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BL
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| Record Number
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859163
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| Main Entry
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IFToMM Symposium on Mechanism Design for Robotics(4th :2018 :, Udine, Italy)
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| Title & Author
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Mechanism design for robotics : : proceedings of the 4th IFToMM symposium on mechanism design for robotics /\ Alessandro Gasparetto, Marco Ceccarelli, editors.
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| Publication Statement
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Cham :: Springer,, 2018.
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| Series Statement
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Mechanisms and machine science ;; volume 66
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| Page. NO
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1 online resource :: color illustrations
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| ISBN
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3030003655
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: 9783030003654
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3030003647
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9783030003647
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| Bibliographies/Indexes
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Includes bibliographical references and index.
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| Contents
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Intro; Preface; Contents; Busker Robot: A Robotic Painting System for Rendering Images into Watercolour Artworks; 1 Introduction; 2 Watercolour Technique; 3 Busker Robot; 4 Experimental Set-Up; 5 Non-photorealistic Rendering Techniques; 5.1 Random Strokes; 5.2 Difference of Gaussians; 6 Experimental Results; 7 Conclusion; References; A Simple and General Closed-Form Method for Direct Kinematics of Mechanism Based on SOC Modeling; Abstract; 1 Introduction; 2 Procedure of the Closed-Form Method; 2.1 Establishing Constraint Position Equation; 2.2 Deriving Univariate Polynomial by Mathematica
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3 Application: Direct Kinematics of a Spatial PM3.1 Establishing Constraint Position Equation; 3.2 Deriving Univariate Polynomial by Mathematica; 4 Conclusions; Acknowledgments; References; Development of LARMbot 2, A Novel Humanoid Robot with Parallel Architectures; Abstract; 1 Introduction; 2 Design of LARMbot 2; 3 Prototype Construction; 4 Experimental Validation; 5 Conclusions; References; A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms; 1 Introduction; 2 Guyan-Iron Static Reduction; 3 Static Reduction in Multibody Systems; 4 Two-Step Algorithm; 5 Case Study
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4.3 1T2R-DoF PMs with Three PSP legs4.4 1T2R-DoF PM: The Exechon; 5 Numerical Examples; 6 Conclusions; References; Synthesis of Cartesian Manipulator of a Class RoboMech; Abstract; 1 Introduction; 2 Structural Synthesis; 3 Dimensional Synthesis; 4 Numerical Example; 5 Conclusion; References; A Modular Cable-Driven Surgical Robot with a Safe Joint Design; Abstract; 1 Introduction; 2 Design Approach; 3 Analysis; 4 Prototyping and Testing; 5 Conclusions; Acknowledgments; References
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6 ConclusionsReferences; A Variable Stiffness Robotic Arm Using Linearly Actuated Compliant Parallel Guided Mechanism; Abstract; 1 Introduction; 2 Concept of the Design; 3 Prototype of the Robotic Arm Design; 4 FEA Simulation; 5 Actuation Module and PID Control; 6 Prototype Performance Evaluation; 7 Conclusions; References; Development of a Sensing System for Zero Gravity Simulation Using a Robot Manipulator to Test Antenna Reflector Unfolding in Satellites; Abstract; 1 Introduction; 2 Materials and Methods; 3 Results; 4 Conclusions; Acknowledgments; References
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Underactuated Finger Behavior Correlation Between Vision System Based Experimental Tests and Multibody SimulationsAbstract; 1 Introduction; 2 Multibody Model; 3 Data Acquisition via Vision Techniques; 4 Finger Skeletal Reconstruction; 5 Results; 6 Conclusions; Acknowledgments; References; Unified Pose Parametrization for 1T2R Parallel Manipulators; 1 Introduction; 2 Plane-Symmetric Motions; 3 Pose Parametrization of 1T2R-DoF PMs; 4 Displacement Analysis of General-Geometry 1T2R-DoF PMs; 4.1 1T2R-DoF PM with Three PRS-Equivalent legs; 4.2 1T2R-DoF PMs with Three US legs
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| Abstract
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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. .
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Adaptive control systems, Congresses.
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Robots, Congresses.
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Adaptive control systems.
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Automatic control engineering.
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Engines power transmission.
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Robotics.
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Robots.
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TECHNOLOGY ENGINEERING-- Engineering (General)
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| Dewey Classification
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629.836
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| LC Classification
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TJ217
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| Added Entry
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Ceccarelli, Marco
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Gasparetto, Alessandro
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