Multibody Mechatronic Systems

Name: Multibody Mechatronic Systems | MuSMe 2021
Brand: Springer
Price: 255.73 EUR
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MuSMe 2021

Martín Pucheta Alberto Cardona Sergio Preidikman Rogelio Hecker(Editor)

Springer (Publisher)

1st Edition

Published on 13. October 2021

XII, 234 pages

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978-3-030-88751-3 (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
Springer Awards Committee
Sponsor
Contents
Synthesis of Mechanisms
Synthesis of a Tip-Tilt-Piston Flexure System with Decoupled Actuators
1 Introduction
2 Theoretical Background and Methodology
3 Case Study: Tip-Tilt Piston Flexure Stage
3.1 Case 1: Actuators on a Plane Parallel to the Rotations Plane
3.2 Case 2: Actuators Directions are Normal to the Rotations Plane
4 Conclusions
References
Synthesis and Sensitivity Analysis of a Prosthetic Finger
1 Introduction
2 Kinematic and Kinetic Analysis
2.1 Non-linear Position Analysis of the End-Effector
2.2 Kinetic Analysis
3 Synthesis and Sensitivity Analysis of the Mechanism
3.1 Desired Trajectories
3.2 Optimization Using Genetic Algorithms
3.3 Sensitivity Analysis of the Optimized Mechanism
4 Conclusions
References
Synthesis of an Exoskeleton and Walking Pattern Identification for a Rehabilitation System
1 Introduction
2 Kinematic and Kinetic Analysis of the Exo-Jansen
3 Computational Synthesis of the Mechanism
3.1 Real Movement Patterns Sampling
3.2 Cost Function with Weighting Factor
3.3 Links Measurement Using Optimization
3.4 Discussions on the Optimization Method
4 Conclusions
References
Mechanisms Analysis
Analysis of a Proposal for a Self-aligning Mechanism for Cartesian Robot in Greenhouses
1 Introduction
2 Cartesian Robot Geometry for Agricultural Greenhouses
3 Analysis of the Mechanism Using the Reshetov's Method
3.1 Analysis for the Robotic Mechanism
4 Self-aligned Mechanism Proposal
5 Conclusions
References
Historical and Technical Analysis of Harmonic Drive Gear Design
1 Introduction
2 Original Concept by Musser
3 Structure and Operation
4 Harmonic Drive Model
5 Finite Element Analysis
6 Conclusion
References
Design of Variable Moment of Inertia Flywheel
1 Introduction
2 Design of the Variable Inertia Flywheel
3 Illustrative Example
4 Conclusions
References
Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants
1 Introduction
2 Robot Proposal
2.1 Kinematic of Five-Bar Mechanism
3 Results and Discussion
4 Conclusions
References
Modelling and Simulation of Multibody Systems
Modeling and Simulation of Frictional Contacts in Multi-rigid-Body Systems
1 Introduction
2 Techniques to Model Frictional Contacts
3 Regularized Methods for Contact Dynamics
4 Non-smooth Formulations for Contact Dynamics
5 Demonstrative Example of Application
6 Concluding Remarks
References
Modelling Spherical Joints in Multibody Systems
1 Introduction
2 Kinematics of Spherical Joints
3 Dynamics of Spherical Joints
4 Demonstrative Example of Application
5 Conclusions
References
Multibody Dynamics Modeling of Delta Robot with Experimental Validation
1 Introduction
2 Delta Robot as a Multibody System
3 Mathematical Model of Delta Robot
4 Numerical Simulation and Experimental Validation
5 Conclusion
References
Railway and Vehicle Dynamics
Railway Dynamics with Curved Contact Patch
1 Introduction
2 Curved Wheel-Rail Contact Model
3 Example of Application
4 Conclusions
References
On the Utilization of Simplified Methodologies for the Wheel-Rail Contact
1 Introduction
2 Wheel and Rail Geometric Definition
3 Contact Detection
4 Contact Force Model
5 Multibody Systems Formulation
6 Example of Application
7 Conclusions
References
Optimization Tools Applied in the Design of a Hydraulic Hybrid Powertrain for Minimal Fuel Consumption
1 Introduction
2 Methods
2.1 Vehicle Model
2.2 Optimization Tools and Program Routine
3 Results and Discussion
4 Conclusion
References
Determination of the Effect of Sloshing on the Railcar-Track Dynamic Behavior
1 Introduction
2 Experimental Test Facility
2.1 The Track
2.2 The Rail Car
2.3 Instrumentation
2.4 Test Procedure
3 Experimental Results
4 Data Analysis and Discussion
5 Conclusions
References
Mechatronic Systems for Energy Harvesting
A Three-Dimensional Piezoelectric Timoshenko Beam Model Including Torsion Warping
1 Introduction
2 Model Description
3 Finite Element Model
4 Numerical Results
4.1 Case I
4.2 Case II
5 Conclusions
References
On the Effect of Hardening/Softening Structural Non-linearities on an Array of Aerodynamically Coupled Piezoelectric Harvesters
1 Introduction
2 Numerical Framework for Aero-Piezoelastic Simulations
2.1 Piezoelastic Model
2.2 Aerodynamic Model
3 Numerical Results
3.1 Case Study
4 Conclusions
References
Hybrid System Design for Energy Harvesting from Low-Amplitude Ocean Waves
1 Introduction
2 Design Requirements and Experimental TESTBED
2.1 Hybrid System
Marine Nozzle + Wave Energy Converter
3 Experimental Results
4 Conclusions
References
Robot Design and Optimization
Modelling of a Hydrodynamically Actuated Manipulator Based on Strip Theory
1 Introduction
2 Modelling: R R P Manipulator
2.1 The R R P Manipulator Subjected to Hydrodynamic Forces
3 Numerical Simulation
4 Conclusions
References
Shaking Force Balancing of the 2RRR PPM Specifying Tool's Motion
1 Introduction
2 Modeling of a 2RRR-PPM
2.1 Calculation of the Global Center of Mass
2.2 Calculation of the Shaking Force
2.3 Calculation of the Shaking Moment
3 Numerical Example
3.1 Motion Given to the End-Effector
4 Conclusions
References
Energy Optimization of a Parallel Robot in Pick and Place Tasks
1 Introduction
2 Prototype and Computational Model
3 Results and Discussion
4 Conclusions
References
Gravity Compensation of Articulated Robots Using Spring Four-Bar Mechanisms
1 Introduction
2 Conceptual Design
3 Gravity Compensation Method
3.1 Gravitational Torques
3.2 Actuation Torques
3.3 Design Procedure
4 Performance Evaluation
5 Conclusion
References
Mechatronic Design
Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation
1 Introduction
2 Methodology
2.1 Mechanical Design
2.2 Rehabilitation Trajectory
2.3 Control Design
3 Results
3.1 Structural Simulation
3.2 Controller Performance
4 Conclusions
References
Mechatronic Design of a Planar Robot Using Multiobjective Optimization
1 Introduction
2 Mechanism Description
2.1 Kinematics
2.2 Dynamic Model
3 Optimization Approach
4 Optimization Results
5 Conclusions
References
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Multibody Mechatronic Systems

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