Multibody Mechatronic Systems

Name: Multibody Mechatronic Systems | Papers from the MuSMe Conference in 2020
Brand: Springer
Price: 255.73 EUR
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Papers from the MuSMe Conference in 2020

Martín Pucheta Alberto Cardona Sergio Preidikman Rogelio Hecker(Editor)

Springer (Publisher)

1st Edition

Published on 22. October 2020

XIII, 360 pages

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978-3-030-60372-4 (ISBN)

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Content

Intro
Preface
7th MuSMe Organization
Local Organizing Committee (from Argentina)
Chair:
Co-chair:
Members:
International Scientific Committee
Chair:
Members:
Honorary Members:
Sponsor
Contents
Topological Synthesis
A Method for Generating Gripper Mechanisms Using Baranov Chains
1 Introduction
2 A Review of Mobility of Kinematic Chains
3 Method for Generating Grippers from Baranov Chains
4 Proposal of New Grippers
5 Conclusions
References
Degeneracy Detection in Epicyclic Gear Trains Using a Matroid-Based Algorithm
1 Introduction
2 Algorithm for Degeneracy Detection in EGTs
3 Examples
4 Conclusion
References
Number Synthesis of New Prosthetic Knee Mechanisms
1 Introduction
2 Knee Functional Anatomy
3 Knee Mechanism Studies
4 Potential for Innovation of Prosthetic Knees
5 Conclusions
References
Structural Analysis of the Human Knee Kinematic Chain
1 Introduction
2 Methodology for the Study of the Knee Joint
3 Relationship Between Anatomy and Mechanisms
4 Kinematic Chain Analysis
5 Results
6 Conclusions
References
Walking Mechanisms - A State of the Art Survey and New Developments Opportunities
1 Introduction
2 State of the Art of Walking Mechanisms
2.1 Patent Search
2.2 Bibliographic Research
3 Innovation Possibilities on Walking Mechanism
4 Conclusions
References
Dimensional Synthesis
Synthesis of Hybrid Flexible Mechanisms Using Beams and Spatial Design Constraints
1 Introduction
2 Theoretical Background
3 Wrench Systems that Can Be Built with Flexure Beams
4 R-T Example
4.1 Serial Topology and Changes in the Load Pattern
4.2 Symmetries and Hybrid Solution
5 Conclusions
References
Dimensional Synthesis of a Two-Axles Steering System
1 Introduction
2 Mathematical Model
3 Results
4 Conclusions
References
Type Synthesis of Gripper Mechanisms Using Baranov Chains and Davies' Method
1 Introduction
2 Brief Introduction to Davies' Method and Reshetov Vitual Joints
3 Development of New Gripper Mechanisms
4 Conclusions
References
Kinematic Analysis
Kinematic Analysis and Self-alignment of a Backrest Mechanism of a Hospital Bed
1 Introduction
2 Brief Review of Davies' Method and Matroid Theory
3 Matroid Theory and Constraint System of a Backrest Mechanism
4 Distribution of Clearances in a Overconstrained Mechanism
5 Conclusions
References
Study of a Class of Variable Geometry Truss Manipulators
1 Introduction
2 Definition and Characteristics of VGTFAMs
3 Forward Kinematics
4 Inverse Kinematics
5 Kinematic Singularities
6 Conclusions
References
Mobility Analysis and Self-alignment of a Novel Asymmetric 3T Parallel Manipulator
1 Introduction
2 Geometry of the LAILA Asymmetric Parallel Manipulator
3 LAILA Analysis by Reshetov's Method
3.1 Reshetov's Method
3.2 LAILA Analysis
4 A Novel Self-aligned LAILA
5 Inverse Kinematic of LAILA Robot
6 Conclusions
References
Kinematic Analysis of a 3T1R Fully Decoupled Parallel Manipulators Family
1 Introduction
2 The Fully Decoupled Schönflies Motion Family
2.1 Representative Architecture for Kinematic Analysis
3 Kinematic Analysis
3.1 Position Kinematics
3.2 Differential Kinematics
3.3 Kinematic Singularities
3.4 Workspace Analysis
4 Conclusions
References
Comparing Methods Using Homogeneous Transformation Matrices for Kinematics Modeling of Robot Manipulators
