New Advances in Mechanisms, Mechanical Transmissions and Robotics: MTM & Robotics 2020 3030600750, 9783030600754

Table of contents :
Preface
Organization
Conference Chair
Conference Co-chairs
International Scientific Committee
Organizing Committee
With the Support of
Contents
Mechanisms and Robotics
Singularity Loci of a Particular IRI 3-UPU Geometry
Abstract
1 Introduction
2 Background and Notations
3 Singularity Analysis
3.1 Rotation (Constraint) Singularities
3.2 Translation Singularities
4 Conclusions
Acknowledgments
References
Optimal Task Placement for Energy Minimization in a Parallel Manipulator
Abstract
1 Introduction
2 Dynamic and Electro-Mechanical Models
3 Proposed Method for the Optimal Task Placement
4 Case Study
5 Results
6 Conclusions
References
A Numerical Procedure for Position Analysis of a Robotic Structure. Part I: General Methodology
Abstract
1 Introduction
2 Modified Methodology. Problem Statement
3 Solving the Problem. Corrections
4 Conclusions
References
A Numerical Procedure for Position Analysis of a Robotic Structure. Part II: 3C Robotic Arm Illustration
Abstract
1 General Remarks
2 Applying the Methodology for a Robotic Arm with Three Cylindrical Pairs
3 Improved Methodology for the Correction of Initial Parameters
4 Conclusions
Appendix
References
The Effect of Position and Orientation Characteristic on the Forward Position Solution of Parallel Mechanisms
Abstract
1 Introduction
2 Topology Analysis of PM
2.1 Topological Design
2.2 Analysis of Topology Characteristics
3 Position Analysis
3.1 The Coordinate System and Parameterization
3.2 Forward Kinematics
4 Conclusions
Acknowledgement
References
The Effect of the Type of Sub-kinematic Chains on the Forward Position Solutions of Parallel Mechanisms
Abstract
1 Introduction
2 Method for FPS Based on SKC
2.1 Basic Principle for FPS Based on SKC
2.2 Position Solution of SKC Unit
3 Case Analysis
3.1 Topological Analysis of 5-DOF 2T3R PM
3.2 Position Analysis
4 Conclusions
References
Development of a Total Inspection System for Peaches
Abstract
1 Introduction
2 Peach Inspection
2.1 Current Checking Procedure
2.2 Peach Internal Inspection System
3 New Devices for Peach Surface Inspection System
3.1 Arrangement of Devices
3.2 Air Blower Device
3.3 Camera Device
3.4 Handling Unit
4 Experiments
4.1 Detection Performance of an Inspection Camera Device
4.2 Evaluation of a Handling Motion
4.3 Improvement of End Effector and Its Performance Test
5 Conclusions
Acknowledgment
References
Position Analysis of a Novel Translational 3-URU with Actuators on the Base
Abstract
1 Introduction
2 Description of the LaMaViP 3-URU
3 Kinematic Analysis of the Actuation Device
4 Position Analysis
4.1 Inverse Position Analysis
4.2 Direct Position Analysis
5 Conclusions
Acknowledgments
References
Design and Development of a Robotic Hexapod Platform for Educational Purposes
Abstract
1 Introduction
2 Design and Development of the Mechanical and Electrical Concept
3 Structural Optimization of the Robotic Hexapod Platform
3.1 Experimental Results: The Developed Prototype, Functional Simulation, Test Results and Limitations
3.2 Final Design
4 Conclusions and Discussions
References
Dual Least Squares and the Characteristic Length: Applications to Kinematic Synthesis
1 Introduction
2 Background on Dual Numbers
3 Application of the Characteristic Length
4 Application to Kinematic Synthesis
4.1 Solutions and Comparison
5 Conclusions
References
Origami-Inspired Design of a Deployable Wheel
Abstract
1 Introduction
