Author: Tobias Bruckmann Publisher: Springer Science & Business Media ISBN: 3642319874 Category : Technology & Engineering Languages : en Pages : 443
Book Description
Gathering presentations to the First International Conference on Cable-Driven Parallel Robots, this book covers classification and definition, kinematics, workspace analysis, cable modeling, hardware/prototype development, control and calibration and more.
Author: Khaled Mohamed Youssef Publisher: ISBN: Category : Languages : en Pages :
Book Description
Due to the fast growth in industry and in order to reduce manufacturing budget, increase the quality of products and increase the accuracy of manufactured products in addition to assure the safety of workers, people relied on mechanisms for such purposes. Recently, cable driven parallel mechanisms (CDPMs) have attracted much attention due to their many advantages over conventional parallel mechanisms, such as the significantly large workspace and the dynamics capacity. In addition, it has lower mass compared to other parallel mechanisms because of its negligible mass cables compared to the rigid links. In many applications it is required that human interact with machines and robots to achieve tasks precisely and accurately. Therefore, a new domain of scientific research has been introduced, that is human robot interaction, where operators can share the same workspace with robots and machines such as cable driven mechanisms. One of the main requirements due to this interaction that robots should respond to human actions in accurate, harmless way. In addition, the trajectory of the end effector is coming now from the operator and it is very essential that the initial trajectory is kept unchanged to perform tasks such assembly, operating or pick and place while avoiding the cables to interfere with each other or collide with the operator. Accordingly, many issues have been raised such as control, vibrations and stability due the contact between human and robot. Also, one of the most important issues is to guarantee collision free space (to avoid collision between cables and operator and to avoid collisions between cables itself). The aim of this research project is to model, design, analysis and implement reconfigurable six degrees of freedom parallel mechanism driven by eight cables. The main contribution of this work will be as follow. First, develop a nonlinear model and solve the forward and inverse kinematics issue of a fully constrained CDPM given that the attachment points on the rails are moving vertically (conventional cable driven mechanisms have fixed attachment points on the rails) while controlling the cable lengths. Second, the new idea of reconfiguration is then used to avoid interference between cables and between cables and operator limbs in real time by moving one cable's attachment point on the frame to increase the shortest distance between them while keeping the trajectory of the end effector unchanged. Third, the new proposed approach was tested by creating a simulated intended cable-cable and cable-human interference trajectory, hence detecting and avoiding cable-cable and cable-human collision using the proposed real time reconfiguration while maintaining the initial end effector trajectory. Fourth, study the effect of relocating the attachment points on the constant-orientation wrench feasible workspace of the CDPM. En raison de la croissance de la demande de produits personnalisés et de la nécessité de réduire les coûts de fabrication tout en augmentant la qualité des produits et en augmentant la personnalisation des produits fabriqués en plus d'assurer la sécurité des travailleurs, les concepteurs se sont appuyés sur des mécanismes robotiques afin d'atteindre ces objectifs. Récemment, les mécanismes parallèles entraînés par câble (MPEC) ont attiré beaucoup d'attention en raison de leurs nombreux avantages par rapport aux mécanismes parallèles conventionnels, tels que l'espace de travail considérablement grand et la capacité dynamique. De plus, ce mécanisme a une masse plus faible par rapport à d'autres mécanismes parallèles en raison de ses câbles de masse négligeable comparativement aux liens rigides. Dans de nombreuses applications, il est nécessaire que l'humain interagisse avec les machines et les robots pour réaliser des tâches avec précision et rapidité. Par conséquent, un nouveau domaine de recherche scientifique a été introduit, à savoir l'interaction humain-robot, où les opérateurs peuvent partager le même espace de travail avec des robots et des machines telles que les mécanismes entraînés par des câbles. L'une des principales exigences en raison de cette interaction que les robots doivent répondre aux actions humaines d'une manière sécuritaire et collaboratif. En conséquence, de nombreux problèmes ont été soulevés tels que la commande et la stabilité dues au contact physique entre l'humain et le robot. Aussi, l'un des enjeux les