Multi-platform Cable Robots
4 A Planar Case Study with Unlimited Rotation
4.1 Force Distribution
4.2 Workspace Analysis
5 Outlook and Conclusion
Acknowledgments
References
Kinematics of a Planar Parallel Robot via Screw Theory: Details not Mentioned
Abstract
1 Introduction
2 Kinematics
2.1 Brief Mathematical Background
2.2 Direct Position Analysis
2.3 Velocity Analysis
2.4 Acceleration Analysis
3 Numerical Example
4 Conclusions
References
Dynamic Modeling for Spatial Revolute Joint with Clearances in Multibody Systems Based on HLCP
Abstract
1 Introduction
2 Mathematical Model of SRJC
2.1 Contact State Description
2.2 Kinematic Description of SRJC
3 LCP Formulation
4 Dynamic Equations of MBS on Lie Group
5 Numerical Example
6 Conclusions
Acknowledgments
References
Kinematic Analysis of (2-RRU)-URR Parallel Mechanism Performing 2R1T Output Motion
Abstract
1 Introduction
2 (2-RRU)-URR Mechanism and Its Mobility
3 Kinematic Analysis of the Proposed Mechanism
3.1 Forward Kinematics of Planar Motion Generator
3.2 Inverse Kinematics of Planar Motion Generator
3.3 Forward and Inverse Kinematics of Orientation Generator
4 Kinematic Performance Analysis
4.1 Workspace of Planar Motion Generator
4.2 Rotational Capability and Sensitivity of Orientation Generator
5 Discussion and Conclusion
References
Development of an Innovative 2-DOF Continuous-Rotatable Mechanism
Abstract
1 Introduction
2 Rotation Behavior of Existing 2 DOF Structure
3 Design and Implementation of the 2-DOF Mechanism
4 Dynamic Simulation
5 Experimental Validation of the 2-DOF Mechanism
6 Conclusion and Future Works
Acknowledgment
References
Modelling and Simulation
Dynamic Model of a Crank Press in the Process of Braking
Abstract
1 Introduction
2 Brake of Crank Press
3 Dynamic Model of Crank Press with Brake
4 Conclusion
Acknowledgments
References
Workspace Modelling of a Parallel Robot with Relative Manipulation Mechanisms Based on Optimization Methods
Abstract
1 Introduction
2 Formulation of the Problem
3 Determination the Workspace of the Tripod Mechanism
4 Algorithm for Determining the RMD Workspace
5 Conclusion
Acknowledgements
References
Disk Cam Mechanisms with a Translating Follower Having Double Oblique Flat Faces
Abstract
1 Introduction
2 Disk Cam Mechanisms with a Translating Follower Having Double Oblique Flat Faces
3 The Cam Profile
3.1 The Cam Profile for the Circular Arc Contact
3.2 The Cam Profile for the Oblique Flat-Faced Contact with an Oblique Angles ?r
3.3 The Cam Profile for the Oblique Flat-Faced Contact with an Oblique Angles ?f
4 Examples
5 Force Analysis
6 Overturning Moment Analysis
7 The Reduction on the Overturning Moment
8 Discussion
9 Conclusions
Acknowledgments
References
Computationally Efficient Cable Force Calculation Outside the Wrench-Feasible Workspace
1 Introduction
2 Modeling and Cable-Robot Basics
2.1 Wire Force Distribution
3 Calculation Algorithm
3.1 Optimizing
3.2 Nearest-Corner-Method
4 Simulation and Results
5 Conclusion and Outlook
References
A 3-Dimensional Dynamic Model of the Aerotrain and the Horizontal Tail Effect on the Longitudinal Stability
Abstract
1 Introduction
2 Dynamic Model of the Aerotrain
2.1 Wing-In-Ground Effect Model
2.2 Aerodynamic Force Along the Z-Axis
2.3 Aerodynamic Force Along the Y-Axis
2.4 Aerodynamic Moment About the X, Y, Z Axes
2.5 Horizontal Tail Model
3 Simulations
4 Conclusions and Future Work
References
Towards Grey Box Modeling in Modelica
1 Introduction
1.1 Motivation
1.2 State of the Art
1.3 Goals
2 Main Part