2 Design
2.1 Introduction of the Selected Origami Pattern
2.2 Deployable Mechanism Design
2.3 Actuation Mechanism Design
3 Implementation
3.1 Wheel Profile Management
3.2 Prototype
4 Conclusion
Acknowledgement
References
An Experimental Survey on the Odometric Error of Mecanum Wheeled Mobile Robots
1 Introduction
2 Mathematical Formulation and Experiment Design
2.1 Statistical Analysis
2.2 Experimental Setup
3 Results and Discussion
4 Conclusion
References
Usability of a Compliant Deltoid Mechanism as a Motion Transmission in Civil Engineering Machinery
Abstract
1 Introduction and State of the Art
2 Classical Rigid-Body Mechanisms
2.1 Slider Crank
2.2 Double Slider Mechanism
2.3 Deltoid Mechanism
2.4 Discussion
3 Compliant Deltoid Mechanism Concept for a Vibrating Tamper Demonstrator
3.1 Motivation and Requirements
3.2 Compliant Deltoid Mechanism Concept, Material, and Process
3.3 Finite Element Model of the Compliant Deltoid Mechanism
4 Validation of the Applicability of the Compliant Deltoid Mechanism
4.1 Manufactured Compliant Deltoid Mechanism Demonstrator
4.2 Optical Measurement of Motion and Deflection
4.3 Comparison of the Experimental and FE Model Results
5 Discussion and Conclusion
Acknowledgments
References
A New General Methodology for the Topological Structure Analysis of Multiloop Mechanisms with Multiple Joints and Crossing Links
Abstract
1 Introduction
2 Basic Conceptual Methodology
3 General Topology and Mobility Analysis of Multiloop Mechanism with Numerous Links and Independent Loops
4 General Topology and Mobility Analysis of Multiloop Mechanism with Numerous Multiple Joints
5 Topological Structure Analysis of Multiloop Mechanism with Numerous Crossing Links
6 Conclusions
Acknowledgments
References
A New Modelling Approach to Determine the DOF of Compliant Mechanisms
Abstract
1 Preliminary Considerations and State of Science
1.1 Brief Introduction to the Analysis of the DOF of Planar Mechanisms
1.2 Nomenclature of Compliant Mechanisms
1.3 Short Summary on the PRBM-Approach
2 Calculation the Mechanism DOF Using PRBM
3 Extended Substitute Model
4 Conclusion
Acknowledgement
References
Design and Development of a Search and Rescue Robot with TriSTAR Locomotion Units
Abstract
1 Introduction
2 Description of the Search and Rescue Mobile Robot
3 TriSTAR Locomotion Unit
3.1 Design Relationships
4 Operation and Control of the Robot
5 Development Directions
6 Conclusions
References
Design and Simulation of Gait Rehabilitation Parallel Robotic System
Abstract
1 Introduction
2 A Brief Classification of a Gait Rehabilitation Device
3 Design of Hip-Knee Module of RECOVER System
3.1 The Design of Hip-Knee (HK) Module
3.2 The Design of Ankle Module
4 Performance Simulation of RECOVER Rehabilitation System
5 Testing Procedures for RECOVER Rehabilitation Robot
6 Conclusions
Acknowledgment
References
Study on High Productivity Manufacturing Line for Deo Roll Balls
Abstract
1 Introduction
2 Manufacturing Process
3 High Productivity Manufacturing Line
3.1 Concept of the Complete Manufacturing Line
3.2 Design of the End Cylindrical Cams
4 Conclusions
Aknowledgements
References
An Overview of Grippers in Agriculture Robotic Systems
Abstract
1 Introduction
2 Robotic Systems for Smart Farming
3 Robotic Systems for Smart Farming
3.1 Current Situation with Harvesting
3.2 Summary of Techno-Functional Gripper Properties
3.3 Classifications Based on Gripper Properties
4 Conclusions
References
Evaluation by Simulation of Reaction Forces that Occur in Spherical Joints of Parallel Topology Robots
