New Trends in Mechanism and Machine Science

Name: New Trends in Mechanism and Machine Science | EuCoMeS
Brand: Springer
Price: 213.99 EUR
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EuCoMeS

Doina Pisla Burkhard Corves Calin Vaida(Editor)

Springer (Publisher)

1st Edition

Published on 20. August 2020

XIV, 539 pages

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978-3-030-55061-5 (ISBN)

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Content

Intro
Preface
Organization
Conference Chair
Conference Co-chair
EuCoMeS Organising Committee
International Scientific Committee
Contents
I Computational Kinematics
A New 3T Parallel Mechanism: Topological Design, Analysis and Symbolic Position Solutions
1 Introduction
2 Topological Design and Analysis
2.1 Topology Analysis of the PM
3 Forward and Inverse Position Solutions
3.1 Solving Symbolic Forward Position
3.2 Solving Inverse Positions
3.3 Numerical Validation
4 Conclusions
References
Damping Mechanisms of a Vibration-Reduction System Using Granules
1 Introduction
2 Experimental Apparatus and Methods
3 Calculation Model of Granular-Material Damper
3.1 Calculation Model
3.2 Equations of Motion for Main System
4 Results of Experiment and Calculation
4.1 Damping Ratio and Relative-Motion Mass
4.2 Consideration of Rotational Motion and Damping Mechanism of Granular Material
5 Conclusions
References
Design Parameter Space of Spherical Four-Bar Linkages
1 Introduction
2 The Spherical 4R Algebraic IO Equation
2.1 Interpreting the Spherical 4R Algebraic IO Equation
3 Spherical 4R Design Parameter Space
4 Conclusions
References
Ball's Point Construction Revisited
1 Introduction
2 Bobillier's Construction of the Inflection Pole
3 Vectorization of Bobillier's Construction
4 Ball's Point Construction
5 Vectorization of Ball's Point Construction
6 Example
7 Conclusions
References
The Effect of Selection of Virtual Variable on the Direct Kinematics of Parallel Mechanisms
1 Introduction
2 Two Selection Methods for Virtual Variable
3 An Example-Position Analysis of 1T1R PM
3.1 Mechanism Design
3.2 Analysis of Topological Characteristics
3.3 Direct Kinematics
4 Conclusions
References
Function Generation Synthesis of Planar Slider-Crank Linkages for Given 3 Positions and a Dead-Center Position
1 Introduction
2 Design Equations
3 Computer Implementation
4 Conclusions and Discussions
References
Multidual Algebra and Higher-Order Kinematics
1 Introduction
1.1 Multidual Vectors
1.2 Multidual Tensors
1.3 Multidual Differential Transform
2 Higher-Order Kinematics with Multidual Transform
3 Higher-Order Kinematics of Lower-Pair Chains with Multidual Algebra
4 Conclusions
References
On Homotopy Continuation Based Singularity Distance Computations for 3-RPR Manipulators
1 Introduction
2 Non-homogeneous Representations
2.1 Results
3 Homogeneous Representations
3.1 Results
4 Conclusions
References
I Control Issues in Mechanical Systems
Assistive Handwriting Haptic Mechanism Using Deep Learning Speech Recognition
1 Introduction
2 Kinematic Analysis
2.1 Position Analysis
2.2 Velocity Analysis
2.3 Acceleration Analysis
3 Dynamic Analysis
4 Dynamic Control
4.1 Speech Command Recognition Using Deep Learning
5 Simulation
5.1 Results
6 Conclusions
References
Design and Development of a Mobile Robot Equipped with Perception Systems for Autonomous Navigation
1 Introduction
2 Overall Design
2.1 Mechanical Design of the Main Parts of the Robot
2.2 Locomotive Mechanism
2.3 Sensors, Interfaces and Micro-controllers Used for Control and Navigation
3 Experimental Results
3.1 Prototype and Functional Simulation
3.2 Tests and Results
3.3 Discussion and Limitations
4 Conclusions
References
Validation of Flatness-Based Feedforward Control for a Four-Chain Crane Manipulator
1 Introduction
2 Nonlinear Dynamics of the Crane Manipulator
3 Flatness-Based Feedforward Control
4 Kinematic Measurement Model
5 Simulation and Experimental Results
6 Conclusions
References
The Model of a Controlled Mechanical System of an Air-Jet Loom Shedding Mechanism
1 Introduction
2 Controlled Mechanical System
3 Shedding Mechanism Model
4 Conclusions
References
Dynamics and Motion Control of a Three Degree of Freedom 3-PRRR Parallel Manipulator
1 Introduction
2 Conceptual Design
3 Kinematic Model
4 Dynamic Formulation
