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Author: Marco Ceccarelli Publisher: MDPI ISBN: 3039210580 Category : Technology & Engineering Languages : en Pages : 210
Book Description
MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world. The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications. This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
Author: Marco Ceccarelli Publisher: MDPI ISBN: 3039210580 Category : Technology & Engineering Languages : en Pages : 210
Book Description
MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world. The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications. This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
Author: Saïd Zeghloul Publisher: Springer Nature ISBN: 3030752712 Category : Technology & Engineering Languages : en Pages : 334
Book Description
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.
Author: Jadran Lenarcic Publisher: Springer Science & Business Media ISBN: 9400745222 Category : Technology & Engineering Languages : en Pages : 342
Book Description
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
Author: Ting-Li Yang Publisher: Springer ISBN: 9811055327 Category : Technology & Engineering Languages : en Pages : 249
Book Description
This book focuses on the topology theory of mechanisms developed by the authors and provides a systematic method for the topology design of robot mechanisms. The main original theoretical contributions of this book include: A. Three basic concepts · The “geometrical constraint type of axes” is introduced as the third element of the topological structure of a mechanism. When it is combined with the other two elements, the kinematic pair and the connection of links, the symbolic expression of the topological structure is independent of the motion positions (except for the singularity positions) and the fixed coordinate system (Chapter 2). · The position and orientation characteristic (POC) set is used to describe the POC of the relative motion between any two links. The POC set, derived from the unit vector set of the velocity of a link, is only depend on the topological structure of a mechanism. Therefore, it is also independent of the motion positions and the fixed coordinate system (Chapter 3). · The single open chain (SOC) unit is the base unit of the topological structure used to develop the four basic equations of the mechanism topology (Chapters 2, 4–6). B. The mechanism composition principle based on the SOC units This book proposes a mechanism composition principle, based on the SOC units, to establish a systematic theory for the unified modeling of the topology, kinematics, and dynamics of mechanisms based on the SOC units (Chapter 7). C. Four basic equations • The POC equation of serial mechanisms with 10 symbolic operation rules (Chapter 4). • The POC equation of parallel mechanisms with 14 symbolic operation rules (Chapter 5). • The general DOF formula for spatial mechanisms (Chapter 6). • The coupling degree formula for the Assur kinematic chain (Chapter 7). D. One systematic method for the topology design of robot mechanisms (Chapters 8–10) Based on the three basic concepts and the four basic equations addressed above, this book puts forward a systematic method for the topology design of parallel mechanisms, which is fundamentally different from all existing methods. Its main characteristics are as follows: • The design process includes two stages: the first is structure synthesis, which derives many structure types; the second involves the performance analysis, classification and optimization of structure types derived from the first stage. • The design operation is independent of the motion positions and the fixed coordinate system. Therefore, the proposed method is essentially a geometrical method, which ensures the full-cycle DOF and the generality of geometric conditions of mechanism existence. • Each individual design step follows an explicit formula or the guidelines for design criteria, making the operation simple, feasible and reproducible. In addition, the topology design of the SCARA PMs is studied in detail to demonstrate the proposed method (Chapter 10).
Author: Shaoping Bai Publisher: Springer ISBN: 3319181262 Category : Technology & Engineering Languages : en Pages : 430
Book Description
This volume contains the Proceedings of the 3rd IFToMM Symposium on Mechanism Design for Robotics, held in Aalborg, Denmark, 2-4 June, 2015. The book contains papers on recent advances in the design of mechanisms and their robotic applications. It treats the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications, among others. The book can be used by researchers and engineers in the relevant areas of mechanisms, machines and robotics.
