Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics (eBook)

Preface 6
Contents 8
OrigamiBoat: An Application of Thick Rigid Flat-Folding Origami to Portable Watercraft 11
Abstract 11
1 Introduction 11
2 Design Approach 12
3 Results 14
4 Prototyping 16
5 Discussion 18
6 Conclusions 18
References 19
Analysis and Synthesis of Planar Cam Mechanisms Using Working Model 2D 20
Abstract 20
1 Introduction 20
2 Cam Follower Kinematic Analysis 21
3 Generation of Disk Cams with Cylindrical and Flat-Faced Followers 21
4 Generation of Cam Profiles with Concave Follower 26
5 Conclusions 28
Acknowledgements 28
References 28
Cam Profiles Generation as Follower Envelopes with MATLAB Programs 30
Abstract 30
1 Introduction 30
2 Translating Follower 31
3 Oscillating Follower 33
4 Wedge Cam Profile Generation 35
5 Conclusions 36
Appendix 1 36
References 40
Cylinder Deactivation and Propulsion Electrification 41
Abstract 41
1 Introduction 41
2 Prior Work 42
3 Cylinder Deactivation Mechanism 43
4 Modeling and Simulation Results 44
5 Conclusion 48
Acknowledgements 49
References 49
Design of a Sealed Wave Gear 51
Abstract 51
1 Introduction 51
2 Wave Gear Application 52
3 Design Algorithm Developed at the Bauman Moscow State Technical University 53
3.1 General Schemes of Wave Gear Mechanism 53
3.2 Sealed Wave Gear Mechanism 54
3.3 Details of Design Algorithm 56
4 Conclusions 60
References 61
Design, Development, and Testing of an Autonomous Multirotor for Personal Transportation 63
Abstract 63
1 Introduction 63
2 Mechanical Subsystem 65
2.1 Overall System Requirements 65
2.2 Motor Selection and Frame Configuration 66
2.3 Structural Components and Stress Analysis 67
2.4 Hummingbird Structure 69
3 Electrical Subsystem Design 70
3.1 Power and Energy Requirements 70
3.2 Battery Subsystem Design 70
3.3 Electronic Speed Controller Selection 73
4 Control System 73
4.1 Flight Controller 74
4.2 User Interface 74
5 Systems Assembly and Preliminary Thrust/Flight Testing 75
5.1 Hummingbird Assembly 75
5.2 Albatross Assembly 75
6 Planned Flight-Test Campaign 76
7 Conclusion 76
Acknowledgement 77
References 77
Forward Kinematics and Singularities of a 3-(rR)PS Metamorphic Parallel Mechanism 78
1 Introduction 78
2 Geometric Constraints of Mechanism 79
3 Derivation of Forward Kinematics 81
3.1 Forward Kinematics with Equal Lengths 82
4 Singularity Analysis 82
5 Conclusions 85
References 86
Autonomous Mobility Improvements of Hybrid Electric 4 × 4 with Controllable Power Transmitting Unit 88
Abstract 88
1 Introduction 88
2 Vehicle Dynamics for Mobility Analysis 89
2.1 Hybrid Electric Power Transmitting Unit for Mobility Optimization 92
3 Indices for Mobility Evaluation 93
3.1 Wheel Mobility Index 93
3.2 Velocity-Based Index 94
4 Computational Mobility Study 95
5 Conclusion 100
Acknowledgments 101
References 101
Towards Relating Grasping Posture and Fingers-Object Curvature in the Vicinity of a Contact Location 102
1 Introduction 102
1.1 Finger-Object Relative Curvature Within a Contact and Geometrical Models 103
2 Kinematic Joint Rotation Configuration Model 103
3 Summary of Circle Configuration Theorem 105
4 Fingertip Grasping Circle Configuration Formulation 107
5 Case Study 109
5.1 Grasping an Object with a Circular Cross-Section 110
5.2 Grasping an Object with Different Curvature Within the Contact 112
6 Conclusions 113
References 114
Steady-State Response of a Dual-Rotor Wind Turbine with Counter-Rotating Electric Generator and Planetary Gear Increaser 116
Abstract 116
1 Introduction 116
2 Problem Formulation 117
3 Dual-Rotor Wind Turbine Example 118
3.1 Kinematic and Static Equilibrium Equations of the Planetary Gear Set 120
3.2 Mechanical Connections Modeling 121
3.3 Wind Rotor and Electric Generator Characteristics 122
3.4 Steady-State Operating Point 122
4 Numerical Results and Discussions 123
5 Conclusions 124
References 125
Use of Flywheel Energy Storage in Mobile Robots 126
Abstract 126
1 Introduction 126
1.1 Scope and Special Characteristics of Mobile Robots 126
1.2 Energy Recovery Devices 127
2 Aim and Main Objectives 127
3 Flywheels 127
3.1 A Brief History of FES 127
3.2 Scope of Flywheel Energy Storage 129
3.3 Electric Battery 129
4 Flywheel Energy Storage 129
4.1 Modern Technology 129
4.2 Flywheel Energy Storage in Mobile Robots 129
4.3 Design of FES 131
4.4 Experimental Studies at Bauman Moscow State Technical University 132
5 Conclusions 135
References 135
Twisting String Actuation with Noncircular Wrapping Rods 136
1 Introduction 136
2 Mathematical Model 138
