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Format: 1 Online-Ressource (XIV, 334 p. 227 illus., 190 illus. in color)

Edition: 1st ed. 2021

ISBN: 9783030752712

Series Statement: Mechanisms and Machine Science 103

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-75270-5

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-75272-9

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-3-030-75273-6

Language: English

DOI: 10.1007/978-3-030-75271-2

URL: Volltext  (URL des Erstveröffentlichers)

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Format: 1 online resource (xiv, 334 pages : , illustrations (some color)

ISBN: 3-030-75271-2

Series Statement: Mechanisms and machine science v.103

Note: Intro -- Preface -- Organization -- Program Chair -- Program Committee -- Introduction to the Special Session in Honour of Prof. Said Zeghloul -- Contents -- I Linkage and Manipulators -- Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform -- 1 Introduction -- 2 Analytical Model -- 3 Simulation Results and Discussion -- 4 Conclusions -- References -- Inverse Kinematics and Velocity Analysis of a 6-DOF Hexapod-Type Manipulator with a Circular Guide -- Abstract -- 1 Introduction -- 2 Manipulator Architecture -- 3 Kinematic Analysis -- 3.1 Inverse Kinematics -- 3.2 Velocity Analysis -- 3.3 Case Study -- 4 Conclusions -- Acknowledgements -- References -- Torque Minimization of Dynamically Decoupled R-R Spatial Serial Manipulators via Optimal Motion Control -- Abstract -- 1 Introduction -- 2 Dynamic Decoupling of the R-R Spatial Serial Manipulator -- 3 Motion Generation via "Bang-Bang" Profile -- 4 Illustrative Example and Simulation Results -- 5 Conclusion -- References -- Kinematic Analysis of a Coaxial 3-RRR Spherical Parallel Manipulator Based on Screw Theory -- 1 Introduction -- 2 Coaxial SPM Description -- 3 Position Analysis -- 3.1 Inverse Kinematics -- 3.2 Forward Kinematics -- 3.3 Numerical Results -- 4 Velocity Analysis -- 4.1 Numerical Results -- 5 Conclusions -- References -- A Novel Design for an Autonomous Mobile Agricultural Fruit Harvesting Robot -- 1 Introduction -- 2 Motivation -- 3 Design Considerations -- 4 Mechanical Design -- 4.1 Chassis Design -- 4.2 Manipulator Design -- 4.3 End-Effector Design -- 5 Architecture -- 6 Concluding Remarks -- References -- II Parallel Manipulators -- A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots -- Abstract -- 1 Introduction -- 2 Workspace Determination -- 2.1 Workspace Discretization. , 2.2 Algebraic Geometrical Approach -- 3 Numerical Examples -- 3.1 CaPaMan -- 3.2 3-UPR Mechanism -- 3.3 Results and Discussion -- 4 Conclusions -- References -- Symbolic Kinematics of Special 3-RSR Parallel Mechanism with Zero Coupling Degree -- Abstract -- 1 Introduction -- 2 The Antenna PM with Zero Coupling Degree -- 3 Position Analysis -- 3.1 Descriptions of the Kinematics Modeling -- 3.2 Analysis of Forward Position Solution -- 3.3 Analysis of Inverse Position Solution -- 4 Examples -- 5 Workspace Analysis of Decoupling Optimized Model -- 6 Conclusions -- Acknowledgments -- References -- Inverse Kinematics and Workspace of a 3-PRRS Type Parallel Manipulator -- Abstract -- 1 Introduction -- 2 Workspace Analysis -- 3 Numerical Results -- 4 Conclusions -- Acknowledgment -- References -- Investigation of Interference-Free Workspace of a Cartesian (3-PRRR) Parallel Manipulator -- 1 Introduction -- 1.1 Description of the Mechanism -- 2 Link Interference -- 2.1 Algorithm 1- Interference Free Workspace -- 2.2 Algorithm 2- Largest Inscribed Cuboid -- 3 Results and Discussions -- 4 Conclusions and Further Works -- References -- Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots -- 1 Introduction -- 2 CDPR Modelling -- 3 Identification Methodology -- 4 Simulation Results -- 4.1 Effect of Tuning Parameters -- 4.2 Effect of Number of Poses -- 4.3 Results Analysis -- 5 Conclusions and Future Work -- References -- Kinematic Simulation of a Geared Planar Parallel Manipulator -- Abstract -- 1 Introduction -- 2 A 3-R(PRRGR)RR Planar Parallel Manipulator with Geared Linkages -- 2.1 Inverse Positional Kinematic Approach -- 3 Numerical Example -- 4 Conclusions -- References -- III Mechanics of Robots. , Design Criteria Study for Underactuated Symmetric Pinching Mechanism of Pinch Roll Machine in High-Speed Wire Rod Product Line -- Abstract -- 1 Introduction -- 2 Existing Problems Discussion -- 3 Underactuated Pinching and Conveying Mechanisms -- 4 Design Criteria Study Based on Statics and Kinematics -- 5 Conclusion and Prospection -- References -- Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons -- Abstract -- 1 Introduction -- 2 Design Modeling and Stiffness Simulation -- 2.1 Basic Concept of HLCFM -- 2.2 Design of a Reconfigurable Constant-Force Mechanism -- 2.3 Simulations -- 3 Prototype and Testing -- 3.1 Prototype Design and Test Rig -- 3.2 Experiments -- 4 A Compact Design of a Passive Upper-Body Exoskeleton -- 5 Conclusion -- Acknowledgments -- References -- Aerodynamic Double Pendulum with Nonlinear Elastic Spring -- Abstract -- 1 Introduction -- 2 Aerodynamic Double Pendulum -- 3 Equations of Motion -- 4 Limit Cycles -- 5 Conclusions -- References -- Design of a Flexible Interphalangeal Joint -- Abstract -- 1 Introduction -- 2 Design Requirements -- 3 Experimental Test Model -- 4 Results -- 5 Conclusion -- Acknowledgements -- References -- IV Mechanism Deign -- A Reconfigurable Underactuated Grasper with In-Hand Manipulation -- Abstract -- 1 Introduction -- 2 Grasper Design -- 3 Analysis -- 4 Prototype and Testing -- 5 Conclusions -- Acknowledgments -- References -- Design of a Robotic Brace with Parallel Structure for Spine Deformities Correction -- Abstract -- 1 Introduction -- 2 From Medical Specifications to Brace Concept -- 3 Mechanical Design of Robotic Brace -- 3.1 The Mechanism Architecture -- 3.2 Kinematic Constraints -- 4 Robotic Brace Integration -- 4.1 Actuator -- 4.2 Control of the Stewart Platform -- 4.3 Sensors -- 5 Simulation and Results -- 5.1 Evaluation of Position Controller. , 5.2 Determination of the Range of Motion -- 5.3 Validation of the Force Control -- 6 Conclusion and Future Works -- Acknowledgements -- References -- An Adaptive Drive of Spacecraft Docking Mechanism -- Abstract -- 1 Introduction -- 2 Description of the Docking Mechanism -- 3 Adaptive Gear Variator Description -- 4 Description of Adaptive Drive of Docking Mechanism -- 5 Mathematical Model of Adaptive Drive -- 6 Analysis of Drive Modes -- 7 Conclusion -- References -- Driving Mechanism in Robotized Hospital Bed for Patients with COVID 19 -- Abstract -- 1 Introduction -- 2 Problem and Requirements -- 3 The Proposed Driving Mechanism -- 4 Performance Analysis -- 5 Conclusions -- References -- Synthesis of a Function Generator Six-Bar Linkage in Two Steps with Genetic Algorithm -- Abstract -- 1 Introduction -- 2 Methods -- 3 Results and Discussion -- 4 Conclusions -- References -- Design and Analysis of a Device for Enlarging the Allowable Position Error for Screwing Task -- Abstract -- 1 Introduction -- 2 Design Concepts -- 3 Motion Analysis -- 4 Conclusions -- References -- Dimensional Synthesis of a Four-Bar Linkage Assessing the Path and Reformulating the Error Function -- Abstract -- 1 