Proceedings of MSR-RoManSy 2024 : Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics

• Autore: Larochelle Pierre
• Pubblicazione: Cham : , : Springer International Publishing AG, , 2024; ©2024
• Edizione: 1st ed.
• Descrizione fisica: 1 online resource (245 pages)
• Altri autori: McCarthyJ. Michael LuskCraig P
• Nota di contenuto: Intro -- Preface -- Contents -- 1 Kinematic Analysis of a Novel Actuation Redundant 3-DOF Parallel Manipulator Based on Parallelogram-Linkage -- 1.1 Introduction -- 1.2 Position Analysis -- 1.2.1 Inverse Kinematics -- 1.2.2 Forward Kinematics -- 1.2.3 Velocity Relationship -- 1.3 Reachable Workspace Determination -- 1.4 Kinematic Performance Evaluations -- 1.5 Conclusions -- References -- 2 Accelerating Robotics Test and Evaluation with a Streamlined Simulation Process -- 2.1 Introduction -- 2.2 Existing Simulation Process -- 2.2.1 Defining the Scenario -- 2.2.2 Launching the Simulation Run -- 2.2.3 Specifying Data Collection -- 2.3 Approach -- 2.4 The Streamlined Process -- 2.4.1 Defining the Scenario -- 2.4.2 Launching the Simulation Run -- 2.4.3 Specifying Data Collection -- 2.5 Evaluation -- 2.6 Discussion -- 2.7 Summary and Conclusions -- References -- 3 Large Deflection Model for Spatial Flexure Elements Supporting Helix Compliant Stages -- 3.1 Introduction -- 3.2 Compliance Model Based on Polar-Z Composite Frame -- 3.2.1 Working Principle of the Proposed Spatial Screw Flexure Element -- 3.2.2 Analytical Model Based on Hybrid Coordinates -- 3.3 Validation and Analysis -- 3.4 Conclusions and Future Work -- References -- 4 EWA: A Single Size Self-adapting Upper Limb Exoskeleton Without Adjustment -- 4.1 Introduction -- 4.2 Problem Definition-Upper Limb Exoskeleton -- 4.3 Materials and Methods -- 4.3.1 Anthropometric Analysis Measures -- 4.3.2 3D Printing -- 4.3.3 Model of the Mechanism -- 4.4 Results -- 4.5 Discussion -- 4.6 Conclusions -- References -- 5 A Compliant PneuNets Linear Actuator with Large Off-Axis Stiffness -- 5.1 Introduction -- 5.2 Design and Analysis -- 5.2.1 PneuNets-Driven Compliant Parallelogram Mechanism Design -- 5.2.2 Pressure-Tip Force Model for the PneuNets Bending Actuator. ; 5.2.3 Pseudo-Rigid-Body Model of the Single PnDCPM -- 5.2.4 Validation by Finite Element Simulations -- 5.3 Manufacturing and Experimental Tests -- 5.3.1 Material Selection and Fabrication -- 5.3.2 Pressure-Displacement Experiments -- 5.3.3 Stiffness Experiments -- 5.4 Conclusions -- References -- 6 Quasi-Periodic Shape-Morphing Mechanism Array Based on Penrose Tiles -- 6.1 Introduction -- 6.2 Background -- 6.2.1 Shape-Morphing Mechanisms -- 6.2.2 Colored Mechanism Graphs -- 6.2.3 Penrose Tiles -- 6.3 Method -- 6.4 Design and Analysis -- 6.5 Results -- 6.6 Conclusions -- References -- 7 Controlling Autonomous Robots: Metareasoning, Adjustable Autonomy, and Competence-Aware Systems -- 7.1 Introduction -- 7.1.1 Autonomy -- 7.1.2 Organization of This Paper -- 7.2 Approaches -- 7.2.1 Metareasoning -- 7.2.2 Adjustable Autonomy -- 7.2.3 Competence-Aware Systems -- 7.3 Discussion -- 7.3.1 Similarities -- 7.3.2 Distinctions -- 7.3.3 Guidance -- 7.4 Conclusion -- References -- 8 Biped Robot Terrain Adaptability Based on Improved SAC Algorithm -- 8.1 Introduction -- 8.2 Method -- 8.2.1 Improved SAC Algorithm -- 8.2.2 Design of Reward Function -- 8.3 Experiment -- 8.3.1 Experimental Environment -- 8.3.2 Experimental Results -- 8.4 Conclusion -- References -- 9 Global Reorientation of a Free-Fall Multibody System Using Reconstruction Loss-Based Deep Learning Method -- 9.1 Introduction -- 9.2 Multibody System Models and Problem Statements -- 9.3 Reconstruction Loss-Based Training Method -- 9.3.1 The Gradient of Reconstruction Loss -- 9.3.2 The Correction of Reconstruction Loss with Non-gradient Simulation Data -- 9.4 Simulation Implementation -- 9.5 Simulation Results and Discussions -- 9.6 Conclusion -- References -- 10 Performance Evaluation of a Variable Stiffness Joint Based on Electromagnetic