Recent Advances in Mechanism Design for Robotics (eBook)

Preface 6
Contents 8
Part ILinkage and Manipulators 13
1 Finger Mechanisms for Robotic Hands 14
Abstract 14
1 Introduction 14
2 Fingers in Nature 15
3 Requirements for Artificial Fingers 16
4 Mechanisms for Fingers 18
5 LARM Solutions and New Designs 20
6 Conclusions 23
References 23
2 Dimensional Synthesis of One-Jointed Multi-fingered Hands 25
Abstract 25
1 Introduction 25
2 Multi-fingered Hands 26
3 Dimensional Synthesis of Multi-fingered Hands 27
4 Single-Jointed, Single-Branching Hands 27
5 Dimensional Synthesis for the 1 2212 (1, 1, 1, 1, 1) Hand 28
5.1 Design Equations 29
5.2 Algebraic Solution 29
5.3 Example 31
6 Dimensional Synthesis for the 1 2212 (1, 1) Hand 31
7 Conclusions 35
Acknowledgments 35
References 35
3 A Modular Shape-Adaptive Mechanism for Robust Robotic Grasping 37
Abstract 37
1 Introduction 37
2 Grasper Design 38
3 Analysis 40
4 Prototype and Testing 41
5 Conclusions 43
Acknowledgments 43
References 44
4 Mass Equivalent Dyads 45
Abstract 45
1 Introduction 45
2 Mass Equivalent Dyad 46
3 Method of Rotations About the Principal Joint (RAPJ) 47
4 Method of Rotations About Principal Points (RAPP) 49
5 Discussion 52
6 Conclusion 54
References 54
5 A Light Weight Arm Designed with Modular Joints 56
Abstract 56
1 Introduction 56
2 Analysis of Design Requirements 57
3 Design of Modular Joints 58
4 Robot Development 60
5 Robot Testing 60
6 Conclusions 63
Acknowledgments 63
References 63
6 Dynamic Balancing Conditions of Planar Parallel Manipulators 64
Abstract 64
1 Introduction 64
2 Balancing Conditions Using Natural Coordinates 65
2.1 Linear Momentum Using Natural Coordinates 66
2.2 Angular Momentum Using Natural Coordinates 68
3 Balancing Conditions of a 2RRR Planar Parallel Manipulator (Five-Bar Mechanism) 68
4 Conclusions 72
References 72
7 Design and Characterization of a New 5-DOF Arc Welding Robot 74
Abstract 74
1 Introduction 75
2 Mechanical Design 76
3 Handheld Welding Teaching (HWT) Method 80
4 Experiments 82
5 Conclusions 83
Acknowledgments 84
References 84
8 Optimization of Grinding Parameters for Twist Drill in Biglide Parallel Machine 85
Abstract 85
1 Introduction 85
2 Kinematics of Biglide Parallel Machine 86
3 Modeling of Twist Drill Flank 87
4 Parametric Model of Twist Drill 88
5 Optimizing of Grinding Parameters 90
6 Application of the Proposed Method 91
7 Conclusions 93
References 93
9 Kinematics and Singularity Analysis of a 3-RRR Planar Hybrid Mechanism 94
Abstract 94
1 Introduction 94
2 Configuration of the 3-RRR Hybrid Mechanism 95
3 Forward and Inverse Position Analysis 95
3.1 Coordinate Systems and Constraint Equations of the 3-RRR Hybrid Mechanism 95
3.2 Operation Steps of Chaos Particle Swarm Optimization 97
3.3 Forward Position of the 3-RRR Hybrid Mechanism 98
4 Inverse Position of the 3-RRR Hybrid Mechanism 98
5 The Singularity of the 3-RRR Hybrid Mechanism 99
5.1 Classification of Singularity Configuration 99
5.2 Singularity of the 3-RRR Hybrid Mechanism 100
5.2.1 The Jacobian Matrices of the 3-RRR Hybrid Mechanism 100
5.2.2 Forward Singularity 101
5.2.3 Inverse Singularity 101
5.2.4 Hybrid Singularity 103
6 Conclusions 103
Acknowledgments 103
References 103
10 A Method to Estimate the Encoder Dependent Repeatability of General Serial Manipulators 105
Abstract 105
1 Introduction 106
2 General Serial 6R Manipulators 107
3 Effects of Finite Encoder Resolution 108
4 Simulation Results 111
5 Conclusions 115
References 115
Part IIInnovative Mechanism/Robotand Their Applications 117
11 Designing and Implementing an Interactive Social Robot from Off-the-Shelf Components 118
Abstract 118
1 Introduction 118
2 ISocioBot 120
2.1 Mechanical Design 120
2.2 Electronic Design 120
3 Software 123
4 Evaluation 124
4.1 Public Demonstrations 124
4.2 Our Own Experience 125
4.3 Future Improvements 125
5 Conclusions 126
Acknowledgments 126
References 126