5 Motion Control Scheme
6 Results and Discussion
7 Conclusions
References
I Mechanisms for Medical Rehabiliation
Numerical and Experimental Validation of ExoFing, a Finger Exoskeleton
1 Introduction
2 The ExoFing Finger Exoskeleton
3 Numerical Evaluation of Operation Performance
4 Experimental Setup and Tests
5 Experimental Results
6 Conclusions
References
Serious Gaming Approach to Rehabilitation Using a 1 DOF Upper Limb Exerciser
1 Introduction
2 State of the Art
3 Design and Testing of the System
4 Conclusions
References
Rehabilitation System with Integrated Visual Stimulation
1 Introduction
2 Kinematics of the Robotic Structure
3 The Control System and User Interface
4 Development of the Virtual Reality Application
5 Conclusions
References
A Numerical Method for Determining the Workspace of a Passive Orthosis Based on the RRRR Mechanism in the Lower Limb Rehabilitation System
1 Introduction
2 Formulation of the Problem
3 A Mathematical Model of a Passive RRRR Mechanism
4 Method for Determining the Workspace of the RRRR Mechanism
5 Algorithm Synthesis
6 Simulation Results
7 Conclusions
References
Static and Dynamic Analysis of a Prosthetic Human Knee
1 Introduction
2 Virtual Modeling of the Prosthetic Knee Joint
3 Results
4 Experimental Measurements
5 Dynamic Analysis
6 Conclusions
References
Dimensional and Workspace Analysis of RAISE Rehabilitation Robot
1 Introduction
2 RAISE Robotic Model for Lower Limb Rehabilitation
3 Anthropometric Data for the Lower Limb and Motion Amplitudes
4 Dimensioning of the Key Components of the RAISE System Using the Anthropomorphic Data
5 Workspace Modeling of RAISE Robot
6 Validation of the RAISE Structure
7 Conclusions
References
I Mechanisms for Minimally Invasive Techniques
On the Collision Free-Trajectories of a Multiple-needle Robot Based on the Fibonacci Sequence
1 Introduction
2 Model
3 Results
4 Conclusions
References
Joint Space and Workspace Analysis of a 2-DOF Spherical Parallel Mechanism
1 Introduction
2 Mechanism Under Study
3 Singularity and Workspace Analysis
4 Conclusions
References
Kinematic Analysis of Two Innovative Medical Instruments for the Robotic Assisted Treatment of Non-resectable Liver Tumors
1 Introduction
2 The Multiple Needles Insertion Brachytherapy Robotic Instrument
3 The Ultrasound Probe Manipulation Robotic Instrument (USP)
4 Numerical Examples
5 Conclusions
References
Modeling a Cannula Insertion into a Phantom of Biological Tissue Using a Piezoelectric Actuator
1 Introduction
2 Description of the Model
3 Verification of Contact Model
4 Numerical Simulation
5 Conclusions
References
Robot-Assisted Ablation of Liver Hepatocellular Carcinoma and Colorectal Metastases: A Systematic Review
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusions
References
Towards Building a Computerized System for Modelling Advanced HCC Tumors, in Order to Assist Their Minimum Invasive Surgical Treatment
1 Introduction
2 State of the Art
2.1 Computerized Systems for Surgical Treatment Assistance
2.2 Tumor Segmentation and 3D Reconstruction
3 Description of the Computerized System
3.1 Methods
4 Experimental Results
4.1 HCC Segmentation
4.2 3D Reconstruction of the Anatomical Context
5 Conclusions
References
I Gears
Load Sharing and Quasi-Static Transmission Error of Non-Standard Tooth Height Spur Gears
1 Introduction
2 Meshing Stiffness and Load Sharing Ratio
3 Profile Modification
4 High Contact Ratio Spur Gears
5 Conclusions
References
A Transmission Error Analysis of a Herringbone Gear Set Considering Manufacturing Error
1 Introduction
2 Manufacturing Error Description
3 Transmission Error Analysis Model
3.1 Discrete Model of a Herringbone Gear Set
3.2 Equilibrium and Compatibility Equations
4 Case Study
5 Conclusions
References
Meshing Limit Line of Conical Worm Pair
1 Introduction
2 Theoretical Foundation for Determining Meshing Limit Line
3 Solving Control Equation and Analyzing Existence of Its Real Root
4 Numerical Investigations
5 Conclusions
References
Acoustic Emission Monitoring of Teeth Surface Damage Process in a Planetary Gearbox
1 Introduction
2 Experimental Procedure
3 Results and Discussion
3.1 Gear Damage and AE Signals Description
3.2 Burst Width as Condition Indicator
4 Conclusions
References
Impact of Position and Tooth Thickness Errors on Planetary Transmission Under Different Meshing Phase
