ROMANSY 24 - Robot Design, Dynamics and Control: Proceedings of the 24th CISM IFToMM Symposium (CISM International Centre for Mechanical Sciences, 606)

This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2022, the 24th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, held in Udine, Italy, on July 4–7, 2022. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2022 marks the 24th instalment in a series that began in 1973. Preface Contents Part I: Keynote Lectures On the Stability of Macro-Mini Robotic Systems for Physical Human-Robot Interaction 1 Introduction 2 Dynamic Model of the Macro-Mini System 2.1 Dynamic Model 2.2 State-Space Formulation 2.3 Controllability, Observability and Transfer Function 3 Closed-Loop System 3.1 Feedback Control 3.2 Stability of the Closed-Loop System 4 Application to a Multi-dof Macro-Mini Robotic System for pHRI 4.1 Architecture of the Mini Robot 4.2 Control of the Macro-Mini Robot 5 Conclusion References A Method for the Automatic Design of Mechanisms on the Example of a Four-Bar Linkage 1 Motivation 2 Definition of Motion Tasks for Planar and Spherical Four-Bar Linkage 3 Formal Description of Four-Bar Linkages and Their Motion 4 Description of the Automated Pose Synthesis 4.1 Calculation of the Pivot Point Grid and Rack Point Grid 4.2 Pose Synthesis Instead of Coupled Curve Syntheses 4.3 Testing a Four-Bar Linkage Solution Option for Pose Synthesis 5 Constraints During Synthesis 6 Sorting Solutions After Synthesis 7 Contouring of Effector, Crank and Swing Arm 8 Layering and Collision-Free Movement of Four-Bar Linkages 9 Final Construction of the Four-Bar Linkage with Standardized Assembly Solutions 10 Fits and Assembly with Standard Parts 10.1 Printer Specific Fits 10.2 Tables for DIN and ISO 10.3 Relative Orientation of Bodies and Coordinate Systems 10.4 Subtraction Solids 10.5 Variants for Mounting and Axial and Radial Bearing Arrangements 10.6 Montage Views and Motion Videos 10.7 Slicing and Manufacturing with the 3D Printer References Bio-inspired Structural Intelligence for Miniature Robots in Minimal-Invasive Surgery 1 The Potential of Bio-inspired Designs for Minimal-Invasive Robots (In Surgery) References Part II: Wearable, Humanoid and Surgery Robotics Development of Wearable Assist Robot for Twist and Leaning Motion 1 Introduction 2 Motion 3 Robot 3.1 Body Assist Robot 3.2 Leg Assist Robot 3.3 Wearable Assist Robot 4 Experiment 5 Conclusion References Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation 1 Introduction 2 Design and Implementation 2.1 Requirement to the Wearable Robot 2.2 Details of Mechanical Design 2.3 Design of Joint/Axis Compensation Mechanisms 3 Evaluation of the Robot Design 4 Conclusion References Simple Method for Humanoid Robot Posture Design 1 Introduction – State of the Art 2 Research Problem 3 Measuring Equipment and the Human Body Model 4 The Method 5 The Tests 6 Discussion and Conclusions References Wearable Exoskeletons for Hand Assistance: Concept and Design of a Thumb Module with Hybrid Architecture 1 Introduction 2 Requirements and Design Choices 3 Design of the Thumb Module 3.1 Rigid Architecture 3.2 Soft Architecture 3.3 Preliminary Evaluation of the New Thumb Module 4 Conclusions References Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach 1 Introduction 2 Description of the Multibody Model 3 Equations of Motion 4 Inverse Dynamics for Closed and Overconstrained Loops 5 Results and Discussion References New Hand Exoskeletons for Four Long Finger Rehabilitation 1 Introduction 2 One Finger Exoskeleton 2.1 Exoskeleton for Finger Extension 2.2 Exoskeleton for Finger Extension and Finger Flexion 3 