12 Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis 127
Abstract 127
1 Introduction 127
2 Mechanism Objectives, Features and Analysis 128
2.1 Geometric Analysis of the Driving Mechanism 129
2.2 Kinematic Analysis of the Driving Mechanism 130
3 Mechanism Design and Testing 131
3.1 Design Specifications 131
3.2 Resulting Mechanism Design 132
3.3 Range of Motion and Testing 134
3.4 Safety of Use in Rehabilitation 134
4 Conclusions 135
References 136
13 Dynamic Modeling and Torque Distribution of a Climbing Hexapod Robot 137
Abstract 137
1 Introduction 137
2 Walking Platform 139
3 Kinematics, Dynamics and Torque Distribution 140
3.1 Kinematics and Dynamics 140
3.2 Torque Distribution 143
4 Results and Discussion 144
5 Conclusions 147
Acknowledgments 147
References 147
14 Development and Simulation of an Automated Twistlock Handling Robot System 149
Abstract 149
1 Introduction 149
2 Operation Characteristics for Robot Systems 151
3 An Architecture of Software Module 152
4 Twistlock 3D Model Library 154
5 Simulation Results 155
6 Conclusions 156
Acknowledgments 156
References 157
15 Grinding Methodology Research for Helical Drill Based on the Biglide Parallel Grinder 158
Abstract 158
1 Introduction 158
2 Kinematics of the Biglide Parallel Grinder 160
3 Flank Surface Modeling Based on the Biglide Parallel Grinder 161
4 Simulation for the Flank Surface and Experiments 163
5 Conclusions 165
References 165
Part IIIActuators and Control 166
16 Towards Safe Robotic Surgical Systems 167
Abstract 167
1 Introduction 167
2 Problem Formulation 169
2.1 Model of Beating Heart 169
2.2 Model of Robotic Arm 170
2.3 Safety of the System 171
3 Control Algorithm 172
4 Simulation Results 174
5 Conclusion 175
References 176
17 A Comprehensive Analytical Model and Experimental Validation of Z-shaped Electrothermal Microactuators 178
Abstract 178
1 Introduction 179
2 Analytical Modeling 180
2.1 Electro-Thermal Modeling 180
2.2 Thermal-Mechanical Modeling 182
2.3 System Modeling 184
3 Simulations and Experimental Testing 184
4 Conclusions 187
Acknowledgments 187
References 187
18 Optimising Configurations of KUKA LWR4+ Manipulator for Calibration with Optical CMM 189
Abstract 189
1 Introduction 189
2 Equipment 191
3 Problem Statement 192
4 Optimization 194
5 Discussion 196
References 198
19 Key Parameters Optimization of a Novel Tubular Double Excitation Windings Linear Switched Reluctance Motor 200
Abstract 200
1 Introduction 200
1.1 Schematic Structure 201
1.2 Operating Principle 201
2 Choice of Key Parameters 202
3 Characteristic Analysis 203
4 Conclusions 205
Acknowledgments 205
References 205
20 Optimizing Tracking Performance of XY Repositioning System with ILC 206
Abstract 206
1 Introduction 206
2 Iterative Learning Control 208
3 Case Study---Repositioning System for Laser Cutting 209
4 Implementational Considerations 212
5 Results 213
6 Summary/Conclusion 215
References 216
Part IVMechanism Design 217
21 Shift Strategy for Railway Vehicle Transmissions 218
Abstract 218
1 Introduction 218
2 The Introduction of Hydraulic Transmission Device 219
2.1 The Original Characteristics of Hydraulic Torque Converter 219
2.2 The Original Characteristics of Hydraulic Coupler 220
3 The Shift Strategy of Railway Vehicles 221
3.1 The Selection of Shift Parameters 222
3.2 The Analysis of the Shift Strategy of Railway Vehicles 223
4 Conclusions 225
References 226
22 Research and Analysis on Transmission Error of RV Reducer Used in Robot 227
Abstract 227
1 Introduction 227
2 The Establishment of RV Transmission Error Dynamic Model 228
3 The Establishment and Solution of RV Transmission Error Mathematical Models 228
4 Calculation and Analysis of System Transmission Error 231
5 Experimental Study of the Transmission Error 232
6 Conclusions 233
Acknowledgments 233
References 234
23 Structural Design and Kinematic Analysis of Moving Mechanism of Insulator Inspection Robot 235