2.1 Reference System
2.2 Models with ANN
2.3 ANN Structure
2.4 Application
3 Results
3.1 Training Process
3.2 Simulation of a Different Maneuver
3.3 Requested Points in Feature Space
3.4 An Approach to Detect Unreliable Extrapolation
4 Conclusion
References
Sensors and Actuators
Development of an Interactive System for a Companion Robot Based on Telepresence Technology
Abstract
1 Introduction
2 Presentation of Wobot
3 Interactive System
3.1 Wobot and Wobot Care App Design and Development
3.2 Action Control Program for Servo Motors
4 Preliminary Experiments
5 Conclusions
References
Motion Experiment of Reducer-Integrated Motor Using Inscribed Planetary Gear Mechanism
Abstract
1 Introduction
2 Proposed Reducer-Integrated Motor
3 Motion Experiment
4 Conclusions
Acknowledgment
References
Conductive Fabric Strain Sensor Design and Electromechanical Characterization
Abstract
1 Introduction
2 Sensor Architecture and Design
2.1 Sensor Design
2.2 Material Selection
3 Sensor Characterization
3.1 Strain Axis Electromechanical Property
3.2 Geometric Parameters Affecting Electromechanical Property
3.3 Sensor Electrical Hysteresis
4 Discussion
5 Conclusion
References
Based on a Calibration Machine and Process to Develop a Six-Axis Force/Torque Sensor
Abstract
1 Introduction
2 Geometric Structure of the Six-Axis Force/Torque Sensor
2.1 Locations of Strain Gauges
2.2 Wheatstone Bridge Connection Methods
2.3 Strain Analysis on the Z-Axis Force
2.4 Six-Axis Force/Torque Sensor Prototype
2.5 Signal Processing
3 Design of the Calibration Platform
4 Calibration System and Transformation Matrix
5 Using the Nonlinear Least Squares Method to Establish a Transformation Matrix
6 Conclusion
Acknowledgements
References
Novel Robotic Systems
Parallel Mechanism Designs for Humanoid Robots
Abstract
1 Introduction
2 Parallel Mechanisms in Human Anatomy
3 Requirements and Design Performance for Humanoid Robots
4 An Example: LARMbot
5 Conclusions
References
Development and Optimization of an Intelligent Parking Slot Allotter and Billing System Based on Machine Learning and OCR
Abstract
1 Introduction
2 Car's License Number Plate Detection and Text Identification
2.1 Image Acquisition
2.2 Number Plate Extraction
2.3 Number Plate Character Segmentation
2.4 Optical Character Recognition
3 Vehicle Type Detection
4 Allot Best Fit Parking Area
5 Experimental Results
6 Conclusion
Acknowledgement
References
Design and Requirements for a Mobile Robot for Team Cooperation
Abstract
1 Introduction
2 Design Problems and Targets
3 Design Solution
4 Sensing Design and Software
5 Conclusions
Acknowledgements
References
Learning Emotion Recognition and Response Generation for a Service Robot
Abstract
1 Introduction
2 Learning Emotion-Aware Human-Robot Dialogues
2.1 The Service Robot Framework
2.2 Emotion Recognition
2.3 Learning Emotion-Aware Dialogues
2.4 Knowledge Expansion
3 Experiments and Results
3.1 User Identification
3.2 Training Classifiers for Emotion Recognition
3.3 Evaluation of Training a Dialogue Model
4 Conclusion
References
Design and Testing of 2-Degree-of-Freedom (DOF) Printable Pneumatic Soft Finger
Abstract
1 Introduction
2 Design and Testing of the Printable Pneumatic Soft Fingers
3 Vision-Based Measurements of Soft Finger Deformations
4 Study of Soft Finger Actuation Using Kriging Response Surface
5 Conclusions
Acknowledgement
References
Industrial and Service Related Robotics and Mechatronics
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Intelligent Automation Module-Based Gear Edge Grinding System
