New Advances in Mechanisms, Transmissions and Applications

Name: New Advances in Mechanisms, Transmissions and Applications | Proceedings of the Sixth MeTrApp Conference 2023
Brand: Springer
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Proceedings of the Sixth MeTrApp Conference 2023

Med Amine Laribi Carl A. Nelson Marco Ceccarelli Saïd Zeghloul(Editor)

Springer (Publisher)

1st Edition

Published on 15. April 2023

XIII, 414 pages

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978-3-031-29815-8 (ISBN)

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Content

Intro
Preface
Organization
Contents
Keynote
Mechanism Design for Robot in Italy: Historical Backgrounds, Achievements, and Challenges
Summary
References
Mechanism Design for Robot in Italy: Historical Backgrounds, Achievements, and Challenges
1 Summary
References
Computational and Experimental Methods
Design and Performance Characterization of a Gripper End-Effector for a Space Berthing Manipulator
1 Introduction
2 Task and Requirements
3 A Proposed Solution
4 A CAD Design
5 A Dynamic Simulation
6 Conclusions
References
Experimental Validation of a Variable Stiffness Joint with Antagonistic Springs
1 Introduction
2 VSJ Concept and Mathematical Model
2.1 Variable Stiffness Joint Concept
2.2 Mathematical Model of the Variable Stiffness Joint
3 Variable Stiffness Joint Design
3.1 CAD Model
3.2 Prototype of the VSJ
4 Experimental Test
5 Conclusions
References
Analysis of Fractional-Order on the Nonlinear Characteristic of Rotating Module
1 Introduction
2 Dynamics Equation and Solving Method
2.1 Dynamics Equation
2.2 The Numerical Method of Fractional-Order Differential Equation
3 Results of Simulation
4 Conclusions
References
Design of a Compact Motion Tracking Device with a Remote Center of Motion Dedicated to Laparoscopic Surgery
1 Introduction
2 Movement Analysis of Surgical Tasks
3 Evaluation of Surgical Task
3.1 Motion Parameters
3.2 Data Collection and Analysis Approach
4 Prototype of the Proposed Device
5 Conclusion
References
Development of a Virtual Reality Simulator for Robotic Assisted Surgery
1 Introduction
2 Background
3 Creating Virtual Models for Simulator
3.1 Designing the Robotic Structure for Surgery and Creating a Virtual Human Model
4 Virtual Reality Application Development Using the Unity Development Environment
5 Operation of the Robotic System
5.1 Virtual Environment Validation
6 Conclusions
References
Cobots and Human-Robot Interaction
Torso Motion Monitoring with an IMU Set-Up
1 Introduction
2 Torso Anatomy and Monitoring Problem
3 Conceptual Design and Prototype
4 Experimental Setup
5 Test Results
6 Conclusions
References
A Kinematic Analysis of a New LARMbot Torso Design
1 Introduction
2 Human Spine and One Vertebra-Disc Unit Design
3 New LARMbot Torso Design and Working Procedure
4 Kinematic Model and Analysis
5 Conclusion
References
Kinematic Model and Numerical Evaluation of an Origami-Inspired Soft Pneumatic Actuator
1 Introduction
2 Parameters Designing for the Yoshimura Pattern
3 Actuator Design and Kinematic Model
4 Numerical Evaluation of the Kinematic Model
5 Conclusions
References
Throwing Capabilities of Manipulators
1 Introduction
2 Distance Throwing Task
3 Example Manipulators
4 Results (RSOP and KTOP)
5 Kinematic Design with Throwing Capacity
6 Conclusion
References
Increasing the Payload of a 7DOF Cobot
1 Introduction
2 Problem Statement
3 Trajectory Optimization
3.1 Method Overview
3.2 Joint Trajectory Generation
4 Numerical Experiments
4.1 Example Manipulator
4.2 Actuator Limits
4.3 Tasks
4.4 Methodology
4.5 Numerical Results
5 Conclusion
References
Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint
1 Introduction
2 Kinematic Modelling of the 2-RRS-1RRRR Mechanism
2.1 Kinematic Modelling of RRRR and RRS Legs
2.2 Forward Kinematic Modelling of the RRRR Leg
2.3 Forward Kinematic Modelling of the RRS Leg
2.4 Numerical Workspace in Terms of 2 Independent Parameters
3 Static Analysis of the 2-RRS-1-RRRR Mechanism
3.1 Potential Energy Contributed by Gravity
3.2 Potential Energy Contributed by Springs and Cables
3.3 Static Equilibrium Conditions
4 Conclusions
A Constant Parameters Used in This Report
References