Author: Tao Sun Publisher: Springer Nature ISBN: 9811519447 Category : Technology & Engineering Languages : en Pages : 411
Book Description
This book presents a finite and instantaneous screw theory for the development of robotic mechanisms. It addresses the analytical description and algebraic computation of finite motion, resulting in a generalized type synthesis approach. It then discusses the direct connection between topology and performance models, leading to an integrated performance analysis and design framework. The book then explores parameter uncertainty and multiple performance requirements for reliable, optimal design methods, and describes the error accumulation principle and parameter identification algorithm, to increase robot accuracy. It proposes a unified and generic methodology, and appliesto the invention, analysis, design, and calibration of robotic mechanisms. The book is intended for researchers, graduate students and engineers in the fields of robotic mechanism and robot design and applications./div
Author: Simon Henein Publisher: Epfl Press ISBN: 9782940222568 Category : Flexure Languages : en Pages : 0
Book Description
Mechanism constitute the mechanical organs of machines. They are generally composed of rigid segments connected to each other by articulated joints. The function of the joints is to act as bearings, i.e. to constraint the relative motion of the segments it connects, while leaving a freedom of motion in some specific directions. Conventional mechanisms rely on sliding or rolling motions between solid bodies in order to fulfill the bearing function. Consequently, these bearings exhibit friction forcers limiting the motion precision, they require lubrication, they undergo wear, they produce debris and they have a limited lifetime. Flexure mechanisms rely on a radically different physical principle to fulfill the bearing function : the elastic deformation of beams and membranes. This gets around the above-mentioned limitations. The rigid segments of the mechanism are connected to each other via elastically deformable joints called flexures which are springs whose stiffnesses are designed to be very high in the directions where the joint has to constrain relative motion and very flexile in the directions where freedom of motion is required. As a result, mechanisms can be manufactured monolithically and, by proper choice of materials and geometry of the flexures, lead to lifetimes of tens of millions of cycles without any wear or change in the geometry or forces of motion. Thanks to these unique properties flexure mechanisms have become an inescapable technology in all environments where friction, lubrication, wear, debris or mechanical backlash are forbidden : outer space, vacuum, cryogenics, high radiation, ultra-clean environments, etc. This book comes within the scope of this technological evolution. It gathers the knowledge of experts in flexure mechanisms design having worked in the key fields of high precision robotics, aerospace mechanisms, particle accelerators and watch making industry. It is dedicated to engineers, scientists and students working in these fields. The book presents the basic principles underlying flexure mechanism design, the most important flexures and the key formulas for their proper design. It also covers more general aspects of the kinematic design of multi-degrees of freedom mechanism exploiting the state of the art approaches of parallel kinematics. A wide variety of concrete examples of systems designed based on theses approaches are presented in details. in the directions where the joint has to constrain relative motion and very flexile in the directions where freedom of motion is required. As a result, mechanisms can be manufactured monolithically and, by proper choice of materials and geometry of the flexures, lead to lifetimes of tens of millions of cycles without any wear or change in the geometry or forces of motion. Thanks to these unique properties flexure mechanisms have become an inescapable technology in all environments where friction, lubrication, wear, debris or mechanical backlash are forbidden : outer space, vacuum, cryogenics, high radiation, ultra-clean environments, etc. This book comes within the scope of this technological evolution. It gathers the knowledge of experts in flexure mechanisms design having worked in the key fields of high precision robotics, aerospace mechanisms, particle accelerators and watch making industry. It is dedicated to engineers, scientists and students working in these fields. The book presents the basic principles underlying flexure mechanism design, the most important flexures and the key formulas for their proper design. It also covers more general aspects of the kinematic design of multi-degrees of freedom mechanism exploiting the state of the art approaches of parallel kinematics. A wide variety of concrete examples of systems designed based on theses approaches are presented in details.les underlying flexure mechanism design, the most important flexures and the key formulas for their proper design. It also covers more general aspects of the kinematic design of multi-degrees of freedom mechanism exploiting the state of the art approaches of parallel kinematics. A wide variety of concrete examples of systems designed based on theses approaches are presented in details.
Author: Lung-Wen Tsai Publisher: CRC Press ISBN: 9781420058420 Category : Technology & Engineering Languages : en Pages : 332
Book Description
Traditionally, mechanisms are created by designer's intuition, ingenuity, and experience. However, such an ad hoc approach cannot ensure the identification of all possible design alternatives, nor does it necessarily lead to optimum design. Mechanism Design: Enumeration of Kinematic Structures According to Function introduces a methodology for systematic creation and classification of mechanisms. With a partly analytical and partly algorithmic approach, the author uses graph theory, combinatorial analysis, and computer algorithms to create kinematic structures of the same nature in a systematic and unbiased manner. He sketches mechanism structures, evaluating them with respect to the remaining functional requirements, and provides numerous atlases of mechanisms that can be used as a source of ideas for mechanism and machine design. He bases the book on the idea that some of the functional requirements of a desired mechanism can be transformed into structural characteristics that can be used for the enumeration of mechanisms. The most difficult problem most mechanical designers face at the conceptual design phase is the creation of design alternatives. Mechanism Design: Enumeration of Kinematic Structures According to Function presents you with a methodology that is not available in any other resource.
Author: Jingshan Zhao Publisher: Academic Press ISBN: 9780128101773 Category : Computers Languages : en Pages : 0
Book Description
Advanced Theory of Constraint and Motion Analysis for Robot Mechanisms provides a complete analytical approach to the invention of new robot mechanisms and the analysis of existing designs based on a unified mathematical description of the kinematic and geometric constraints of mechanisms. Beginning with a high level introduction to mechanisms and components, the book moves on to present a new analytical theory of terminal constraints for use in the development of new spatial mechanisms and structures. It clearly describes the application of screw theory to kinematic problems and provides tools that students, engineers and researchers can use for investigation of critical factors such as workspace, dexterity and singularity.
Author: Marco Ceccarelli
Author: Marco Ceccarelli
Author: Saïd Zeghloul
Author: Jadran Lenarcic
Author: Erwin-Christian Lovasz
Author: Ting-Li Yang
Author: Shaoping Bai
Author: Tao Sun
Author: Simon Henein
Author: Lung-Wen Tsai
Author: Jingshan Zhao