Kooperativer Bibliotheksverbund

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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 ; Congressos ; Llibres electrònics