1 Introduction
2 Parameterizations of a Line in Space
3 Forward Pose Kinematics with HTMs
3.1 Using D-H Parameters
3.2 Using Velocity Screws
4 Comparison
5 Case Study
6 Conclusion
References
An Adaptable Four-Bar Mechanism for Data-Based Model Validation
1 Introduction
2 Adaptable Four-Bar Prototype and Data Sampling Process
2.1 Adaptable Four-Bar Prototype
2.2 Position Analysis of an Adaptable Four-Bar Linkage
2.3 Data-Sampling Process and Experimental Curve
3 Data-Based Modeling: The Non-temporal Prediction Method
4 Data-Based Modeling of the Modified Four-Bar Linkage
4.1 Estimation Results
4.2 Model Testing Results
5 Conclusions
References
Static Analysis
Wrench Capability of Hyper-redundant Planar Parallel Manipulators
1 Introduction
2 The Wrench Capability Problem
3 Kinematic Structure of the Studied Manipulators
4 Kineto-Static Model of the Studied Manipulators
5 Wrench Capability Optimization of the Studied Manipulators
6 Results
7 Conclusions
References
Numerical Models for the Static Analysis of Cable Structures Used in Airborne Wind Turbines
1 Introduction
2 Lie Group Framework
3 Lumped-Parameter Model
4 Beam Finite Element Model
5 Numerical Results
6 Conclusions
References
Dynamic Analysis
Simulation of Sliding Friction of Spherical Rigid Bodies Subject to Multiple Impact Collisions
1 Introduction
2 Equations of Motion
3 Friction Problem
4 Contact Elements
5 Numerical Example
6 Conclusions
References
Multi-body Dynamics Co-simulation of Planetary Gear Train for Dynamic Meshing Force Analysis
1 Introduction
2 Co-simulation Model
3 Study Case
4 Results
5 Conclusions
References
Efficient Modeling Procedure of Novel Grating Tiling Device Using Multibody System Approach
1 Introduction
2 Kinematics of Grating Device Motion
3 Multibody Model of Grating System
4 Numerical Simulation
5 Conclusion
References
Gear Mesh Stiffness and Damping Co-simulation
1 Introduction
2 Model of Spur Gear
3 Co-simulation
4 Results
5 Conclusions
References
Control of Mechatronic Systems
Closed Loop Compensation of Linear Deviations in Ball Screw Drives
1 Introduction
2 Experimental Setup
3 Collocated Control with Additional Angular to Linear Positioning Compensation
3.1 Control Structure
3.2 Stability Analysis
4 Experimental Results
4.1 Linear Deviation Compensation for Thermal Expansion
5 Conclusions
References
Multi-objective Optimization of the Steering System and Fuzzy Logic Control Applied to a Car-Like Robot
1 Introduction
2 Vehicle Model
2.1 Steering System
2.2 Fuzzy Control
2.3 Simulation Model
3 Optimization Problem
4 Results
5 Conclusions
References
Tree Organization Method for Structuring Cluster Space-Based Rover Formations with Applications to Multi-object Transportation
1 Introduction
2 Robot Modeling
3 Multi-robot Cluster Specification
4 Results
5 Conclusions
References
A Force Control Architecture for Grasping with a Robotic Finger
1 Introduction
2 The Proposed Force Control Architecture
3 Hardware/Software Design
4 Grasping Design
5 Experimental Test
6 Conclusions
References
In-Hand Manipulation via Deep Reinforcement Learning for Industrial Robots
1 Introduction
2 Modeling and Control
2.1 Rigid Bodies Modeling
2.2 Control Strategy
3 Learning
4 Results
4.1 Training
4.2 Experiments
5 Conclusions
References
Twisting Controller of Trajectory for a 6DOF Base Motion: Application to Quadrotor Flight Simulation Training Device
1 Introduction
2 Kinematic and Dynamic Description of the 6DOF Base Motion
2.1 Kinematics of the Gough-Stewart Platform
2.2 Dynamic Model of the 6DOF Base Motion
3 Twisting Controller Design for the 6DOF Base Motion
4 Coupling Model for Equivalent Forces of Quadrotor
5 Numerical Simulation
6 Conclusions
References
Kinematic Control Implementation of a Stewart Platform-Based Motion Generator for Aerospace Applications