Parallel Manipulators
Conceptual Design and Kinematic Analysis of a 1T2R Parallel Manipulator
1 Introduction
2 Description of the Mechanism
2.1 Mobility Analysis
3 Fully Analytical Inverse Kinematics
3.1 Workspace of the Mechanism
4 Kinematic Analysis Based on the Manipulator Jacobian
4.1 Singularity Analysis
4.2 Dexterity Analysis
5 Conclusions and Outlook
References
Simulation-Based Comparative Study and Selection of Real-Time Controller for 3-PRRR Cartesian Parallel Manipulator
1 Introduction
2 Simulation Model of 3-PRRR CPM
3 Control Algorithms
3.1 PID Control Algorithm
3.2 MPC Control Algorithm
3.3 SMC Control Algorithm
4 Results and Discussion
5 Lower Limb Rehabilitation Using 3-PRRR CPM - Simulation Study
6 Conclusion
References
Stiffness Performance Analysis of a Delta Robot with Variable-Stiffness Joints
1 Introduction
2 Methods
3 Results
3.1 Type 1 Objective Function
3.2 Type 2 Objective Function
4 Discussion and Conclusions
References
Velocity Analysis of a 5-DOF Hybrid Manipulator
1 Introduction
2 Manipulator Design
3 Velocity Analysis
4 Case Study
5 Discussion
6 Conclusion
References
Working Mode Study of a New Spherical Parallel Manipulator with an Unlimited Self Rotation Capability
1 Introduction
2 A New Spherical Parallel Manipulator
3 Inverse Kinematic Model
4 Dexterity Study
5 Discussion
6 Conclusion
References
Design and Balancing of a Novel 2R1T Manipulator with Remote Center of Motion
1 Introduction
2 Serial and Hybrid 2R1T Manipulator Structures
2.1 Serial Structures
2.2 Hybrid Structures
2.3 RCM with a Passive Joint
3 The Solid Model of the Selected Manipulator
4 Gravity Balancing of the Manipulator
5 Conclusion
References
Kinematic Analysis of the 3-U(RPRGR)RU Parallel Robot
1 Introduction
2 Description of the 3-U(RPRGR)RU Parallel Robot
3 Kinematic Analysis
4 Results
5 Conclusion
References
Medical Applications of Mechanisms and Robots
Kinematics and Design of a New Leg Exoskeleton for Human Motion Assistance
1 Introduction
2 Human Gait Experimental Study
3 Leg Exoskeleton Mechanism Design
4 The Kinematic Analysis
5 Design of CAD Model and Dynamic Simulation
6 Conclusions
References
Development a Measurement Device for Each Finger Force Based on a Jamar Hand Dynamometer
1 Introduction
2 Grip Dynamometer for Each Finger Force Based on the Smedley Type
3 New Grip Dynamometer for Each Finger Force Based on the Jamar Type
4 Verification of the Measurement
5 Conclusion
References
Development of a Reconfigurable Planar Cable-Driven Parallel Robot Combined with a Visual Servoing Module for Upper Limb Rehabilitation
1 Introduction
2 Materials and Method
2.1 Reconfigurable CDPR Prototype
2.2 Prototype Visual-Based Servoing Control
3 Implementation Results
4 Conclusion
References
Lateral Support Mechanisms for Smart Walkers to Prevent Sideways Rollover
1 Introduction
2 Mechanisms to Prevent Tipping in the Literature
3 Proposed Mechanism in Details
3.1 Kinematic Analysis of Mechanism
3.2 Kinetic Analysis of Mechanism
3.3 Anti-tipping Effectiveness of Mechanism
3.4 Static Structural Analyses of Walker
4 Control Algorithm, Sensors and Strategies Implemented
5 Conclusion
References
Mechanism and Machine Design
Novel Design of an Orthogonal-Axis Type Precession Motion Ball Reducer
1 Introduction
2 Structure of a Newly Designed Precession Motion Ball Reducer
3 Vector Analysis of Precession Motion Generation
4 Vector Analysis of Precession Motion Conversion
5 Motion Analysis of a Reduced Rotation Output
6 Prototype Reducer
7 Conclusions
References
Comparison of Methods of Finite Element Analysis in the Design of Mobile Robot Modules
1 Introduction
2 Designing a Robotic Fruit Harvesting System
2.1 Description of the Robotic System
2.2 Finite Element Analysis
3 Calculation Results
4 Conclusion
References
Modelling of a Tubular Kirigami (RC-kiri) with Outside Lamina Emergent Torsional Joints
1 Introduction
2 Tubular Kirigami
2.1 Yoshimura and Kresling Kirigami
2.2 Radially Closable Kirigami (RC-kiri)
3 Design and Modelling of RC-kiri with Outside LET Joints
4 FEA Results and Verification
5 Conclusion
References
Structural-Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators with Revolute Joints
1 Introduction
