
New Advances in Mechanisms, Transmissions and Applications
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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
- Author Index
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