New Advances in Mechanisms, Transmissions and Applications : Proceedings of the Sixth MeTrApp Conference 2023

Gathering the proceedings of the 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications (MeTrApp), held in Poitiers, France, on May 24-26, 2023, this volume covers topics such as mechanism and machinery design, parallel manipulators, robotics and mechatronics, control applications, mechanical transmissions, cam and gear mechanisms, and dynamics of machinery. MeTrApp 2019 provided researchers, scientists, industry experts, and graduate students from around the globe with a platform to share their cutting-edge work on mechanisms, transmissions, and their applications. The proceedings extend this platform to all researchers, scientists, industry experts, and students interested in these fields. Preface Organization Contents Keynote Mechanism Design for Robot in Italy: Historical Backgrounds, Achievements, and Challenges Summary References Mechanism Design for Robot in Italy: Historical Backgrounds, Achievements, and Challenges 1 Summary References Computational and Experimental Methods Design and Performance Characterization of a Gripper End-Effector for a Space Berthing Manipulator 1 Introduction 2 Task and Requirements 3 A Proposed Solution 4 A CAD Design 5 A Dynamic Simulation 6 Conclusions References Experimental Validation of a Variable Stiffness Joint with Antagonistic Springs 1 Introduction 2 VSJ Concept and Mathematical Model 2.1 Variable Stiffness Joint Concept 2.2 Mathematical Model of the Variable Stiffness Joint 3 Variable Stiffness Joint Design 3.1 CAD Model 3.2 Prototype of the VSJ 4 Experimental Test 5 Conclusions References Analysis of Fractional-Order on the Nonlinear Characteristic of Rotating Module 1 Introduction 2 Dynamics Equation and Solving Method 2.1 Dynamics Equation 2.2 The Numerical Method of Fractional-Order Differential Equation 3 Results of Simulation 4 Conclusions References Design of a Compact Motion Tracking Device with a Remote Center of Motion Dedicated to Laparoscopic Surgery 1 Introduction 2 Movement Analysis of Surgical Tasks 3 Evaluation of Surgical Task 3.1 Motion Parameters 3.2 Data Collection and Analysis Approach 4 Prototype of the Proposed Device 5 Conclusion References Development of a Virtual Reality Simulator for Robotic Assisted Surgery 1 Introduction 2 Background 3 Creating Virtual Models for Simulator 3.1 Designing the Robotic Structure for Surgery and Creating a Virtual Human Model 4 Virtual Reality Application Development Using the Unity Development Environment 5 Operation of the Robotic System 5.1 Virtual Environment Validation 6 Conclusions References Cobots and Human-Robot Interaction Torso Motion Monitoring with an IMU Set-Up 1 Introduction 2 Torso Anatomy and Monitoring Problem 3 Conceptual Design and Prototype 4 Experimental Setup 5 Test Results 6 Conclusions References A Kinematic Analysis of a New LARMbot Torso Design 1 Introduction 2 Human Spine and One Vertebra-Disc Unit Design 3 New LARMbot Torso Design and Working Procedure 4 Kinematic Model and Analysis 5 Conclusion References Kinematic Model and Numerical Evaluation of an Origami-Inspired Soft Pneumatic Actuator 1 Introduction 2 Parameters Designing for the Yoshimura Pattern 3 Actuator Design and Kinematic Model 4 Numerical Evaluation of the Kinematic Model 5 Conclusions References Throwing Capabilities of Manipulators 1 Introduction 2 Distance Throwing Task 3 Example Manipulators 4 Results (RSOP and KTOP) 5 Kinematic Design with Throwing Capacity 6 Conclusion References Increasing the Payload of a 7DOF Cobot 1 Introduction 2 Problem Statement 3 Trajectory Optimization 3.1 Method Overview 3.2 Joint Trajectory Generation 4 Numerical Experiments 4.1 Example Manipulator 4.2 Actuator Limits 4.3 Tasks 4.4 Methodology 4.5 Numerical Results 5 Conclusion References Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint 1 Introduction 2 Kinematic Modelling of the 2-RRS-1RRRR Mechanism 2.1 Kinematic Modelling of RRRR and RRS Legs 2.2 Forward Kinematic Modelling of the RRRR Leg 2.3 Forward Kinematic Modelling of the RRS Leg 2.4 Numerical Workspace in Terms of 2 Independent