2 Structural Synthesis of the Planar Four-Bar and Six-Bar Function Generators with Revolute Joints
3 Parametric Synthesis of a Four-Bar Function Generator
4 Parametric Synthesis of the Six-Bar Function Generators
5 Conclusion
References
Design and Modelisation of a 6 Degree of Freedom Interface with Repositionable Centre of Rotation
1 Introduction
2 Prescribed Workspace Definition
3 Description of the Proposed Hybrid Interface
4 Kinematic Models of the Hybrid Interface
4.1 Direct Kinematic Models (DKM)
4.2 Inverse Kinematic Models (IKM)
4.3 Direct and Inverse Kinematic Models of the Hybrid Interface
5 Results and Discussion
6 Conclusion
References
Use of Serial Planar Linkages for an Augmented R-CUBE Mechanism with Six Degrees of Freedom
1 Introduction
2 Presentation of the Classical R-CUBE Mechanism
2.1 Mechanical Architecture
2.2 Mechanism Kinematics
3 Kinematic Analysis of the AR-CUBE Mechanism
3.1 Integration of Serial Planar Linkages
3.2 Velocity Models of the AR-CUBE
3.3 Completion of the AR-CUBE Models
4 Conclusion
References
Functional Design of an Articulated Reconfigurable Mechanism for Electronic Parking Brake Systems
1 Introduction
2 Design Requirements and Functional Architecture
2.1 Functional Model of the System and Its Kinematic Variables
3 Methods
3.1 Adjustable Stroke During the Rotating Mode
3.2 Drive Force Evaluation
3.3 Additional Components for the Mode Transition
4 Conclusions
References
Dynamics of Mechanisms
A Family of Functions for Dwell-Rise-Dwell Motions
1 Introduction
2 An Infinite Family of NTFs for Dwell-Rise-Dwell Motions
3 Representations of the NTFs fn
4 Properties of the NTFs fn
5 An Application Example
6 Conclusion
References
Resonant Oscillations of a Nonideal Gyroscopic Rotor System with Nonlinear Restoring and Damping Characteristics
1 Introduction
2 Equation of Motion
3 Analytical Basis of the Method
4 Results. Application of the Method
5 Conclusions
References
Dynamic Simulation of Gyroscopic Rigid Rotor with Anisotropy of Elastic Support Restoring and Damping Characteristics
1 Introduction
2 Equations of Motion. Frequency Responses
3 Results. Amplitude-Frequency Dependencies
4 Conclusion
References
Principal Vectors for Spatial Dynamical Analysis by Fischer
1 Introduction
2 The Kinematics
3 The Kinetic Energy
4 Equations of Motion
5 Conclusion
References
Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation
1 Introduction
2 Motivations
2.1 Snake Study to Design Robots
2.2 Snake Robot Skeleton and Locomotion Test Bench
3 Extracting the Target Ripple Cone Shell from Snake Robot
4 Dynamic Modelling of a Flexible Body
4.1 Equivalent Geometrically Non-uniform Elastic Beam
4.2 Finite Elements Modeling
4.3 Optimization Problem Formulation
5 Results on the Snake Robot Skeleton
6 Conclusion
References
Mechanical Transmissions
Helical Gear Contact Simulations and Their Applications in Automotive Transmission Systems
Abstract
1 Introduction
2 Tooth Profile Generation, Micro Geometry Modifications and FEM
2.1 Tooth Profile Generation
2.2 Micro Geometry Modifications
2.3 Finite Element Model for Gear Tooth Surface Contact
3 Gear Transmission Error
4 Conclusions
References
A Novel Adjustable Constant-Force Mechanism Based on Spring and Gear Transmission
1 Introduction
2 Constant-Force Mechanism
2.1 Description
2.2 Geometric Constraints
3 Constant-Force Principle
4 Performance Analysis
5 Experiments
6 Conclusion
References
Design Proposal for Thumb Rehabilitator Using Cams
1 Introduction
2 Methods
2.1 Cams Theory
2.2 Analysis of the Thumb Movements
2.3 Cam's Mechanism Design
3 Cad Design and Results
4 Conclusion
References
Performance Analysis of a Mechanism-Driven Joint
1 Introduction
2 Requirements
3 A Design for Mechanism-Driven Joint
4 CAD Model and Simulation Modes
5 Results
6 Conclusions
References
Correction to: Velocity Analysis of a 5-DOF Hybrid Manipulator
Correction to: Chapter 16 in: M. A. Laribi et al. (Eds.): New Advances in Mechanisms, Transmissions and Applications, MMS 124, https://doi.org/10.1007/978-3-031-29815-8_16
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New Advances in Mechanisms, Transmissions and Applications

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