Introduction -- 2 Synthesis Equations -- 3 Path Characterization of the Coupler Point of a Four-Bar -- 3.1 Analytical Formulation of Branches and Circuits -- 3.2 Treatment of Synthesis Considering Branches and Circuits -- 3.3 Avoiding Order Defect -- 4 Error Function Reformulation by Adding the Slope of the Curve -- 5 Demonstrative Example -- 6 Conclusions -- Acknowledgments -- References -- V Actuators and Control -- Motion Control of 6-DOF Relative Manipulation Device -- Abstract -- 1 Introduction -- 2 RS Model Development -- 3 Development of a RS Model Taking into Account the Geometry of the End Effector and the Relative Position of the Modules. , 4 Numerical Experiments -- 5 Conclusions -- Acknowledgements -- References -- Genetic Algorithm with Iterative Learning Control for Estimation of the Parameters of Robot Dynamics -- Abstract -- 1 Introduction -- 2 Problem Formulation -- 3 Genetic Algorithm with ILC for Estimation of the Parameters of the Dynamics -- 3.1 Initialization of the First Generation -- 3.2 Selection -- 3.3 Crossover Operation -- 3.4 Mutation Operation -- 3.5 Terminal Condition -- 4 Simulation Results -- 5 Conclusion -- Acknowledgement -- References -- Control of the Vibrations of a Cartesian Automatic Machine -- 1 Introduction -- 2 Experimental Tests on the Cutting Machine -- 3 Structural Modifications -- 4 Prediction of the Effect of a TVA by Means of the Sherman-Morrison Formula -- 5 Effect of Machine Acceleration -- 6 Conclusion -- References -- VI Innovative Mechanism/Robot and their Applications -- Design of the 2 D.o.F Compliant Positioning Device Based on the Straight-Line Watt's Mechanisms -- Abstract -- 1 Introduction -- 2 Compliant Straight-Line Mechanisms -- 3 Design of the 2 D.o.F Positioning Platform -- 4 Conclusion -- Acknowledgment -- References -- Optimal Design of a Five-Bar Mechanism Dedicated to Assisting in the Fingers Flexion-Extension Movement -- Abstract -- 1 Introduction -- 2 Fingers Rehabilitation Devices -- 2.1 Kinematical Analysis for the Five-Bar Mechanism Proposal -- 3 Synthesis Problem -- 3.1 Formulation of the Problem -- 3.2 Gradient Implementation -- 4 Conclusion -- Acknowledgments -- References -- An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area -- Abstract -- 1 Introduction -- 2 A Geometric Analysis and Evaluation Indices to Determine a Workspace Capable of Avoiding Insufficient Configurations -- 3 Experimental Validation Using a Prototype Setup -- 4 Conclusion -- Acknowledgement -- References. , Mobile Manipulator and EOAT for In-Situ Infected Plant Removal.

Additional Edition: ISBN 3-030-75270-4

Language: English

Keywords: Congressos ; Llibres electrònics

UID:

Format: XIV, 334 p. 227 illus., 190 illus. in color. , online resource.

Edition: 1st ed. 2021.

ISBN: 9783030752712

Series Statement: Mechanisms and Machine Science, 103

Content: This book presents the proceedings of the 5th IFToMM Symposium on Mechanism Design for Robotics, MEDER 2021, held in Poitiers, France, 23-25 June 2021. It gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: theoretical and computational kinematics, mechanism design, experimental mechanics, mechanics of robots, control issues of mechanical systems, machine intelligence, innovative mechanisms and applications, linkages and manipulators, micro-mechanisms, dynamics of machinery and multi-body systems. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9783030752705

Additional Edition: Printed edition: ISBN 9783030752729

Additional Edition: Printed edition: ISBN 9783030752736

Language: English

DOI: 10.1007/978-3-030-75271-2

URL: https://doi.org/10.1007/978-3-030-75271-2