Parameters 3 Static Analysis of the 2-RRS-1-RRRR Mechanism 3.1 Potential Energy Contributed by Gravity 3.2 Potential Energy Contributed by Springs and Cables 3.3 Static Equilibrium Conditions 4 Conclusions A Constant Parameters Used in This Report References Parallel Manipulators Conceptual Design and Kinematic Analysis of a 1T2R Parallel Manipulator 1 Introduction 2 Description of the Mechanism 2.1 Mobility Analysis 3 Fully Analytical Inverse Kinematics 3.1 Workspace of the Mechanism 4 Kinematic Analysis Based on the Manipulator Jacobian 4.1 Singularity Analysis 4.2 Dexterity Analysis 5 Conclusions and Outlook References Simulation-Based Comparative Study and Selection of Real-Time Controller for 3-PRRR Cartesian Parallel Manipulator 1 Introduction 2 Simulation Model of 3-PRRR CPM 3 Control Algorithms 3.1 PID Control Algorithm 3.2 MPC Control Algorithm 3.3 SMC Control Algorithm 4 Results and Discussion 5 Lower Limb Rehabilitation Using 3-PRRR CPM – Simulation Study 6 Conclusion References Stiffness Performance Analysis of a Delta Robot with Variable-Stiffness Joints 1 Introduction 2 Methods 3 Results 3.1 Type 1 Objective Function 3.2 Type 2 Objective Function 4 Discussion and Conclusions References Velocity Analysis of a 5-DOF Hybrid Manipulator 1 Introduction 2 Manipulator Design 3 Velocity Analysis 4 Case Study 5 Discussion 6 Conclusion References Working Mode Study of a New Spherical Parallel Manipulator with an Unlimited Self Rotation Capability 1 Introduction 2 A New Spherical Parallel Manipulator 3 Inverse Kinematic Model 4 Dexterity Study 5 Discussion 6 Conclusion References Design and Balancing of a Novel 2R1T Manipulator with Remote Center of Motion 1 Introduction 2 Serial and Hybrid 2R1T Manipulator Structures 2.1 Serial Structures 2.2 Hybrid Structures 2.3 RCM with a Passive Joint 3 The Solid Model of the Selected Manipulator 4 Gravity Balancing of the Manipulator 5 Conclusion References Kinematic Analysis of the 3-U(RPRGR)RU Parallel Robot 1 Introduction 2 Description of the 3-U(RPRGR)RU Parallel Robot 3 Kinematic Analysis 4 Results 5 Conclusion References Medical Applications of Mechanisms and Robots Kinematics and Design of a New Leg Exoskeleton for Human Motion Assistance 1 Introduction 2 Human Gait Experimental Study 3 Leg Exoskeleton Mechanism Design 4 The Kinematic Analysis 5 Design of CAD Model and Dynamic Simulation 6 Conclusions References Development a Measurement Device for Each Finger Force Based on a Jamar Hand Dynamometer 1 Introduction 2 Grip Dynamometer for Each Finger Force Based on the Smedley Type 3 New Grip Dynamometer for Each Finger Force Based on the Jamar Type 4 Verification of the Measurement 5 Conclusion References Development of a Reconfigurable Planar Cable-Driven Parallel Robot Combined with a Visual Servoing Module for Upper Limb Rehabilitation 1 Introduction 2 Materials and Method 2.1 Reconfigurable CDPR Prototype 2.2 Prototype Visual-Based Servoing Control 3 Implementation Results 4 Conclusion References Lateral Support Mechanisms for Smart Walkers to Prevent Sideways Rollover 1 Introduction 2 Mechanisms to Prevent Tipping in the Literature 3 Proposed Mechanism in Details 3.1 Kinematic Analysis of Mechanism 3.2 Kinetic Analysis of Mechanism 3.3 Anti-tipping Effectiveness of Mechanism 3.4 Static Structural Analyses of Walker 4 Control Algorithm, Sensors and Strategies Implemented 5 Conclusion References Mechanism and Machine Design Novel Design of an Orthogonal-Axis Type Precession Motion Ball Reducer 1 Introduction 2 Structure of a Newly Designed Precession Motion Ball Reducer 3 Vector Analysis of Precession Motion Generation 4 Vector Analysis of Precession Motion Conversion 5 Motion Analysis of a Reduced Rotation Output 6 Prototype Reducer 7 Conclusions References Comparison of Methods of Finite Element Analysis in the Design of Mobile Robot Modules 1 Introduction 2 Designing a Robotic Fruit Harvesting System 2.1 Description of the Robotic System 2.2 Finite Element Analysis 3 Calculation Results 4 Conclusion References Modelling of a Tubular Kirigami (RC-kiri) with Outside Lamina Emergent Torsional Joints 1 Introduction 2 Tubular Kirigami 2.1 