1 Introduction
2 Method
2.1 Transmissions Considered
3 Results
3.1 Negative Torque
3.2 Positive Torque
4 Conclusions
References
Profile Shifting Coefficients of Spur Gears with Balanced Specific Sliding Coefficients at the Points Where the Meshing Stars and Ends
1 Introduction
2 Sliding Between Two Surfaces in the General Case
3 Sliding Between the Flanks in the Case of the Cylindrical Spur Gears
4 Specific Sliding Coefficients at the Points Where the Meshing Starts (a) and Ends (E)
5 Conclusions
References
I Dynamics of Multi-body Systems
Simplified Method to Predict Clearance Evolution Effects Due to Wear Through MBD Simulation
1 Introduction
2 Wear Approximation
3 Implementation
4 Results and Comparison
5 Conclusions
References
A Modular Geometric Approach to Dynamics Modeling of Fully-Parallel PKM by Example of a Planar 3RPR Mechanism
1 Introduction
2 Kinematics of the Limb Prototype
2.1 Configurations of the Bodies in the Limb Prototype
2.2 Twists of the Bodies in the Limb Prototype
3 Kinematics of a General Limb
4 Inverse Kinematics of the Mechanism
5 Motion Equations
6 Conclusion and Further Aspects
References
Chaos Illustrations in Dynamics of Mechanisms
1 Introduction
2 The Equations of Motion
3 The Comparison Between the Software Simulation and Numerical Solutions
4 The Chaos Effect in Software Dynamical Modelling
5 The Estimation of the Effects of Inaccuracy of Initial Conditions in Numerical Integrating Modelling
6 Conclusions
References
Cartesian Elastodynamics Model of a Full-Mobility PKM with Flexible Links
1 Introduction
2 Virtual-Joint Model of the PKM
3 Elastostatics
3.1 Cartesian Stiffness Matrix
3.2 Cartesian Mass Matrix
3.3 Natural Frequencies and Natural Modes
4 Numerical Results
5 Conclusions
References
Synthesis of Function Generator Four-Bar Linkages: Minimization of the Joint-Forces Constraining Structural-Related Quantities
1 Introduction
2 Methods
3 Results and Discussion
3.1 Calibration
3.2 Results of the Method
4 Conclusions
References
Parametrization of a Real-Time Vehicle Model from Driving Tests for HiL Testing of Hydraulic Steering Systems
1 Introduction
2 Vehicle Model
3 Driving Tests
4 Parameter Identification
5 HiL Test Bench
6 Conclusion
References
Graphic Analysis of the Linear and Angular Momentum of a Dynamically Balanced 1-DoF Pantographic Linkage
1 Introduction
2 Graphic Analysis of the Linear and Angular Momentum
3 Conclusions
References
Inverse Dynamics and Simulation of a Parallel Robot Used in Shoulder Rehabilitation
1 Introduction
2 Innovative Parallel Robot for Shoulder Rehabilitation
3 The Inverse Dynamic Model of ASPIRE
4 Simulation Results and the Inverse Dynamic Model Validation Using Siemens NX
5 Conclusions
References
Periodic Walking Motion of a Humanoid Robot Based on Human Data
1 Introduction
2 Study of Human Walking
3 Human Trajectory and Humanoid Robot
4 Essential Model
5 Periodic Walking
6 Numerical Results
7 Effect of ZMP Evolution on Torques
8 Conclusions
References
I Industrial Applications
Sailing/Coasting Enabled by Mechatronic Starting Devices
1 Introduction
2 Mechatronic Starters for Fast, Smooth Engine Starts
3 Application to Sailing/Coasting and Mild Hybridization
4 Conclusion and Future Work
References
Embedded Installation of Robot Operating System on Elbrus-Based Control Platform-High-Reliable Industrial Application
1 Introduction
2 Background and Related Work
2.1 Elbrus Embedded Platform
3 Embedding ROS into Elbrus Operating Environment
3.1 Target Setting
4 Testing
5 Performance Comparison
6 Conclusions
References
Calibration Study of a Continuously Variable Transmission System Designed for pHRI
1 Introduction
2 The Test Setup of the New CVT System
3 The Output Force Calibration of the CVT
4 Discussions and Conclusions
References
Maneuvers Possibility for the Spacecraft Equipped with Liquid-Fuelled Engines Operating with Different Kinds of Fuel
1 Introduction
2 Target Setting
3 Methodology
3.1 Velocity
3.2 Spatial Trajectory
4 Fuel Component Pairs: Brief Description
4.1 Ethanol-Liquid Oxygen
4.2 Kerosene-Liquid Oxygen
4.3 Asymmetric Dimethylhydrazine-Nitrogen Tetra-Oxide
4.4 Liquid Hydrogen-liquid Oxygen
4.5 Specific Thrust Comparison
5 Orbital Plane Movement Estimation
6 Conclusions
References