plus importants est de garantir un espace sans collision (pour éviter les collisions entre des câbles et un opérateur et éviter les collisions entre les câbles entre eux). Le but de ce projet de recherche est de modéliser, concevoir, analyser et mettre en œuvre un mécanisme parallèle reconfigurable à six degrés de liberté entraîné par huit câbles. La principale contribution de ces travaux de recherche est de développer un modèle non linéaire et résolvez le problème de cinématique direct et inverse d'un CDPM entièrement contraint étant donné que les points d'attache sur les rails se déplacent verticalement (les mécanismes entraînés par des câbles conventionnels ont des points d'attache fixes sur les rails) tout en contrôlant les longueurs des câbles. Dans une deuxième étape, l'idée de la reconfiguration est ensuite utilisée pour éviter les interférences entre les câbles et entre les câbles et les membres d'un opérateur en temps réel en déplaçant un point de fixation du câble sur le cadre pour augmenter la distance la plus courte entre eux tout en gardant la trajectoire de l'effecteur terminal inchangée. Troisièmement, la nouvelle approche proposée a été évaluée et testée en créant une trajectoire d'interférence câble-câble et câble-humain simulée, détectant et évitant ainsi les collisions câble-câble et câble-humain en utilisant la reconfiguration en temps réel proposée tout en conservant la trajectoire effectrice finale. Enfin la dernière étape des travaux de recherche consiste à étudiez l'effet du déplacement des points d'attache sur l'espace de travail réalisable du CDPM.
Author: Jadran Lenarčič Publisher: Springer Science & Business Media ISBN: 9048192625 Category : Technology & Engineering Languages : en Pages : 551
Book Description
The ?rst International Meeting of Advances in Robot Kinematics, ARK, occurred in September 1988, by invitation to Ljubljana, Slovenia, of a group of 20 int- nationally recognized researchers, representing six different countries from three continents. There were 22 lectures and approximately 150 attendees. This success of bringing together excellent research and the international community, led to the formation of a Scienti?c Committee and the decision to repeat the event biannually. The meeting was made open to all individuals with a critical peer review process of submitted papers. The meetings have since been continuously supported by the Jozef ? Stefan Institute and since 1992 have come under patronage of the Inter- tionalFederationforthePromotionofMechanismandMachineScience(IFToMM). Springer published the ?rst book of the series in 1991 and since 1994 Kluwer and Springer have published a book of the presented papers every two years. The papers in this book present the latest topics and methods in the kinem- ics, control and design of robotic manipulators. They consider the full range of - botic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. The meeting included recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, the analysis, modeling and simulation of human body motion, the mobility analysis of protein molecules and the development of systems which integrate man and - chine.
Author: Alain Berthoz Publisher: Odile Jacob ISBN: 2738147453 Category : Science Languages : en Pages : 194
Book Description
“Simplexity, as I understand it, is the range of solutions living organisms have found, despite the complexity of natural processes, to enable the brain to prepare an action and plan for the consequences of it. These solutions are simplifying principles that enable the processing of information or situations, by taking into account past experience and anticipating the future. They are neither caricatures, shortcuts, or summaries. They are new ways of asking questions, sometimes at the cost of occasional detours, in order to achieve faster, more elegant, more effective actions.” A. B. As Alain Berthoz demonstrates in this profoundly original book, simplicity is never easy; it requires suppressing, selecting, connecting, thinking, in order to then act in the best way possible. And what if we, in turn, are inspired by the living world to process the complexity that surrounds us? Alain Berthoz is professor at the Collège de France where he is co-director of the Laboratoire de physiologie de la perception et de l’action. [Laboratory for the physiology of perception and action]. He is a member of the French Academy of Sciences, and is the author of Le Sens du mouvement [The Brain's Sense of Movement] and La Décision [Emotion and Reason].
Author: Alain Berthoz Publisher: Harvard University Press ISBN: 9780674009806 Category : Medical Languages : en Pages : 356
Book Description
This interpretation of perception and action allows Alain Berthoz to focus on psychological phenomena: proprioception and kinaesthesis; the mechanisms that maintain balance and co-ordination actions; and basic perceptual and memory processes involved in navigation.