Abstract
1 Introduction
2 Geometrical Model of the Parallel Topology Robot
3 Simulation of Parallel Topology Robot Motion
4 Conclusions
References
Dynamic Modelling of an Isoglide T3 Type Parallel Robot
Abstract
1 Introduction
2 Problem Formulation
3 Geometric and Kinematic Modelling
4 Dynamic Modelling
4.1 Inverse Dynamic Models of the Robotic Arms
4.2 Inverse Dynamic Model of the End-Effector Platform
4.3 Projection of the Dynamic Equations in the Force Space of the Active Joints
5 Simulation Results
6 Conclusion
References
Kinematics of the Planar Parallel Manipulator Using Geared Slider-Crank with Linear Actuation as Legs 3-R(PRRGR)RR
Abstract
1 Introduction
2 Design of the Novel Planar Parallel Manipulator
3 Kinematics Analysis of 3-R(PRRGR)RR Chain
3.1 Forward Positional Kinematic
3.2 Inverse Positional Kinematic
4 Measurements and Simulations
4.1 Translation Along the X-Axis
4.2 Translation Along the Y-Axis
4.3 Rotation Around Z-Axis
4.4 Combined Motion
5 Conclusions
References
Model-Free Continuous to Discrete Workspace Transformation and Path Planning of a 2DOF Serial Arm for Visual Obstacle Avoidance
Abstract
1 Introduction
2 Method for Obtaining a Discrete Subspace from the Continuous Workspace
3 Path Planning and Object Detection in the Workspace
3.1 Path Planning Algorithm
3.2 Object Detection in Workspace
4 System Design
5 Conclusion
Acknowledgment
References
Mechanical Transmissions and Machine Parts
Design of an IR Objective (5 µm - 10 µm)
Abstract
1 Introduction
2 Algorithm and Software Application
3 Numerical Application
4 Conclusions
References
Meshing Limit Line of Offset Normal Arc-Toothed Cylindrical Worm Drive
Abstract
1 Introduction
2 Mathematic Model of Offset Normal Arc-Toothed Cylindrical Worm Drive
2.1 Equation of Helicoid of Offset Normal Arc-Toothed Cylindrical Worm
2.2 Equation of Tooth Surface of Worm Gear
3 Computation of Meshing Limit Line of Worm Drive
4 Numerical Case
5 Conclusions
Acknowledgments
References
Optimized FE Model for System-Level Solder Joint Reliability Analysis of a Flip-Chip Ball Grid Array Package
Abstract
1 Background
1.1 State of the Art
1.2 Scope
1.3 Solder Constitutive Model and Strain Energy Density Ratio Approach
2 Investigated Assemblies
3 Finite Element Models
3.1 Complex Models
3.2 Optimized Models
4 Results and Conclusions
References
Relationship Between Rotational Angle and Time-Synchronous-Averaged Meshing Vibration of Plastic Gears
Abstract
1 Introduction
2 Experimental Device, Test Gear and Measured Data
2.1 Gear Operating Test Rig
2.2 Test Gear
2.3 Data Acquisition
3 Time-Synchronous Averaging of Meshing Vibration
3.1 Gaussian Filter
3.2 Signal Cutout and Re-sampling
3.3 Time-Synchronous Average
4 Features of Tooth Root Crack in Averaged Acceleration Data
4.1 Influence of Tooth Root Crack on Amplitude Modulation
4.2 Features of Damage in Gear Meshing Vibration and Rotation Angle Estimated from Side-View Images
5 Conclusion
References
Aspects Regarding the Evaluation of the Gearing Tooth Stiffness
Abstract
1 Introduction
2 Contact of the Deformable Gearing with Errors
3 Load Distribution Along the Line of Contact
4 Gearing Tooth Stiffness Calculation
4.1 Bases of Design
5 Evaluating Gearing Stiffness Using Contact Analysis
6 Conclusions
References
Tolerance Analysis of an Over-Constrained Assembly with Press-Fit Solderless Electric Contact Pins
Abstract
1 Introduction
2 The Definition of the Tolerance Chain
2.1 Assembly Description
2.2 Tolerance Chain Description
