Advances in Mechanism and Machine Science . Volume 2 : Proceedings of the 16th IFToMM World Congress 2023 / / Masafumi Okada, editor

• Pubblicazione: Cham : , : Springer, , 2023; ©2023
• Edizione: First edition.
• Descrizione fisica: 1 online resource (1017 pages)
• Disciplina: 621.05
• Soggetto topico: Machinery; Mechanical engineering
• Persona (resp. second.): OkadaMasafumi
• Nota di bibliografia: Includes bibliographical references and index.
• Nota di contenuto: Intro -- Preface -- Organization -- Contents -- Robotics and Mechatronics -- Design and Characterization of a Modular Unit for a Humanoid Torso Mechanism -- 1 Introduction -- 2 From the Human Spine to a Mechanical Design -- 3 Prototype and Experimental Layout -- 4 Experimental Results -- 5 Conclusion -- References -- Stiffness Analysis of a Module-Based Shape Morphing Snake-Like Robot -- 1 Introduction -- 2 Elastostatic model -- 2.1 Single module reduction to a super element -- 2.2 Assembly process and end-effector reduction -- 3 Case Study -- 4 Conclusions -- References -- Compact Expressions of the Singularity Locus of Optimal Cable-Suspended Robots -- 1 Introduction -- 2 Geometric Modelling of the Cable-Suspended Robot -- 3 Special Architecture -- 3.1 Architecture Proposed in ch3gosselin2010gravity -- 3.2 Discussion on the Reference Orientation -- 3.3 Modified Reference Orientation -- 4 Kinematic Modelling and Jacobian Matrices -- 5 Determination of a Symbolic Expression for the Determinant of the Jacobian Matrix -- 5.1 Decomposition of the Jacobian Matrix for the Original Architecture -- 5.2 Decomposition of the Jacobian Matrix for the Modified Architecture -- 6 Discussion -- 7 Conclusion -- References -- Design and Multi-objective Optimization for a Novel 7 DOF Inchworm-Like Robot -- 1 Introduction -- 2 Description of the Inchworm-Like Robot -- 2.1 Robot Architecture -- 2.2 Kinematic Analysis -- 3 Performance Indices -- 3.1 Workspace -- 3.2 Manipulability Ellipsoid -- 3.3 Acceleration Performance -- 4 Optimal Design Procedure -- 4.1 Formulation of the Multi-objective Optimization Problem -- 4.2 Optimization Results -- 4.3 Verification of the Design Parameters of the Inchworm-Like Robot -- 5 Conclusion -- References -- Physical Human-Robot Interaction Performance Optimization of an Exosuit for Assistance -- 1 Introduction. ; 2 System Modeling and Optimization Goals -- 2.1 Force Distribution -- 2.2 Optimization Goals and Constraints -- 3 Optimization Methodology and Development -- 3.1 Inverse-PageRank-PSO -- 3.2 Development for Multi-objective Optimization -- 4 Results and Analysis -- 5 Conclusion -- References -- Analysis and Design of a Suspended Cable-Driven Parallel Robot for Educational Process -- 1 Introduction -- 2 A Suspended CDPR with a Point-Mass EE -- 2.1 Forward and Inverse Kinematics of a Suspended CDPR with a Point-Mass EE -- 2.2 Statics of the Suspended CDPR with a Point-Mass EE -- 3 Prototype of a Suspended CDPR with a Point-Mass EE -- 3.1 Experimental Results -- 4 Conclusion -- References -- Analysis and Recognition of Human Postures for Robotic Applications -- 1 Introduction - State of the Art -- 2 Problem Statement -- 3 Static and Dynamic Analysis of Postures Stability -- 4 Postures Recognition -- 5 Conclusions -- References -- An Interactive Collaborative Robotic System to Play Italian Checkers -- 1 Introduction -- 2 The Algorithm for Playing Italian Checkers -- 2.1 The Recognition Algorithm -- 2.2 The Gaming Algorithm -- 3 Experimental Setup -- 4 Experimental Results -- 5 Conclusion -- References -- A Novel Adaptive Prosthetic Finger Design with Scalability -- 1 Introduction -- 2 Design of the CFLE Finger -- 3 Kinetostatic Formulation -- 3.1 Generalized Coordinates and External Forces -- 3.2 Kinetostatic Relations -- 3.3 Hooke-Constitutive Equation -- 3.4 Constrained-Minimization Problem -- 4 Experimental Verification -- 4.1 Verification of the Kinetostatic Model -- 4.2 Demonstration of Grasping Adaptability -- 5 Conclusions -- References -- Demo Prototype of TORVEASTRO Robot and Its Testing -- 1 Introduction -- 2 TORVEASTRO Prototype -- 3 Testing Modes -- 4 Results of Demo Tests -- 5 Conclusions -- References. ; Design Optimization of a Tendon-Driven Continuum Robot -- 1 Introduction -- 2 Robot Design -- 3 Optimization Setup -- 3.1 Objective Functions -- 3.2 Parameters and Constraints -- 3.3 Optimization Algorithm -- 4 Results and Discussion -- 5 Conclusions -- References -- Characterization of Dielectric Elastomers by Finite Element Analysis -- 1 Introduction -- 2 Mechanical and Electrical Theoretical Model of DEs -- 3 Experiments on Single-Layer DEA -- 4 FEA of Strain Characteristics of DEA -- 5 Conclusions -- References -- Obtaining Desired Shapes of Cable-Driven Continuum Robots Using General Cable Routing -- 1 Introduction -- 2 Methodology -- 2.1 Forwards Kinematics of Generally-Routed CCR -- 2.2 Algorithm to Obtain Routing of Cable -- 3 Results and Discussions -- 3.1 Numerical Simulations -- 3.2 Results -- 4 Conclusion -- References -- Motion Analysis and Control of a Flexible Spatial Closed-Loop Mechanism Made of a Certain Thin Elastic Plate -- 1 Introduction -- 2 Large Deformation Analysis of Elastic Strip -- 2.1 The Ruled Surface Model of Elastic Strip with Darboux Formulas -- 2.2 Large Deformation Analysis of an Elastic Strip -- 3 Kinetostatics Analysis of a Spatial Parallel Mechanism Made of a Certain Thin Elastic Plate -- 3.1 Rotational Stiffness about Folding Line -- 3.2 Statics Equation for Parallel Mechanism -- 3.3 Inverse Kinetostatics Analysis -- 4 Motion Control of the Spatial Parallel Mechanism -- 4.1 Prototype -- 4.2 Motion Control Experiments -- 5 Output Stiffness of the Spatial Parallel Mechanism -- 6 Conclusions -- References -- Application of the "Bang-Bang" Law in Robot Manipulators for the Reduction of Inertial Forces and Input Torques -- 1 Introduction -- 2 Inertial Forces Reduction in Robotic Manipulators by Decreasing the Acceleration of the Common Center of Mass -- 2.1 Problem Formulation. ; 2.2 Application to the Serial Manipulators -- 2.3 Application to the Parallel Manipulators -- 3 Input Torques Reduction in the Dynamically Decoupled Robotic Manipulators by Applying "Bang-Bang" Law -- 4 Conclusions -- References -- A Dual-Arm Nasopharyngeal Swab Manipulation Robot for Polymerization Chain Reaction Sampling -- 1 Background -- 2 Medical Robot Challenges -- 3 NP Swab Sampling Manipulation Difficulties -- 4 Hardware System Designed for NP Swab Sampling Manipulation -- 5 Comparison Experiments and Evaluations -- 6 Conclusions -- References -- Numerical Study of a Piezoelectric XY-Stage with Diamond-Type Displacement Amplification Mechanism -- 1 Introduction -- 2 Diamond-Type Displacement Amplification Mechanism -- 2.1 Displacement Amplification Principle -- 2.2 Displacement Amplification Ratio -- 3 Design of XY-Stage -- 3.1 Rigid and Flexure Connecting Links -- 3.2 Simulation Process -- 3.3 Simulation Results of Various XY-Stages -- 4 Parametric Examination -- 4.1 Parameters of DDAM -- 4.2 Effects of Parameters -- 4.3 Analysis Results of XY-Stage with DDAM -- 5 Conclusion -- References -- Origami-Based Rotating Bistable Mechanism -- 1 Introduction -- 2 Fabrication -- 3 Analysis and Discussion -- 4 Conclusion -- References -- A Force-Sensing Compliant Gripper Based on Drivetrain Elasticity -- 1 Introduction -- 2 Concept and Prototype of the Compliant Gripper -- 2.1 Design Concept -- 2.2 Prototype of the Compliant Gripper -- 2.3 Merits of the Proposed Compliant Gripper -- 3 Force Modeling of the Compliant Gripper -- 3.1 Finger Gripping and Support Force Modeling -- 3.2 Environmental Finger Contact Force Modeling -- 4 Verification of the Finger Forces -- 4.1 Finger Position and Force Resolution Analysis -- 4.2 Finite Element Verification of the Sensing of Finger Gripping and Support Forces -- 5 Conclusions -- References. ; Rounded Edges and Chamfers as a Protective Measure in Quasi-Static Contact Events -- 1 Introduction -- 2 Materials and Methods -- 2.1 Influencing Factors -- 2.2 Experimental Setup -- 2.3 Experimental Design -- 3 Results -- 3.1 Influence of Shape and Contact Surface Area on Maximum Collision Force -- 3.2 Influence of Shape and Contact Surface Area on Maximum Collision Pressure -- 4 Discussion -- 5 Conclusion -- References -- Development of a Finger Rehabilitation Device -- 1 Introduction -- 2 Human Finger Kinesiology -- 3 Mathematical Modeling of the Proposed Mechanism -- 4 CAD/CAE Simulation -- 5 Conclusions -- References -- New Concept Design of a Modular Robotic System for Upper Limb Rehabilitation -- 1 Introduction -- 1.1 From Stroke to Multiple Neurological Motor Deficits -- 2 ParReEx - A Modular Robotic System for Elbow and Wrist Rehabilitation -- 3 ParReEx New Concept Design -- 3.1 The New Wrist Module -- 3.2 The New Elbow Module -- 4 CAD Modelling of the New Apollo Rehabilitation Modules -- 5 Conclusions -- References -- 3D Printed Low Noise Nozzle: Design and Experimental Tests -- 1 Introduction -- 2 New Geometry Description -- 3 Experimental Tests -- 4 Conclusions -- References -- Optimization of the Flywheel of a Gyrostabilizer by Addressing "Fair" Performance Criteria -- 1 Introduction -- 2 Assigning "Fair" Comparison Criteria for Gyrostabilizers -- 3 Optimization of a Gyrostabilizer's Flywheel -- 3.1 Design of the Flywheel and Enclosure -- 3.2 Required Torque Calculation for the Sea Condition -- 3.3 Determination of Enclosure and Flywheel Speed -- 3.4 Optimization Process of the Flywheel Geometry -- 4 Results of the Optimization Process -- 4.1 Comparing Seakeeper 35 to Out Optimized Gyrostabilizer -- 5 Discussions and Conclusions -- References -- A Gyrostabilizer Test Setup with Vessel Motion Capability About Its Metacenter. ; 1 Introduction.
• Titolo autorizzato: Advances in Mechanism and Machine Science
• ISBN: 3-031-45770-6
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910760285103321
• Lo trovi qui: Univ. Federico II
• Serie: Mechanisms and Machine Science Series