HiL Test Bench as a Development Environment for Hydraulic Steering Systems
1 Introduction
1.1 Innovative Steering Systems
1.2 HiL Development Environment
2 HiL Test Bench Concept
2.1 System Comparison
2.2 HiL Actuator
2.3 HiL Structure
3 Hydraulic Actuator Control
4 Experimental Results
4.1 Cylinder End Stop HiL Model
4.2 Compared Cylinder End Stop Results
5 Conclusion
References
Contact Detection Approach Between Wheel and Rail Surfaces
1 Introduction
2 Wheel and Rail Parametrization
3 Contact Forces Models
4 Example of Application
5 Conclusions
References
Counter-Rotating Savonius Wind Turbine
1 Introduction
2 Description of the Model
3 Equations of Motion and Averaging Method
4 Steady Operation Modes
5 Discussion
6 Conclusions
References
I Cable Robots
An Inverse Kinematic Code for Cable-Driven Parallel Robots Considering Cable Sagging and Pulleys
1 Introduction
2 Definitions and Assumptions
3 The Catenary-Pulley Model
4 An Inverse Kinematic Code for the Catenary-Pulley Model
5 Comparison to a State-of-the-Art Inverse Kinematic Code
6 Conclusion and Outlook
References
Motion Generation for a Cable Based Rehabilitation Robot
1 Introduction
2 Requirements for Upper Limb Exercising
3 The LAWEX Cable Driven Robot
3.1 Mechanical Architecture
3.2 Control Hardware
4 Experimental Tests
5 Conclusions
References
Failure Analysis of a Collaborative 4-1 Cable-Driven Parallel Robot
1 Introduction
2 Kineto-Static Analysis of a 4-1 CDPR
3 Possible Failures
3.1 Cable Breaking
3.2 Adding Measurements
3.3 Zones Covered by the Cables
4 Ensuring Safety
5 Conclusion
References
I Design Issues for Mechanisms and Robots
Software Optimization Problem Solver for Automated Linkage Design
1 Introduction
2 Advantages of Computer-Aided Design of Technological Systems
3 Synthesis of a Mechanism for a Given Function of the Output Joint: An Example of a Solution
3.1 Calculation of the Direct Kinematic Problem
3.2 Visualization
4 Development Prospects: Training
5 Conclusion
References
Static Analysis and Design Strategy of Two Antagonistically Actuated Joints
1 Introduction
2 Static Analysis of the Joints
2.1 Static Equilibrium and Stiffness of the R-Joint
2.2 Static Equilibrium and Stiffness of the X-Joint
3 Optimal Design of the Joints for a Specified WFW
3.1 Optimal Design of the R-Joint
3.2 Optimal Design of the X-Joint
4 Numerical Examples and Inferences
5 Conclusion
References
An Approach to Robotic End Effectors Based on Multistable Tensegrity Structures
1 Introduction
2 Mechanical Modeling
3 Changing the Equilibrium Configuration
4 Conclusion
References
Experimental Analysis of an MBS System with Two Degrees of Freedom Used in an Eolian Water Pump
1 Introduction
2 Finite Element Analysis of the Elastic Lever
3 Tests and Results
4 Conclusions
References
Design and Characterization of a 3D Printed Soft Pneumatic Actuator
1 Introduction
2 Design and Fabrication
3 Modelling
3.1 Material Characterization
3.2 Setup Simulation
4 Preliminary Test
5 Performance Evaluation
6 Conclusions and Future Work
References
Novel Planar Parallel Manipulator Using Geared Slider-Crank with Linear Actuation as Connection Kinematic Chain
1 Introduction
2 Geared Linkages with Linear Actuation
3 Novel Planar Parallel Manipulator
4 Singularities of the Novel Parallel with Linear Actuation Manipulator
5 Example Problem
6 Conclusions
References
I Teaching and History of Mechanisms
Including the United Nations Sustainable Development Goals in Teaching in Engineering: A Practical Approach
1 Introduction
2 Formula Student
3 Formula Student Bizkaia: A Company Inside the University
3.1 Organisational Structure
3.2 Coordination
3.3 Educational Three Year Cycle
4 Formula Student Bizkaia and Sustainable Development Goals
5 Conclusions
References
Computer-Assisted Learning Used to Overconstrained Mechanism's Mobility
1 Introduction
2 Problem Description
3 Conclusions
References
Petrovaradin Fortress: Clock Tower Mechanism
1 Introduction
2 History of Time Measurement
3 Petrovaradin Fortress and Clock Tower
4 Clock Tower Mechanism
4.1 Timing Mechanism
4.2 Quarter Striking Mechanism
4.3 Full Hour Striking Mechanism
5 Conclusion
References
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New Trends in Mechanism and Machine Science

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