Exoskeletons for the Four Long Fingers 3.1 First Hand-Exoskeleton for Synchronous Finger Motion 3.2 Second Hand-Exoskeleton for Simple Finger Movement 4 Conclusions References Model-Based Control for Arm Support Exoskeleton 1 Introduction 2 Mechanical Model 3 Control 4 Discussion References Design and Characterization of Modular Soft Components for an Exoskeleton Glove with Improved Wearability 1 Introduction 2 Methods 2.1 Finger Modules and Soft Exoskeleton Design 2.2 Finite Element Model 2.3 Experimental Tests on the Open Rings and Soft Exoskeleton Glove Preliminary Test 3 Results 4 Conclusions References Kinematic Modelling of a Parallel Robot Used in Single Incision Laparoscopic Surgery 1 Introduction 2 Kinematic Description of the Parallel Robot for SILS 3 The Geometric Modelling of the Parallel Robot for SILS 4 The Kinematic Modelling of the Parallel Robot for SILS 5 Conclusion References Part III: Sensorics An Optical Curvature Sensor for Soft Robots 1 Introduction 2 Sensor Design and Fabrication 2.1 Measurement Principle 2.2 Measurement Circuit 2.3 Fabrication 3 Experimental Evaluation 3.1 Constant Curvature 3.2 Non-constant Curvature 4 Application to a Simple Soft Robot Segment 5 Conclusion References Methods Comparison and Proposition of New Quaternion-Based Approach for Extraction of In-plane Rotations Out of 3D Rotations 1 Introduction 2 Planar Rotation Extraction Methods 2.1 Euler-Angle Decomposition 2.2 Axis Projection Method [Jakob et al. (ch14Jakob)] 2.3 New Approach Using Quaternion Decomposition 3 Examples 4 Conclusion References Low-Cost Gyroscope and Accelerometer Calibration with Free Fall Pendulum Motion: Results and Sensitivity 1 Introduction 2 Sensors Error Model 3 Pendulum Model 4 Proposed Calibration Procedure 5 Results 5.1 Pendulum Parameters Model 5.2 Inertial Sensor Calibration 6 Conclusions References A COBOT-IMU Hand-Guiding System with Online Collision Avoidance in Null Space 1 Introduction 2 Experimental Setup 3 MoCap Calibration and Algorithm 4 Robot Control Strategy 5 Results 6 Conclusions References Part IV: Path Planning and Control of Robots Finding Formations for the Non-prehensile Object Transportation with Differentially-Driven Mobile Robots 1 Introduction and Transportation Approach 2 Assumptions 3 Formation Synthesis 4 Simulation Results 5 Outlook References On-line Velocity Scaling Algorithm for Task Space Trajectories 1 Introduction 2 Trajectory Scaling 3 Proposed Algorithm 3.1 Underlying Ideas 3.2 Essential Concepts 3.3 Detailed Algorithm 3.4 Remarks—Algorithm Enhancements 4 Numerical Example 5 Final Comments and Conclusions References Path Quality Improvement of Sampling-Based Planners: An Efficient Optimization-Based Approach Using Analytical Gradients 1 Introduction 2 Problem Formulation 2.1 Path Length Post-Processor 2.2 Path Smoothness Post-Processor 3 Results 3.1 Analytical Gradient Formulation Efficiency 3.2 Optimization-Based Path Post-Processing 3.3 Task Board Assembly 4 Conclusion References Hexapod Posture Control for Navigation Across Complex Environments 1 Introduction 2 Model Description 3 Control Strategy 4 Results and Discussion 5 Conclusions and Future Work References Control Performance Improvement in Dynamically Decoupled Manipulators 1 Introduction 2 Decoupled Dynamics of the 2R Spatial Serial Manipulator and Its Motion Generation via Bang-Bang Profile 3 Design of Linear Controller 3.1 Performance Indices 3.2 Pole Placement 3.3 Lead Compensation 4 Conclusion References Reliable Time-Optimal Point to Point Handling of Unmounted Objects with Industrial Robots 1 Introduction 2 Inverse Dynamics Model 3 Task Constraints 4 Optimal Control