Abstract 235
1 Introduction 236
2 Structural Design of Moving Mechanism 237
2.1 Moving Mechanism Design 237
2.2 Works Principle 238
3 Kinematic Analysis of the Moving Mechanism 238
4 Simulation 241
5 Conclusions 242
Acknowledgments 243
References 243
24 Atlas Motion Platform Full-Scale Prototype Design 244
Abstract 244
1 Introduction 244
2 Structural Components 246
2.1 Sphere Structure 246
3 Actuation 247
4 Control, Dynamics, and Simulation 250
4.1 Control 250
4.2 Torque Jacobian and Simulated Dynamic Response 250
5 Concluding Remarks 253
References 254
25 Simulation of Kinematic Pairs in the Calculation Mechanisms by Finite Element Method 255
Abstract 255
1 Introduction 255
2 Types of Rod Constructions Considered in FEM 255
3 Simulation of Kinematic Pairs. Method of Hard Nodes 256
4 Simulation of Kinematic Pairs. Types of Kinematic Pairs 257
5 The Transition to the Local Coordinate Systems 260
6 Example 263
7 Conclusions 265
References 265
Part VMechanics of Robots 266
26 Compliance Control and Design for Intelligent Lunar Robot 267
Abstract 267
1 Introduction 267
2 System Composition and Working Principle 268
2.1 Mechanical Part 268
2.2 Control Part 271
2.3 Motion Analysis 272
3 Performance Test 273
4 Conclusions 274
Acknowledgments 274
References 275
27 Design Analysis and Dynamic Modeling of a High-Speed 3T1R Pick-and-Place Parallel Robot 276
Abstract 276
1 Introduction 276
2 Manipulator Architecture 277
3 Mobility Analysis 278
4 Kinematic Analysis of the Robot 279
4.1 Inverse Geometric Problem 279
4.2 Kinematic Jacobian Matrix 280
4.3 Workspace and Dexterity 280
5 Dynamic Modeling 283
6 Conclusions 285
Acknowledgments 285
References 286
28 Dynamic Characteristics of Two Cylinders' Joint Surfaces Based on Fractal Theory 287
Abstract 287
1 Introduction 288
2 Fractal Prediction Model of Contact Stiffness 288
2.1 Deformation Property Analysis of Elastomer 288
2.2 Model of Normal Contact Stiffness 290
2.3 Model of Tangential Contact Stiffness 291
3 Feasibility Analysis of Fractal Prediction Model 292
3.1 Analysis of Normal Contact Stiffness Model 292
3.2 Analysis of Tangential Contact Stiffness Model 293
4 Experimental Analysis of Fixed Curved Joint 293
5 Conclusions 295
Acknowledgments 295
References 295
29 Modular System with Varying Contact Elements for a Reconfigurable Parallel Robot 297
Abstract 297
1 Introduction 297
2 Range of Objects Handled 299
3 Design of the Robotic Local Structure 300
3.1 Modular System 301
4 Conclusions 305
Acknowledgments 305
References 305
30 Study on Nonlinear Dynamics of RV Transmission System Used in Robot Joints 306
Abstract 306
1 Introduction 306
2 The Establishment of RV Transmission System Dynamics Model 307
3 Establishment and Solution of System Dynamics Differential Equation 308
4 The Steady-State Response of the System 309
4.1 Influences of Excitation Frequency on the Dynamic Characteristics of the Nonlinear System 309
4.2 Infections of Damping on the Dynamic Characteristics of the Nonlinear System 312
5 Conclusions 312
References 312
31 Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm 314
Abstract 314
1 Introduction 314
2 Kinematics of the Robot Under Study 315
3 Stiffness Modeling 317
3.1 Compound Stiffness of the Active Joint 318
3.2 Stiffness of the /varPi Joint 319
4 Effect of the /varPi Joint 320
5 Error Compensation 321
5.1 Compensation Procedure 321
5.2 Numerical Simulation 323
6 Conclusions 323
Acknowledgments 324
Appendix 324
References 324
32 A Design Method of Thin-Walled and Four-Point Contact Ball Bearings of Industrial Robots 326
Abstract 326
1 Introduction 326
2 Design Method 327
2.1 Structure Optimization 327
2.1.1 Optimization Model 327
2.1.2 Optimization Method 329
2.2 Finite Element Analysis 330
2.3 Accurate Calculation of Service Life of Bearings 332
3 Conclusions 334
References 335
33 On the Elastostatics of Spherical Parallel Machines with Curved Links 336