Yoshimura and Kresling Kirigami 2.2 Radially Closable Kirigami (RC-kiri) 3 Design and Modelling of RC-kiri with Outside LET Joints 4 FEA Results and Verification 5 Conclusion References Structural-Parametric Synthesis of the Planar Four-Bar and Six-Bar Function Generators with Revolute Joints 1 Introduction 2 Structural Synthesis of the Planar Four-Bar and Six-Bar Function Generators with Revolute Joints 3 Parametric Synthesis of a Four-Bar Function Generator 4 Parametric Synthesis of the Six-Bar Function Generators 5 Conclusion References Design and Modelisation of a 6 Degree of Freedom Interface with Repositionable Centre of Rotation 1 Introduction 2 Prescribed Workspace Definition 3 Description of the Proposed Hybrid Interface 4 Kinematic Models of the Hybrid Interface 4.1 Direct Kinematic Models (DKM) 4.2 Inverse Kinematic Models (IKM) 4.3 Direct and Inverse Kinematic Models of the Hybrid Interface 5 Results and Discussion 6 Conclusion References Use of Serial Planar Linkages for an Augmented R-CUBE Mechanism with Six Degrees of Freedom 1 Introduction 2 Presentation of the Classical R-CUBE Mechanism 2.1 Mechanical Architecture 2.2 Mechanism Kinematics 3 Kinematic Analysis of the AR-CUBE Mechanism 3.1 Integration of Serial Planar Linkages 3.2 Velocity Models of the AR-CUBE 3.3 Completion of the AR-CUBE Models 4 Conclusion References Functional Design of an Articulated Reconfigurable Mechanism for Electronic Parking Brake Systems 1 Introduction 2 Design Requirements and Functional Architecture 2.1 Functional Model of the System and Its Kinematic Variables 3 Methods 3.1 Adjustable Stroke During the Rotating Mode 3.2 Drive Force Evaluation 3.3 Additional Components for the Mode Transition 4 Conclusions References Dynamics of Mechanisms A Family of Functions for Dwell-Rise-Dwell Motions 1 Introduction 2 An Infinite Family of NTFs for Dwell-Rise-Dwell Motions 3 Representations of the NTFs fn 4 Properties of the NTFs fn 5 An Application Example 6 Conclusion References Resonant Oscillations of a Nonideal Gyroscopic Rotor System with Nonlinear Restoring and Damping Characteristics 1 Introduction 2 Equation of Motion 3 Analytical Basis of the Method 4 Results. Application of the Method 5 Conclusions References Dynamic Simulation of Gyroscopic Rigid Rotor with Anisotropy of Elastic Support Restoring and Damping Characteristics 1 Introduction 2 Equations of Motion. Frequency Responses 3 Results. Amplitude-Frequency Dependencies 4 Conclusion References Principal Vectors for Spatial Dynamical Analysis by Fischer 1 Introduction 2 The Kinematics 3 The Kinetic Energy 4 Equations of Motion 5 Conclusion References Dynamic Modelling of a Geometrically Non-uniform Elastic Beam to Mimic Snake Swimming Undulation 1 Introduction 2 Motivations 2.1 Snake Study to Design Robots 2.2 Snake Robot Skeleton and Locomotion Test Bench 3 Extracting the Target Ripple Cone Shell from Snake Robot 4 Dynamic Modelling of a Flexible Body 4.1 Equivalent Geometrically Non-uniform Elastic Beam 4.2 Finite Elements Modeling 4.3 Optimization Problem Formulation 5 Results on the Snake Robot Skeleton 6 Conclusion References Mechanical Transmissions Helical Gear Contact Simulations and Their Applications in Automotive Transmission Systems Abstract 1 Introduction 2 Tooth Profile Generation, Micro Geometry Modifications and FEM 2.1 Tooth Profile Generation 2.2 Micro Geometry Modifications 2.3 Finite Element Model for Gear Tooth Surface Contact 3 Gear Transmission Error 4 Conclusions References A Novel Adjustable Constant-Force Mechanism Based on Spring and Gear Transmission 1 Introduction 2 Constant-Force Mechanism 2.1 Description 2.2 Geometric Constraints 3 Constant-Force Principle 4 Performance Analysis 5 Experiments 6 Conclusion References Design Proposal for Thumb Rehabilitator Using Cams 1 Introduction 2 Methods 2.1 Cams Theory 2.2 Analysis of the Thumb Movements 2.3 Cam’s Mechanism Design 3 Cad Design and Results 4 Conclusion References Performance Analysis of a Mechanism-Driven Joint 1 Introduction 2 Requirements 3 A Design for Mechanism-Driven Joint 4 CAD Model and Simulation Modes 5 Results 6 Conclusions References Author Index