Problem and Numerical Solution 5 Experimental Results 6 Conclusion References Design of a Weed-Control Mobile Robot Based on Electric Shock 1 Introduction 2 Selection of the Weeding Method 3 Electrode Design 3.1 Electrocution Strategy 3.2 Electrode Shape 4 Electrocution Equipment Design 5 Mobile Robot Design 6 Conclusions References Part V: Modeling and Synthesis of Robotic Devices Development of Joint Mechanism that can Achieve Both Active Drive and Variable Joint Quasi-stiffness by Utilizing 4-Bar and 5-Bar Composite Linkage 1 Introduction 2 Design and Mechanism 3 Verification 4 Conclusion References Kinematic Synthesis of a Tendon-Driven 4R Planar Robotic Arm 1 Introduction 2 Tendon-Driven 4R Planar Robotic Arm 3 Simulations and Validation 4 Conclusions References Inverse and Forward Kinematics of a Reconfigurable Spherical Parallel Mechanism with a Circular Rail 1 Introduction 2 Mechanism Design 3 Inverse Kinematics 4 Forward Kinematics 5 Conclusions References Novel Gripper Design for Transporting of Biosample Tubes 1 Introduction 2 Calculation Model of the Gripping Device 3 Simulation Results 4 Conclusion References Techniques for Synthesis of Inherently Force Balanced Mechanisms 1 Introduction 2 Principal Vector Linkages 3 Techniques to Modify Principal Vector Linkages 3.1 Constraining Link Motions 3.2 Modifying Link Positions 3.3 Substituting Links 4 Example of a 2-DoF Inherently Force Balanced Mechanism 5 Discussion and Conclusion References A Preliminary Study of Factors Influencing the Stiffness of Aerial Cable Towed Systems 1 Introduction 2 System Modeling 3 Stiffness Modeling 4 Effect of the Number of Cables and Their Arrangement on the ACTS Stiffness 5 Conclusion and Future Works References Design Optimization of a 6-DOF Cable-Driven Parallel Robot for Complex Pick-and-Place Tasks 1 Introduction 2 Design, Kinematics and Statics 3 Design Optimization 4 Results 5 Conclusions and Future Work References Improved Resolution of a Forward Kinematic Model of Parallel Manipulators Using a Serial Approach 1 Introduction 2 Kinematic Study of TPMs 2.1 3-UPU Robot 2.2 RAF Robot 3 Comparison Between the Serial and the Classical Approach for Solving the FKM 4 Conclusion References Artificial Neural Network Modelling of Cable Robots 1 Introduction 2 Platform Deflections 3 ANN Modelling and Prediction 4 Discussion and Conclusions References Part VI: Technological Applications and Teaching Aspects Design of a Robot for the Automatic Charging of an Electric Car 1 Introduction 2 Design Requirements of a Robot for the Automatic Charging of an Electric Car 3 Mechanism Understudy 3.1 The Mechanism: P-Pi-R-P Planar Parallel Robot 3.2 The Mechanism: Serial Robot 3.3 The Mechanism 4 Workspace Analysis 5 Stiffness Analysis 6 Hardware and Software 7 Conclusions References A New Parameter Selection Method for Power Skiving Tools 1 Introduction 2 Kinematics of Helical Gears with Skew Axes 2.1 The Infinitesimal Teeth 2.2 The Case of Power Skiving 3 Tool Parameters Selection Method 3.1 Requirement of Good Surface Finishing 3.2 Requirement of Low Cutting Forces 3.3 Constraint for Collision Avoidance 4 Working Example 5 Conclusions References Low Cost Delta Robot for the Experimental Validation of Frame Vibration Reduction Methods 1 Introduction 2 Vibration Reduction and Its Application to Delta Robots 3 The Suisui Bot 4 Experimental Results 5 Conclusion References Influence of the Receiving Timing of an Online Lecture in Actual Practical Mechanical Engineering Training 1 Introduction 2 Practical Training 3 Influence of Receiving Timing 4 Teaching Material to Aid in Understanding 5 Conclusions References Author Index