2.3 Relevant Positions and Tolerance Definition
3 Worst-Case Calculation (WC)
4 Deviation Analysis with Monte Carlo Simulation
4.1 Over-Constrained Virtual Spring (VS) Model Definition
4.2 Definition of Numerical Model
5 Results from Monte Carlo Simulation
5.1 Position Tolerances of PCB Relative to Stator
5.2 Position Tolerances of IC Relative to Stator
5.3 Comparing Results
6 Conclusions
References
Contact Stress of the Contact Region of a Cam Mechanism with a Flat-Faced and Spherical-Faced Follower
Abstract
1 A Cam Mechanism with a Flat-Faced and Spherical-Faced Follower
2 Contact Modelling Using FEM
3 Conclusions
Acknowledgments
References
SIG Machining Center Renovation
Abstract
1 Introduction
2 Drive Replacement and Design Changes
2.1 Axis C
2.2 Axis V
2.3 Axis Z
2.4 Axis U
3 Electrical Adjustments
3.1 Wiring and Replacements
3.2 Electrical Design Documentation
4 Test Control System
4.1 Manual Mode
4.2 Technologies Control Mode
4.3 Test CAM Mode
5 Conclusion
References
The Stress and Life Tests of Coatings of Linear Dovetail Guide
Abstract
1 Introduction
2 The Stress and Durability-Life Tests
2.1 Analysis of Pitting Formation
2.2 The Positional Accuracy and Mechanism Clearance Analysis
2.3 Energy Performance Analysis
3 Conclusion
References
Sliding at the Cam Mechanisms
Abstract
1 Introduction
2 Slide/Roll Ratio SRR
3 Cam and Roller Follower
4 Principle of the Sliding Formation
5 Service Life and SRR
6 Cam and Other Types of Follower
7 Surface Damage
8 Wear Mechanisms
9 Protection Against Surface Damage
10 Conclusions
References
Bending Critical Speed Determination of a Shaft Carrying Multiple Rotors by Vibroacustical Signal Analysis
Abstract
1 Introduction
2 Analytical Development
3 Modal Analysis
4 Experimental Measurement
5 Results and Discussions
6 Conclusions
References
Yarn Tension Control During Weaving Process
Abstract
1 Introduction
2 Weaving Machine
3 Yarn Tension Control
3.1 Warp Controller to Control Tension
3.2 Axis Mode
3.3 Diameter Calculation
4 Results of Control Tension
4.1 Synchronization
4.2 Positioning
4.3 Slow Forward Moving
4.4 Run
5 Conclusion
References
IC Engine: Increasing Efficiency by Using Epicyclic Non-circular Gear Train
Abstract
1 Introduction
2 State of the Art
3 Modified Piston-Crank Mechanism
3.1 Modification
3.2 Kinematics
4 Motion Simulation and Results
5 Conclusion
References
Interference Fits. Bearing Capacity Under Complex Loading – FEM Analysis
Abstract
1 Introduction
2 FEM Modelling and Simulation
2.1 Concept
2.2 Step 1. Simulation of Interference and Validation of the Model
2.3 Step 2. Simulation of Simple and Complex Loadings
2.3.1 Axial Bearing Capacity
2.3.2 Tangential Bearing Capacity
2.4 Bearing Capacity Under Axial and Tangential Loading
3 Conclusions
References
Mechatronics
Continuum Arm Control with Constraints on the Driving Forces via Fractional Order Models
Abstract
1 Introduction
2 Continuum Arm Architecture
3 Arm Dynamics
4 Control System
4.1 Light Weight Continuum Arm
4.2 Continuum Arm with Gravitational Components
5 Simulations
6 Experimental Results
7 Conclusions
References
Fusion Sensors Experiment for Active Cruise Control
Abstract
1 Introduction
2 Active Cruise Control Based on Fusion Sensor
2.1 Speed Control Based on Intelligent Systems
2.2 Distance Measurement Using Camera
2.3 Distance Measurement Using Ultrasonic Sensor
2.4 Fusion Sensor
3 Experiment Setup
3.1 Intelligent Camera
3.2 Arduino Robot with Camera and Ultrasonic Sensor
4 Results and Conclusion
References
