Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics

Description

This volume contains the Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, held in Udine, Italy, 11-13 September, 2018. It includes recent advances in the design of mechanisms and their robotic applications. It treats, among others, the following topics: mechanism design, mechanics of robots, parallel manipulators, actuators and their control, linkage and industrial manipulators, innovative mechanisms/robots and their applications. This book can be used by students, researchers and engineers in the relevant areas of mechanisms, machines and robotics. Front Matter ....Pages i-xiii Busker Robot: A Robotic Painting System for Rendering Images into Watercolour Artworks (Lorenzo Scalera, Stefano Seriani, Alessandro Gasparetto, Paolo Gallina)....Pages 1-8 A Simple and General Closed-Form Method for Direct Kinematics of Mechanism Based on SOC Modeling (Huiping Shen, Ke Xu, Guanglei Wu, Ting-li Yang)....Pages 9-16 Development of LARMbot 2, A Novel Humanoid Robot with Parallel Architectures (Matteo Russo, Daniele Cafolla, Marco Ceccarelli)....Pages 17-24 A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms (A. Cammarata, R. Sinatra, P. D. Maddio)....Pages 25-32 A Variable Stiffness Robotic Arm Using Linearly Actuated Compliant Parallel Guided Mechanism (R. Hu, V. Venkiteswaran, H.-J. Su)....Pages 33-40 Development of a Sensing System for Zero Gravity Simulation Using a Robot Manipulator to Test Antenna Reflector Unfolding in Satellites (S. D’Attanasio, J. Charron)....Pages 41-48 Underactuated Finger Behavior Correlation Between Vision System Based Experimental Tests and Multibody Simulations (Chiara Cosenza, Vincenzo Niola, Sergio Savino)....Pages 49-56 Unified Pose Parametrization for 1T2R Parallel Manipulators (Yuanqing Wu, Marco Carricato)....Pages 57-68 Synthesis of Cartesian Manipulator of a Class RoboMech (Zh. Baigunchekov, S. Ibrayev, M. Izmambetov, T. Baigunchekov, B. Naurushev, A. Mustafa)....Pages 69-76 A Modular Cable-Driven Surgical Robot with a Safe Joint Design (Carl A. Nelson)....Pages 77-84 A Novel Kinematic Model of Spatial Five-Bar Linkage PPSPS for Testing Accuracy of Two-Axis Moving Table with Ball-Bar (Xiaopeng Li, Zhi Wang, Huimin Dong, Shudong Yu, Delun Wang)....Pages 85-92 Dynamic Modeling of Flexural Beams with Combined Loads in Compliant Mechanisms (Y. Yu, Q. Xu)....Pages 93-100 Kinematic Analysis of a 3-RRR Spherical Parallel Mechanism with Configurable Base (T. Essomba, M. A. Laribi, Y. Hsu, S. Zeghloul)....Pages 101-109 Workspace and Cuspidality Analysis of a 2-X Planar Manipulator (Matthieu Furet, Philippe Wenger)....Pages 110-117 A Gripper Mechanism to Automate Overload Process for Fuel Elements (S. Kaimov, Ab. T. Kaimov, A. T. Kaimov, M. Ceccarelli, T. Kaiym, G. Kaimova et al.)....Pages 118-128 Preloaded Structures for Space Exploration Vehicles (S. Seriani, L. Scalera, A. Gasparetto, P. Gallina)....Pages 129-137 A Tooth Profile Design Method for Harmonic Drive Without Tip Interference (H. Dong, J. Zhang, D. Wang)....Pages 138-146 Design of V2SOM: The Safety Mechanism for Cobot’s Rotary Joints (Y. Ayoubi, M. A. Laribi, S. Zeghloul, M. Arsicault)....Pages 147-157 Redesign and Construction of a Low-Cost CaPaMan Prototype (O. Arslan, S. B. Karaahmet, Ö. Selvi, D. Cafolla, M. Ceccarelli)....Pages 158-165 A Novel SMA Driven Compliant Rotary Actuator Based on Double Helical Structure (Rasheed Kittinanthapanya, Yusuke Sugahara, Daisuke Matsuura, Yukio Takeda)....Pages 166-173 Real Time Redundancy-Based Approach to Robot-Patient Safe Enhancement: Application to Doppler Sonography (C. Préault, M. A. Laribi, M. Arsicault, S. Zeghloul)....Pages 174-183 Geometric Loci for the Kinematic Analysis of Planar Mechanisms via the Instantaneous Geometric Invariants (G. Figliolini, C. Lanni)....Pages 184-192 Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms (Divya Shah, Giorgio Metta, Alberto Parmiggiani)....Pages 193-201 A Proposed Software Framework for Studying the Grasp Stability of Underactuated Fingers (Giovanni Antonio Zappatore, Giulio Reina, Arcangelo Messina)....Pages 202-210 Workspace Analysis and Dimensional Synthesis of the PRRS-RRC Shoenflies-Motion Generator (H. Simas, R. Di Gregorio)....Pages 211-218 