Force Attraction -- 10.1 Introduction. ; 10.2 VSJ Concept and Prototype -- 10.2.1 Concept and Functionality -- 10.2.2 Theoretical Model -- 10.3 Experimental Setup -- 10.3.1 Experimental Methodology -- 10.3.2 Experimental Scenario -- 10.4 Performance Evaluation -- 10.4.1 Evaluation Categories -- 10.5 Conclusion -- References -- 11 A New 3R1T Parallel Robot with Remote Centre of Motion for Minimally Invasive Surgery -- 11.1 Introduction -- 11.2 Structure of the 3R1T Robot -- 11.3 Kinematic Analysis -- 11.3.1 3R1T Robot Coordinate System -- 11.3.2 Forward Kinematics for 3R Motion -- 11.3.3 Inverse Kinematics for 3R Motion -- 11.3.4 Kinematics for 1T Motion -- 11.3.5 Singularity Analysis and Dimensional Synthesis -- 11.3.6 Workspace and Cable Motion Range Analysis -- 11.4 Detailed Mechanical Design -- 11.4.1 Remote Centre of Motion (RCM) Structure -- 11.4.2 Remotely Actuated End-Effector -- 11.5 Prototype Realization -- 11.6 Conclusions -- References -- 12 Defining a Workspace Without Singular Configurations of 3-PRRS Type Tripod -- 12.1 Introduction -- 12.2 Workspace Without Singular Configurations -- 12.3 Numerical Results -- 12.4 Conclusion -- References -- 13 UAV Obstacle Mapping for Multi-UGV Exploration and Mapping -- 13.1 Introduction -- 13.2 Background -- 13.3 Methods -- 13.3.1 UAV Obstacle Detection -- 13.3.2 Obstacle Sharing with UGVs -- 13.4 Experimental Results -- 13.4.1 Obstacle Detection Positional Accuracy -- 13.4.2 Obstacle Detection Shape and Size Accuracy -- 13.4.3 Frequency of Obstacle Detection -- 13.4.4 Obstacle Avoidance -- 13.5 Conclusions -- References -- 14 Virtual and Physical Prototyping of the 4-DOF Delta-type Parallel Robot Based on the Criteria of Closeness to Singularity -- 14.1 Introduction -- 14.2 Desired Characteristics and Basic Dimensional Synthesis -- 14.3 Selecting Drive Parameters -- 14.4 Physical Prototype and Experiments -- 14.5 Conclusion -- References. ; 15 A Real-Time Algorithm for Computing the Tension Force in a Suspended Elastic Sagging Cable -- 15.1 Introduction -- 15.2 Mathematical Model -- 15.3 Existence and Uniqueness -- 15.4 Initial Guess Function -- 15.4.1 k> -- 1 -- 15.4.2 0 < -- kleq1 -- 15.5 Numerical Algorithm -- 15.6 Summary -- References -- 16 Reconfigurable Parallel Walking Mechanisms for Interaction with the Environment -- 16.1 Introduction -- 16.2 Background: Kinematic Synthesis of Walking Mechanisms for Interaction with the Environment -- 16.3 Design of an Eight-Bar Leg Mechanism -- 16.3.1 The Task Specification -- 16.3.2 The Synthesis Equations -- 16.3.3 The Design Equations -- 16.4 Creation of a Reconfigurable Wearable Prototype -- 16.4.1 Reconfiguration for Multiple Foot Trajectory Patterns -- 16.4.2 Ensuring Hip-Knee-Ankle Joint Coordination for the Natural Walking Teardrop Shape Trajectory -- 16.5 Preliminary Experimental Testing of the Performance of the RH-KAFO -- 16.6 Conclusions -- References -- 17 Design of a Robotic Rowboat -- 17.1 Introduction -- 17.2 Literature Review -- 17.3 Kinematic Synthesis of a Rowing Linkage -- 17.4 The Digital Prototype -- 17.5 The Physical Prototype -- 17.6 Results -- 17.7 Conclusion -- References -- 18 Constructing Kinematic Confidence Regions with Double Quaternions -- 18.1 Introduction -- 18.2 Two Interpretations of Unit Quaternion -- 18.3 Dual Quaternion and Double Quaternion -- 18.4 Kinematic Covariance and Confidence Ellipsoids -- 18.5 Examples -- 18.5.1 Example 1: Exact Screw Displacement Data -- References -- 19 Design and Implementation of a Control System Architecture for a Hexapod Walking Machine -- 19.1 Introduction -- 19.1.1 Related Works -- 19.2 Control System Design -- 19.2.1 Mechanical Design -- 19.2.2 Control Advancements -- 19.3 Testing and Results -- 19.4 Closing -- References.
• Titolo autorizzato: Proceedings of MSR-RoManSy 2024
• ISBN: 3-031-60618-3
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910864185503321
• Lo trovi qui: Univ. Federico II
• Serie: Mechanisms and Machine Science Series