Robot Soldering Positions Correction with Cognex Vision Camera
Abstract
1 Introduction
2 Description of the Application
2.1 Introduction
2.2 Description of the Upgrade Kit and Installation
2.3 Camera Focus Adjustment
3 Camera Calibration
4 Implementation in the Soldering Program
5 Conclusions
References
A Mechatronic System for Automatized Inspection of Powerline Transmission
Abstract
1 Introduction
2 The Proposed Concept
3 Performance Simulations
3.1 Kinematics and Trajectory Planning
3.2 Dynamic Analysis
4 Operation and Control Architecture
5 Preliminary Experimental Test
6 Conclusions
Acknowledgements
References
Robotic Palletization with Camera Position Determination
Abstract
1 Introduction
2 The Robotic Seven Axis PLC System
3 Multi-function Gripper Designed for Gripping and Simultaneous Vision Process
4 Vision Processes
4.1 Paper Box with the Method of Joining Multiple Images Together
4.2 Plastic Box with the Method of Determining the Offset Z Using the Scale
5 Safety Dual Check System
6 Conclusion
References
Implementation of Manipulator with Rotary and Translational Axis Using Electronic Cams
Abstract
1 Introduction
2 Manipulator Design
3 Movement Along the Original Trajectory
4 Movement Along a Modified Trajectory
5 Implementation of the Control System
6 Reduction of Positional Errors by Adjusting the Displacement Diagram
7 Conclusion
References
Study on the Fuel Consumptions Using Traffic Simulation with Example of City Duisburg
Abstract
1 Introduction
2 Traffic Scenario of City Duisburg
2.1 Road Network
2.2 Traffic Demand
3 Modeling of Driver and Vehicle
3.1 Driver Modeling
3.2 ICEV Powertrain and Braking System Modeling
3.3 Vehicle Modeling
4 Simulation with SUMO and MATLAB
5 Conclusion
References
The Analysis of the Dynamic Behavior of a Tire Pressure Sensor
Abstract
1 Introduction
2 Mathematical Modeling of the Dynamic Behavior of a Pressure Sensor
3 Numerical Simulations
4 Conclusions
References
Biomechanics
Investigations on the Human Body and Seat Suspension Response Using Quarter, Half and Full Car Models
Abstract
1 Introduction
2 Mathematical Modelling
3 Seat Suspension System
3.1 Seat Suspension Configuration
3.2 Performance Evaluation
4 Road Input Modelling
4.1 Random Road Disturbance
4.2 Bump Road Profile
5 Results and Discussion
5.1 Random Road Profile
5.2 Bump Road Profile
6 Conclusions
References
Efficient FEM Based Optimization of a Parallel Robotic System for Upper Limb Rehabilitation
Abstract
1 Introduction
2 The ParReEx-Wrist Robot for the Medical Recovery of the Wrist Joint
3 FEM Analysis
4 Experimental Tests
5 Conclusions
Acknowledgment
References
Automatic Arterial Puncture Sensorial Device for Fast Arterial Blood Gas Sampling from Radial Artery During Covid-19 Pandemic
Abstract
1 Introduction and Related Works
2 Design Methodology
3 Overall Design of the Automatic Arterial Puncture Sensorial Device - AUSmart-Astrup
4 Conclusions and Discussions
References
On the Measurement of Dynamic Stability of Normal and Osteoarthritic Human Knee During Ascending and Descending the Stairs
Abstract
1 Introduction
2 Experimental Study
3 Results
4 Dynamic Analysis
5 Discussions and Conclusions
References
Modeling and Simulation of Biomechanical Behavior of Ankle Ligaments with Applications in Vibration Therapy
Abstract
1 Introduction
2 Elasto-Viscoplastic Models with Elastic Return
3 The Principle of Relaxation Through Vibration
4 Vibration Analysis of Tissues with Elastoviscoplastic Behavior
5 Case Study
6 Conclusions
References
Author Index