Homogenization of the Jacobian Matrix of Manipulators by Using Inertial Parameters (J. A. Pamanes, H. A. Moreno)....Pages 219-226 Type Synthesis of Kinematically Redundant Parallel Manipulators Based on the HEXA Parallel Robot (Raymundo Ramos Alvarado, Eduardo Castillo Castañeda)....Pages 227-234 A Look-Ahead Trajectory Planning Algorithm for Spray Painting Robots with Non-spherical Wrists (Giulio Trigatti, Paolo Boscariol, Lorenzo Scalera, Daniele Pillan, Alessandro Gasparetto)....Pages 235-242 Performance Evaluation of an LQG Controller of a Robotic Link with Fractional Dampers Based on Their Integer–Order Approximation (Daniele Casagrande, Wiesław Krajewski, Stefano Miani, Umberto Viaro)....Pages 243-250 Dynamic Modeling and Experimental Validation of a Haptic Finger Based on a McKibben Muscle (Walter Franco, Daniela Maffiodo, Carlo De Benedictis, Carlo Ferraresi)....Pages 251-259 Preliminary Investigation of Static and Dynamic Properties of SLM Lattice Structures for Robotic Applications (M. Sortino, G. Totis, F. Scalzo, E. Vaglio)....Pages 260-267 Energy Saving in Redundant Robotic Cells: Optimal Trajectory Planning (Paolo Boscariol, Dario Richiedei)....Pages 268-275 A Novel Approach for Antiresonance Assignment in Undamped Vibrating Systems (R. Belotti, D. Richiedei, I. Tamellin)....Pages 276-283 Chopstick-type Gripper Mechanism for Meal-Assistance Robot Capable of Adapting to Size and Elasticity of Foods (T. Oka, D. Matsuura, Y. Sugahara, J. Solis, A. L. Lindborg, Y. Takeda)....Pages 284-292 A Novel Collision Avoidance Method for Serial Robots (Matteo Bottin, Giovanni Boschetti, Giulio Rosati)....Pages 293-301 Functional Design of a Biomimetic Flapper (D. Costa, G. Palmieri, D. Scaradozzi, M. Callegari)....Pages 302-309 Design Process of a New Lighting Robotic Arm for Operating Room (Juan Sandoval, Laurence Nouaille, Gérard Poisson, Yves Parmantier, Benoit Magnain)....Pages 310-317 Hun Yi - A Spherical Pointing and Measuring Instrument Invented in Ancient China (Yingwei Guo, Zhijiang Xie, Shaoping Bai)....Pages 318-326 Dynamic Study of an Adaptive Intelligent Cervical Brace Model Under Actuation (E.-Ch. Lovasz, C. M. Gruescu, A. M. Vutan, D. T. Margineanu)....Pages 327-334 Towards a Safe Physical Human-Robot Interaction for Tele-Operated System: Application to Doppler Sonography (Juan Sandoval, Med Amine Laribi, Said Zeghloul, Marc Arsicault)....Pages 335-343 Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes (Taher Deemyad, Neda Hassanzadeh, Alba Perez-Gracia)....Pages 344-352 Design and Dynamic Modeling of a Novel Single-Wheel Pendulum Robot (Mario E. Herrera-Cordero, Manuel Arias-Montiel, Esther Lugo-González)....Pages 353-360 Intuitive Hand Guidance of a Force-Controlled Sensitive Mobile Manipulator (Matthias Weyrer, Mathias Brandstötter, Damir Mirkovic)....Pages 361-368 Social Humanoid Robot SARA: Development and Realization of the Shrug Mechanism (M. Penčić, M. Čavić, B. Borovac, Z. Lu)....Pages 369-377 Development of Hand Exoskeleton Prototype for Assisted Rehabilitation (B. A. De la Cruz-Sánchez, M. Arias-Montiel, E. Lugo-González)....Pages 378-385 Application of a Parametric Modal Analysis Approach to Flexible-Multibody Systems (Ilaria Palomba, Renato Vidoni, Erich Wehrle)....Pages 386-394 In-Operation Structural Modification of Planetary Gear Sets Using Design Optimization Methods (Erich Wehrle, Ilaria Palomba, Renato Vidoni)....Pages 395-405 A Robot for Welding Inspection in Offshore Mooring Chains (A. Hernandez, O. Altuzarra, V. Petuya, Ch. Pinto, E. Amezua)....Pages 406-412 Agri_q: Agriculture UGV for Monitoring and Drone Landing (G. Quaglia, P. Cavallone, C. Visconte)....Pages 413-423 A Fail-Safe Operation Strategy for LAWEX (LARM Wire Driven EXercising Device) (G. Boschetti, G. Carbone, C. Passarini)....Pages 424-431 Underactuated Elements Design Criterion for Envelop Gripper Mechanism (Shuangji Yao, Marco Ceccarelli, Zhen Lu)....Pages 432-442 AXO-SUIT - A Modular Full-Body Exoskeleton for Physical Assistance (Simon Christensen, Shaoping Bai, Sajid Rafique, Magnus Isaksson, Leonard O’Sullivan, Valerie Power et al.)....Pages 443-450 Correction to: Unified Pose Parametrization for 1T2R Parallel Manipulators (Yuanqing Wu, Marco Carricato)....Pages E1-E1 Back Matter ....Pages 451-453