Abstract
1 Introduction
2 Intelligent Application Modules
2.1 Optimal Paths Are Generated Using Processing Quality Predictions
2.2 Automatic Calibration Technology
3 Gear Edge Grinding Application System
4 Conclusion
Acknowledgement
References
465912_1_En_29_Chapter_OnlinePDF
Development of an Automated and Adaptive System for Robotic Hybrid-Wire Arc Additive Manufacturing (H-WAAM)
1 Introduction
2 System Overview and Workflow
3 Automation and Generalization Strategies
3.1 Unified Path Generation
3.2 Coordinate Systems
3.3 Sensing and Adaptive Function
4 Results and Discussion
5 Conclusions
References
A Motion Control System to Use Robots at up to 100 Times the Earth's Gravity
Abstract
1 Introduction
2 Centrifuge Modelling Background
3 Motion Control System Design and Development
3.1 FACS Architecture and Electronics
3.2 FACS Software
4 Validation Case Study: Cone Penetration Test
5 Results and Discussion
6 Summary and Future Work
Acknowledgments
References
Fault Signature Analysis of Industrial Machines
Abstract
1 Introduction
2 Analysis Method
2.1 Fast Fourier Transform Analysis (FFT)
2.2 Current Divided by Voltage Analysis
2.3 Fault Feature
3 Data Analysis
3.1 Equipment Specification
3.2 Healthy Motor
3.3 Misalignment Failure
3.4 Transmission Fault
3.5 Bearing Fault
3.6 Broken Rotor Fault
3.7 Stator Short Turns Failure
4 Conclusion
References
Robot-Assisted Double-Pulse Gas Metal Arc Welding for Wire and Arc Additive Manufacturing
Abstract
1 Introduction
2 Experimental Setup and Parameter
2.1 Experiment Material and Equipment
2.2 Double-Pulse Parameters
2.3 Experiment Parameters Study
2.4 Build-Up Dimension
3 Experimented Results and Discussion
3.1 Single-Pass
3.2 Multi-layer Build-Up
4 Conclusion
References
Development of a Close-Fitting Assistive Suit with Adjustable Structure for Arm and Back as Needed - e.z.UP®
Abstract
1 Introduction
2 Close-Fitting Assistive Suit
2.1 Arm and Lower Limb Assistance
2.2 Back Assistance
3 Simulation Evaluation
4 Experimental Evaluation
5 Conclusions
References
An Experimental Characterization of the BIT Astronaut Robot
Abstract
1 Introduction
2 The BIT Astronaut Robot
3 An Experimental Characterization with a Demo Test
4 Test Results
5 Conclusions
References
Advances in Medical Robotics
An Experimental Test Procedure for Validation of Stiffness Model: A Case Study for R-CUBE Parallel Mechanism
1 Introduction
2 R-CUBE Mechanism
3 Stiffness Model
4 Experimental Setup
5 Experimental Procedure
6 Test Results and Comparison with the VJM Model
7 Conclusion
References
Multi-camera Vision-Guided Manipulation: Application to Acne and Wrinkles Treatment
Abstract
1 Introduction
2 Vision-Guided Manipulator
2.1 Acne and Wrinkles Identification
2.2 Obstacles Detection and Identification
2.3 Manipulator Trajectory Planning and Control
2.4 Manipulator Pose Optimization
3 Result and Discussion
4 Conclusion
Acknowledgements
References
A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear
Abstract
1 Introduction
2 Background and Related Work
3 Design and Implementation of the Haptic Device
3.1 Kinematic Model of the Haptic Device
3.2 System Design
3.3 Semi-compliant Four-Link Mechanism
3.4 Working of the Prototype
4 Performance Analysis
4.1 Force Analysis
5 Results and Discussions
6 Conclusions and Future Work
References
Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator
Abstract
1 Introduction
2 Kinematic of the New Spherical Parallel Manipulator
3 Forward Kinematic Model Resolution