Abstract 336
1 Introduction 336
2 Elastostatic Model 337
2.1 Small Displacements and Joint-Matrices 337
2.2 Stiffness Matrix of a Curved Beam 338
2.3 Stiffness Matrix of a Flexible Body Coupled to a Rigid Body 340
3 Case Study: Agile Eye 341
3.1 Limb /hat {/bi R}/hat{/bi R}/hat{/bi R} 341
4 Error Positioning Analysis of the Agile Eye 342
5 Conclusions 344
References 345
34 Accuracy Analysis of a Tripod Parallel Grinder 346
Abstract 346
1 Introduction 346
2 Structure Descriptions 347
3 Position Reverse Solution 348
4 Error Modeling Method 350
5 Accuracy Analysis 351
6 Conclusions 353
References 353
35 General Purpose Software to Solve the Inverse Dynamics and Compute the Internal Efforts of Non-redundant Planar Mechanisms 354
Abstract 354
1 Introduction 354
2 Motion Simulation 355
3 Force Analysis 358
4 Internal Efforts 360
5 Conclusions 363
Acknowledgments 363
References 363
36 Dynamic Modeling of Flexible Robot Manipulators: Acceleration-Based Discrete Time Transfer Matrix Method 365
Abstract 365
1 Introduction 365
2 State Vectors and Transformation 366
3 Linearization and Integration Schemes 368
4 Transfer Matrix of Components 369
4.1 Dynamics and Transfer Matrix of a Flexible Link Element 369
4.2 Dynamics and Transfer Matrix of a Rotational Motor Joint 370
4.3 Dynamics and Transfer Matrix of Fixed Mountings 370
4.3.1 Fixed Mounting with Rigid Inboard Body and Flexible Outboard Beam 370
4.3.2 Fixed Mounting with a Flexible Inboard Body and a Flexible Outboard Body 371
5 Case Studies and Simulations 372
6 Conclusion and Discussion 373
References 373
37 Comparative Study on the Kinematic and Static Performance of Two 1T2R Parallel Manipulators 375
Abstract 375
1 Introduction 376
2 Architecture Description and Inverse Kinematics 377
3 Kinematic Performance 379
4 Static Performance 380
5 Conclusion 382
Acknowledgments 383
References 383
Part VIParallel Manipulators 385
38 Forward Kinematic Model of a New Spherical Parallel Manipulator Used as a Master Device 386
Abstract 386
1 Introduction 386
2 Master Device for a Medical Tele-Operation System 387
3 New Architecture of the Master Device 389
4 Forward Kinematic Model 390
5 Improvement of the Forward Kinematic Model 392
6 Conclusions 393
Acknowledgments 393
References 393
39 Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions 394
Abstract 394
1 Introduction 394
2 Kinematics for Mechanisms with Translational Engines 396
3 Kinematics for Spherical Mechanism 399
4 Conclusions 402
References 402
40 Operation Modes and Self-motions of a 2-RUU Parallel Manipulator 404
Abstract 404
1 Introduction 404
2 Manipulator Architecture 405
3 Constraint Equations 406
4 Operation Modes 408
4.1 System {/mathscr{K}/!}_{1} : 1st Schönflies Mode 409
4.2 System {/mathscr{K}/!}_{2} : 2nd Schönflies Mode 409
4.3 System {/mathscr{K}/!}_{3} : Third Mode 409
5 Singularity Conditions and Operation Mode Changing 410
5.1 1st Schönflies Mode /left( {{/mathscr{K}/!}_{1} } /right) /leftrightarrow Third Mode /left( {{/mathscr{K}/!}_{3} } /right) 411
5.2 2nd Schönflies Mode /left( {{/mathscr{K}/!}_{2} } /right) /leftrightarrow Third Mode /left( {{/mathscr{K}/!}_{3} } /right) 411
6 Self-motions in System {/mathscr{K}/!}_{3} 412
7 Conclusions 412
References 413
41 Singularity Analysis of 2R1P Spherical Parallel Mechanisms 414
Abstract 414
1 Introduction 414
2 Configurations of 3-DOF 2R1P Spherical Parallel Mechanisms 415
3 Jacobians of the Spherical Parallel Manipulators 416
4 Singularity Analysis of the 2R1P Spherical Parallel Mechanisms 417
4.1 Boundary Singularity 417
4.2 Configuration Singularity 419
4.3 Structure Singularity 420
5 Conclusions 421
Acknowledgments 421
References 421
42 Kinematics Analysis of 5-Rod Car Suspension Mechanism with Singularities 422
Abstract 422
1 Introduction 422
2 Kinematical Characteristics 423
3 Numerical Solution of the Kinematics 425
4 Conclusions 429
References 430