MULTIBODY MECHATRONIC SYSTEMS : proceedings of the musme

Description

These are the Proceedings of the 6th International Symposium on Multibody Systems and Mechatronics (MUSME 2017) which was held in Florianópolis, Brazil, October 24-28, 2017. Topics addressed include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME 2017 Symposium was one of the activities of the FEIbIM Commission for Mechatronics and IFToMM technical Committees for Multibody Dynamics, Robotics and Mechatronics. Front Matter ....Pages i-xi Front Matter ....Pages 1-1 Synthesis of Precision Flexible Mechanisms Using Screw Theory with a Finite Elements Validation (Martín A. Pucheta, Alejandro G. Gallardo)....Pages 3-14 Enumeration of Kinematic Chains with Zero Variety for Epicyclic Gear Trains with One and Two Degrees of Freedom (Marina Baldissera de Souza, Rodrigo de Souza Vieira, Daniel Martins)....Pages 15-24 Mechanism Design and Kinematics Analysis of a Bat Robot (Deming Kong, Jing-Shan Zhao, Yaser Saffer Tollori)....Pages 25-38 Vector Analysis of the Cable Tension Conditions (T. Muraro, D. Martins, L. K. Sacht)....Pages 39-48 Actuated Degree-of-Control: A New Approach for Mechanisms Design (Estevan Hideki Murai, Roberto Simoni, Daniel Martins)....Pages 49-60 Analysis of Self-aligning Mechanisms by Means of Matroid Theory (Andrea Piga Carboni, Henrique Simas, Daniel Martins)....Pages 61-73 Review and Classification of Workpiece Toggle Clamping Devices (Mateus Viana de Oliveira e Costa, Estevan Hideki Murai, Fabíola da SilvaRosa, Daniel Martins)....Pages 74-84 Supporting the Laminated Ferromagnetic Pole Pieces in a Magnetic Gear: A Structure Behaviour Analysis from a Multibody Model (M. Desvaux, B. Multon, H. Ben Ahmed, S. Sire)....Pages 85-94 Front Matter ....Pages 95-95 Kinematic Analysis for a Planar Redundant Serial Manipulator (Zijia Li, Mathias Brandstötter, Michael Hofbaur)....Pages 97-106 Workspace Analysis of a Parallel Manipulator Using Multi-objective Optimization and Bio-inspired Methods (R. S. Gonçalves, J. C. M. Carvalho, F. S. Lobato)....Pages 107-115 Modeling of a Four-Legged Robot with Variable Center of Mass as a Cooperative Multirobot System (Cristiane P. Tonetto, Antônio Bento Filho, Altamir Dias)....Pages 116-127 Assembly Sequence Planning for Shape Heterogeneous Modular Robot Systems (Anelize Zomkowski Salvi, Roberto Simoni, Henrique Simas)....Pages 128-137 Front Matter ....Pages 139-139 Kinetostatics and Optimal Design of a 2PRPU Shoenflies-Motion Generator (H. Simas, R. Di Gregorio)....Pages 141-150 Influence of the Working Mode on the Maximum Isotropic Force Capability Maps for a 3RRR Planar Parallel Manipulator (L. Mejia, D. Ponce, J. C. Herrera, H. Simas, D. Martins)....Pages 151-159 Maximum Isotropic Force Capability Maps in Planar Cooperative Systems: A Practical Case Study (Juan Camilo Herrera Pineda, Leonardo Mejia Rincon, Roberto Simoni, Henrique Simas)....Pages 160-170 Balancing Conditions of the RSS’R, Spatial Mechanism (Mario Acevedo)....Pages 171-180 Front Matter ....Pages 181-181 Elastodynamic Performance of a Planar Parallel Mechanism Under Uncertainties (Fabian Andres Lara-Molina, Edson Hideki Koroishi, Thamiris Lima Costa)....Pages 183-192 Complex Modelling and Dynamical Analysis of Parallel Cable Mechanisms (Radek Bulín, Michal Hajžman, Pavel Polach)....Pages 193-202 A New Methodology for the Balancing of Mechanisms Using the Davies’ Method (Julio Cesar Frantz, Leonardo Mejia Rincon, Henrique Simas, Daniel Martins)....Pages 203-212 The Dynamic Synthesis of an Energy-Efficient Watt-II-Mechanism (F. Schwarzfischer, M. Hüsing, B. Corves)....Pages 213-222 Multibody Dynamic Analysis of a High-Altitude Long-Endurance Aircraft Concept (L. M. Nitardi, B. A. Roccia, S. Preidikman, F. G. Flores)....Pages 223-232 Front Matter ....Pages 233-233 High-Order Sliding Mode Control for Solar Tracker Manipulator (I. Gutierrez, E. Hernandez-Martinez, A. Oropeza, Sajjad Keshtkar)....Pages 235-243 Towards a Servovision Based Control for a Planar Parallel Manipulator (Fernanda Thaís Colombo, Maíra Martins da Silva)....Pages 244-253 Multibody Model of the VVER 1000 Nuclear Reactor Control Assembly and Simulation of Its Moving Parts Drop (P. Polach, M. Hajžman)....Pages 254-263 Single-State Friction Model for Control Purposes (Fernando J. Villegas, Rogelio L. Hecker, Gustavo M. Flores)....Pages 264-273 Design of a Robotic Speech-to-Sign Language Transliterating System (E. López-Zapata, M. Campos-Trinidad, R. Salazar-Arévalo, J. Acostupa-Del Carpio)....Pages 274-282 Front Matter ....Pages 283-283 Robust Critical Inverse Condition Number for a 3RRR Robot Using Failure Maps (Hiparco Lins Vieira, João Vitor de Carvalho Fontes, Andre Teófilo Beck, Maíra Martins da Silva)....Pages 285-294 Simulation of a Serial Robot Calibration Through Screw Theory (L. K. Kato, T. L. F. C. Pinto, H. Simas, D. Martins)....Pages 295-304 Comparative Study of Autonomous Aerial Navigation Methods Oriented to Environmental Monitoring (J. López, A. Mauricio, A. Rojas, E. Dianderas, J. Vargas-Machuca, R. Rodríguez)....Pages 305-314 Simulation and Experimental Verification of a Global Redundancy Resolution for a 3PRRR Prototype (João Vitor de Carvalho Fontes, Maíra Martins da Silva)....Pages 315-324 A Computational Aeroelastic Framework for Studying Non-conventional Aeronautical Systems (S. Preidikman, B. A. Roccia, M. L. Verstraete, L. R. Ceballos, B. Balachandran)....Pages 325-334 ILQG Planner Applied to Dynamic Systems with Intermittent Contact (Henrique B. Garcia, Leonardo S. Luna, Gustavo Jose Giardini Lahr, Glauco A. P. Caurin)....Pages 335-343 Cost Effective Provisioning of Electricity in Smart Nano-grid Using GA and Optimized Heuristic Algorithm (Nabila Ahmad, Rabiya Bibi, Shoab Ahmed Khan)....Pages 344-354 Front Matter ....Pages 355-355 Mathematical Modeling and Prototype Development of a Pneumatically-Actuated Bench for Sloping Terrain Simulation (M. R. M. H. Porsch, N. Kinalski, R. Goergen, A. Fiegenbaum, L. A. Rasia, A. C. Valdiero)....Pages 357-366 An Experimental Characterization of Roll Hemming Process (Eduardo Esquivel, Giuseppe Carbone, Marco Ceccarelli, Carlos Jáuregui)....Pages 367-378 Experimental Characterization of a Feedforward Control for the Replication of Moving Resistances on a Chassis Dynamometer (E. Bertoti, J. J. Eckert, R. Y. Yamashita, L. C. A. Silva, F. G. Dedini)....Pages 379-388 Experimental Setup of a Novel 4 DoF Parallel Manipulator (Marina Valles, Pedro Araujo-Gomez, Vicente Mata, Angel Valera, Miguel Diaz-Rodriguez, Alvaro Page et al.)....Pages 389-400 Behaviour Comparison Between Mechanical Epicyclic Gears and Magnetic Gears (M. Desvaux, B. Multon, H. Ben Ahmed, S. Sire)....Pages 401-410 Front Matter ....Pages 411-411 Design Optimization of a Cable-Driven Parallel Robot in Upper Arm Training-Rehabilitation Processes (Eusebio Hernandez, S. Ivvan Valdez, Giuseppe Carbone, Marco Ceccarelli)....Pages 413-423 Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation (N. Plitea, B. Gherman, G. Carbone, M. Ceccarelli, C. Vaida, A. Banica et al.)....Pages 424-433 Experimental Evaluation of Artificial Human Ribs (L. A. Aguilar, M. Ceccarelli, Ch.R. Torres-San-Miguel, G. Urriolagoitia-Sosa, G. Urriolagoitia-Calderón)....Pages 434-443 Kinetostatic Model of the Human Knee for Preoperative Planning: Part A (D. Ponce, L. Mejia, E. Ponce, D. Martins, C. R. M. Roesler, J. F. Golin)....Pages 444-454 Kinetostatic Model of the Human Knee for Preoperative Planning: Part B (D. Ponce, J. F. Golin, E. Ponce, D. Martins, C. R. M. Roesler, L. Mejia)....Pages 455-463 On the Kinematics of an Innovative Spherical Parallel Robot for Shoulder Rehabilitation (N. Plitea, C. Vaida, G. Carbone, A. Pisla, I. Ulinici, D. Pisla)....Pages 464-473 Automatic Elevation System of a Wheelchair (Sergio Yoshinobu Araki, Pâmela Florentino, Eduardo Bock, Michele Saito, Mariana Hernandes, Luciano Fuentes et al.)....Pages 474-484 An Initial Assessment of Mechanisms for the Development of New Hospital Beds (R. L. P. Barreto, R. Simoni, D. Martins)....Pages 485-494 Front Matter ....Pages 495-495 Rollover of Long Combination Vehicles: Effect of Overweight (Gonzalo Moreno, Vangelo Manenti, Lauro Nicolazzi, Rodrigo Vieira, Daniel Martins)....Pages 497-505 Development of a Robust Integrated Control System to Improve the Stability of Road Vehicles (Abel Castro, Georg Rill, Hans I. Weber)....Pages 506-516 Powertrain Optimization to Improve Vehicle Performance and Fuel Consumption (Jony J. Eckert, Fernanda C. Corrêa, Elvis Bertoti, Rodrigo Y. Yamashita, Ludmila C. A. Silva, Franco G. Dedini)....Pages 517-527 Design and Analysis of a Wheel with Flexible Spokes (Shuaisong Hou, Jing-Shan Zhao, Misyurin Sergey Yurevich)....Pages 528-548 Multibody Model of a Small Tire Test Bench (Fabio Mazzariol Santiciolli, Ludmila Corrêa de Alkmin e Silva, Elvis Bertoti, Jony Javorski Eckert, Rodrigo Yassuda Yamashita, Franco Giuseppe Dedini)....Pages 549-558 Maneuverability Study of a Vehicle with Rear Wheel Steering (Silva Jhino, Vargas Lincol, Liberato Josue, Quispe Junior, Munares Carlos)....Pages 559-567