3.1 Classical Method to Solve the Forward Kinematic Model
3.2 Improved Method to Solve the Forward Kinematic Model
3.3 Serial Method to Solve the Forward Kinematic Model
4 Experimental Comparison Between the Three Techniques of Solving the FKM
5 Conclusion
References
Kinematic Design of a Double Pantographic Mechanism for the Intracranial Echography on Incubated Newborns
Abstract
1 Introduction
2 Specification Analysis
2.1 Motion Capture Experiments
2.2 Kinematic Requirements of Intra-incubated Echography
3 Kinematic Analysis of the Double Pantographic Mechanism
3.1 Definition of the Mechanical Architecture
3.2 Kinematic Model of the Mechanism
4 Simulations
5 Conclusion
References
Kinematic Design of a Six-Degrees of Freedom 3-RRPS Parallel Mechanism for Bone Reduction Surgery
Abstract
1 Introduction
2 Mechanical Architecture and Kinematic Analysis
3 Mechanism Velocity Model
4 Simulation on the Mechanism and Bone Reduction
5 Conclusion
References
Multi-objective Optimization of a Reconfigurable Spherical Parallel Mechanism for Tele-Operated Craniotomy
Abstract
1 Introduction
2 Specification Analysis
2.1 Experimental Protocol
2.2 Motion and Force Data Analysis
3 Reconfigurable Spherical Parallel Mechanism
3.1 Mechanical Architecture
3.2 Inverse Kinematic Model
4 Effort Model of the Mechanism
5 Multi-objective Optimization
5.1 Optimization Criteria and Formulation
5.2 Results and Simulations
6 Conclusion
References
Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery
Abstract
1 Introduction
2 Robot-Assistant Platform
3 Control Approach
3.1 Coordinates Transformation
3.2 Robot Control
4 Conclusion
Acknowledgements
References
A Low-Cost 6-DoF Master Device for Robotic Teleoperation
Abstract
1 Introduction
2 The 6-DoF Master Device
3 Control Architecture for Robotic Teleoperation
3.1 Teleoperation Platform
3.2 Kinematics and Translation/Orientation Relationships
4 Teleoperation Task and Experiments
5 Conclusion
Acknowledgements
References
Historical Development in Robotics and Mechatronics
The Exhibit of Industrial Robots Based on Concepts of Technology Education: Take "Smart Manufacturing Experience Zone" at National Science and Technology Museum as an Example
Abstract
1 Introduction
2 Design Concepts of Exhibit
3 Industrial Robots of Smart Manufacturing Exhibit
3.1 Definition of Robot
3.2 Historical Development of Industrial Robots
3.3 Mechanical Structure
3.4 Applications of Industrial Robots
3.5 Robots in Industry 4.0
4 Statistical Analysis of Learning Records
5 Conclusions
Acknowledgement
References
Ancient Chinese Puzzle Locks
Abstract
1 Introduction
2 History of Locks' Development
3 Mechanical Structure
3.1 Open-Keyhole Puzzle Lock
3.2 Hidden-Keyhole Puzzle Lock
4 Conclusions
Acknowledgements
References
A Historical Study of Rope Applications in Mechanical Devices in Three Eastern Countries
Abstract
1 Introduction
2 Classification
3 Application Examples
3.1 Ancient China
3.2 Ancient Arab
3.3 Ancient Japan
4 Conclusions
References
Current Research Topics in Robotics at IGMR
Abstract
1 Introduction
2 Multidirectional Additive Manufacturing
3 Human-Robot Collaboration
4 Agile Assembly Systems via Consensus of Robotic and Sensoric Networks
5 Cognition in Low Visibility Environments
5.1 Radar Technology: Benefits and Challenges
5.2 Radar-SLAM for Low Visibility Environments
6 Summary
Acknowledgement
References

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Robotics and Mechatronics

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