Author: A. Berthoz Publisher: Oxford University Press, USA ISBN: 9780198566267 Category : Action theory Languages : en Pages : 0
Book Description
(Play It Like It Is). Matching folio to the album DMB created in tribute to LeRoi Moore, their saxophonist who died in a 2008 accident. The All Music Guide calls it DMB's "richest, and quite possibly best" album to date. 12 songs: Alligator Pie * Baby Blue * Dive In * Funny the Way It Is * Lying in the Hands of God * Seven * Shake Me like a Monkey * Spaceman * Squirm * Time Bomb * Why I Am * You & Me.
Author: Tim Crook Publisher: Routledge ISBN: 113460694X Category : Social Science Languages : en Pages : 309
Book Description
Radio Drama brings together the practical skills needed for radio drams, such as directing, writing and sound design, with media history and communication theory. Challenging the belief that sound drama is a 'blind medium', Radio Drama shows how experimentation in radio narrative has blurred the dividing line between fiction and reality in modern media. Using extracts from scripts and analysing radio broadcasts from America, Britain, Canada and Australia, the book explores the practicalities of producing drama for radio. Tim Crook illustrates how far radio drama has developed since the first 'audiophonic production' and evaluates the future of radio drama in the age of live phone-ins and immedate access to programmes on the Internet.
Author: Nicole Brittingham Furlonge Publisher: University of Iowa Press ISBN: 1609385616 Category : Literary Criticism Languages : en Pages : 183
Book Description
Forging new ideas about the relationship between race and sound, Furlonge explores how black artists--including well-known figures such as writers Ralph Ellison and Zora Neale Hurston, and singers Bettye LaVette and Aretha Franklin, among others--imagine listening. Drawing from a multimedia archive, Furlonge examines how many of the texts call on readers to "listen in print." In the process, she gives us a new way to read and interpret these canonical, aurally inflected texts, and demonstrates how listening allows us to engage with the sonic lives of difference as readers, thinkers, and citizens.
Author: Vincent Miller Publisher: SAGE ISBN: 1446246485 Category : Social Science Languages : en Pages : 266
Book Description
"This is an outstanding book. It is one of only a few scholarly texts that successfully combine a nuanced theoretical understanding of the digital age with empirical case studies of contemporary media culture. The scope is impressive, ranging from questions of digital inequality to emergent forms of cyberpolitics." - Nick Gane, York University "Well written, very up-to-date with a good balance of examples and theory. It′s good to have all the major issues covered in one book." - Peter Millard, Portsmouth University "This is just the text I was looking for to enable first year undergraduates to develop their critical understanding of the technologies they have embedded so completely in their lives." - Chris Simpson, University College of St Mark & St John This is more than just another book on Internet studies. Tracing the pervasive influence of ′digital culture′ throughout contemporary life, this text integrates socio-economic understandings of the ′information society′ with the cultural studies approach to production, use, and consumption of digital media and multimedia. Refreshingly readable and packed with examples from profiling databases and mashups to cybersex and the truth about social networking, Understanding Digital Culture: Crosses disciplines to give a balanced account of the social, economic and cultural dimensions of the information society. Illuminates the increasing importance of mobile, wireless and converged media technologies in everyday life. Unpacks how the information society is transforming and challenging traditional notions of crime, resistance, war and protest, community, intimacy and belonging. Charts the changing cultural forms associated with new media and its consumption, including music, gaming, microblogging and online identity. Illustrates the above through a series of contemporary, in-depth case studies of digital culture. This is the perfect text for students looking for a full account of the information society, virtual cultures, sociology of the Internet and new media.
Author: Tobias Bruckmann
Author: Khaled Mohamed Youssef
Author: Jadran Lenarčič
Author: Alain Berthoz
Author: Alain Berthoz
Author: Bertrand Gervais
Author: A. Berthoz
Author: Tim Crook
Author: Nicole Brittingham Furlonge
Author: Vincent Miller