1 Introduction
2 Motion Generator Kinematics
3 Motion Generator Controller Design
4 Control Design
5 Experimental Results
6 Conclusions
References
Synthesis of a Retractable Roof System Based on Spherical Scissor-Like Elements
1 Introduction
2 Synthesis of Retractable Roof Structure Based on Spherical SLE
2.1 SLE: Spherical Approach
2.2 General Folding Condition for Spherical SLE
2.3 Kinematic Representation of Spherical SLE by DQ
2.4 Synthesis of the Retractable Roof
3 Control of the Spherical SLE System
4 Conclusion
References
Modelling and Simulation
Modeling of a Piezoelectric Based Nanopositioning Stage
1 Introduction
2 System Description
3 Modeling and Parameter Determination
3.1 Creep
3.2 Vibrational Dynamics
3.3 Hysteresis
4 Conclusions
References
Multibody Modelling of a Linear Feeder for Bulk Materials
1 Introduction
2 System and Component Description
3 Component Models
3.1 Vibrators
3.2 Elastic Connectors
4 Dynamic Simulations and Analysis Results
5 Conclusions
References
Prototypes and Experimental Validations
Design of a Bionic, Shape-Memory Alloy Fish Tail
1 Introduction
2 Experimental Model of the Modular SMA Actuators
2.1 Single Wire Characterization and Transfer Function
2.2 Antagonist Module Design
3 Multibody Analysis
3.1 System Kinematics
3.2 System Dynamics
4 Parameter Selection Criteria
5 Conclusions and Future Work
References
Modified Aerial Acoustic Piezoelectric Sensor for Underwater Robots in Closed Environments
1 Introduction
2 Theoretical Concepts of Sound Propagation
3 Modifications to a Piezoelectric Acoustic Transducer for Underwater Use
4 Experimental Setup
5 Conclusions
References
Design of Handling and Extension Tool for Inspection and Maintenance of CAREM Steam Generators
1 Introduction
2 Related Work
3 System Overview and Requirements
4 HEMA Design
5 DELMIA Virtual Environment Simulation
6 Manufacture and Integration in Robotic Cell
7 Conclusions
References
Hexapod Walking Mechanism Based on the Klann Linkage for a 2DoF Amphibious Robot
1 Introduction
2 Analysis of the Klann-Based Leg
2.1 Fourbar Linkage Analysis
2.2 The Klann Mechanism and Its Optimization
2.3 Kinematics Analysis of the Optimized Leg
3 The Amphibious Mechanism
3.1 Interaction Between the Body and the Water
4 Experiments
4.1 Position and Velocity Analysis
4.2 Operating on Ground and Water
5 Conclusions
References
Experimental Analysis of the Dynamic of an Active Cardanic Joint with Three Degrees of Freedom
1 Introduction
2 Kinematics and Dynamics
2.1 Kinematics
2.2 Dynamics
3 Results
4 Conclusion
References
Mechatronic Systems for Assistive Technology and Rehabilitation
Curvatio: Low Cost Measurement System for Spinal Curvature
1 Introduction
2 Materials and Methods
2.1 Design of the New Measuring System
2.2 Hardware
2.3 Software
3 Validation
4 Results
5 Conclusions and Future Works
References
Two DoF Robotic Platform for Balance Rehabilitation Tasks
1 Introduction
2 Two DoF Robotic Platform Mechanism
2.1 Kinematics
2.2 Dynamics
3 PD Controller with Gravity Compensation
4 Conclusions
References
Exoskeleton Glove with Cable Driven Fingers Actuated by a Differential Mechanism
1 Introduction
2 System Considerations
3 Cable Driven Mechanism Design
4 Mathematical Model of the Finger for Its Position
5 Results
6 Conclusions
References
Improving the Joint Centre Location of a Markerless Motion Analysis System Through a Functional Calibration Method: A Pilot Study
1 Introduction
2 Method
2.1 Participant and Data Collection
2.2 Review of the Algorithms
2.3 Functional Calibration for Kinect
3 Results
4 Conclusions
References
Author Index

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Multibody Mechatronic Systems

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