3 Test Bench 141
4 Experiments 143
5 Conclusion 145
References 145
A Wearable Joint Sensing Device Based on the Inverted Slider Crank 147
1 Introduction 147
2 Kinematics of Conductive Fabric and Human Motion 149
2.1 Range of Motion of Conductive Fabric 149
2.2 Range of Motion in the Joint 149
3 Kinematic Synthesis of Human Joint as Constrained RPR Chain 151
3.1 Kinematics of the RPR Chain 152
3.2 The Design Equations 153
3.3 Example Synthesis of an Elbow Joint 154
4 Results and Discussion 155
5 Conclusion 157
References 157
Using Cyclic Quadrilaterals to Design Cylindrical Developable Mechanisms 159
1 Introduction 159
1.1 Cyclic Quadrilaterals 160
1.2 Developable Mechanisms 160
1.3 Grashof Condition 161
2 Cyclic Quadrilaterals and Four-Bar Cylindrical Developable Mechanisms 162
2.1 Special Case: Folding Mechanism 163
2.2 Generalized Equation for the Radius of the Circumcircle 164
3 Intramobility and Extramobility with Cyclic Quadrilaterals 165
3.1 Special Conditions 166
4 Discussion and Conclusion 168
References 169
Optimization and Design of a Gripper Mechanism for Autonomous Unmanned Aerial Vehicle Perching 170
1 Introduction 170
2 Linkage Design and Optimization 172
2.1 Finger Optimization 173
2.2 Actuation Optimization 175
3 Prototype Design 176
4 Prototype Testing 177
4.1 3D Printed Prototype 177
4.2 Final Prototype 178
5 Conclusions 180
References 181
Computation of the Developable Form of a Planar Four-Bar Linkage 182
1 Introduction 182
2 Literature Review 183
3 The Cyclic Configuration of a Four-Bar Linkage 183
4 Example Calculation 185
5 Conclusion 187
References 188
Analysis of Soft Mechanisms Using a Homogenized Strain Induced Model 189
1 Introduction 189
2 Homogenized Strain Induced Model (HSIM) 191
2.1 FRPAM Deformation: Morphology and Analysis 191
2.2 Model Parameters 193
2.3 Data Collection 193
2.4 Optimization Framework 194
2.5 Parametric Variation and Error Analysis 196
3 Experimental Validation 196
3.1 Pennate-Inspired Architectures 196
3.2 Testing and Results 198
4 HSIM as an Ideation Tool 199
5 Conclusion and Future Work 203
References 204
Mobile Fiducial-Based Collaborative Localization and Mapping (CLAM) 206
1 Introduction 206
2 Collaborative Localization and Mapping (CLAM) 208
2.1 Notation, Definitions, and Mathematical Formalism 208
3 The Fiducial System and Exchangeable Range Sensing 211
4 Experimental Results 212
5 Discussion and Future Directions 213
References 214
A GPU Homotopy Path Tracker and End Game for Mechanism Synthesis 216
1 Introduction 216
2 Constraints of a GPU 217
3 Homotopy Continuation and Path Tracking 217
3.1 GPU Implementation 219
4 Demonstration 221
5 Conclusion 224
References 224
Validation of Vision-Based State Estimation for Localization of Agents and Swarm Formation 226
1 Introduction 226
2 Background and Objectives 228
3 Vision-Based Pose Estimation Method 228
4 Testing and Validation Results 230
4.1 Distance Estimation 230
4.2 Swarm State Estimation 232
5 Discussion 233
References 234
Unpacking the Mathematics of Modeling Origami Folding Transformations with Quaternions 235
1 Introduction 235
2 Preliminaries 236
2.1 The Transformation [v,](u) 236
2.2 The Transformation [P,v,](u) 237
2.3 The Transformation [(ea,),(eb,)] 238
3 Modeling the Motion 238
3.1 Single Vertex Pattern Modeling 239
3.2 Dual Quaternion Modeling 243
3.3 Key Theorem 245
4 Summary 248
5 Conclusion 249
Appendix 249
References 250
Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs 252
1 Introduction 252
2 Concomitant Motion 253
2.1 Basics of Concomitant Motion 253
3 Velocity Level Constraint Relation to Detect Concomitant Motion 254
3.1 Mechanism Description 254
3.2 Leg and Manipulator Jacobian 255
3.3 Detection of Concomitant Motion 256
3.4 Identification of Concomitant Motion 258
4 Relation of the Parasitic Motion and Independent Motion 258
5 Conclusion 262
References 262
A Unified Representation for Mapping Robot Workspace and Performance with Applications for Parallel Mechanisms 263
Abstract 263
1 Introduction 263
2 A Unified Representation 264
2.1 Concept of Dimensionally Unified Representation 264
2.2 Mathematical Expression of Unified Dimension Representation Method 266
2.3 New Workspace Performance Index 267
2.4 Schematic Diagrams of Unified Dimension Workspace and Performance Map 267
3 Application of Unified Dimension Representation Method 269
3.1 Brief Introduction of 3RPS Parallel Mechanism 269
3.2 Unified Dimension Workspace and Performance Map 270
3.3 Parameter Optimization with New Performance Indexes 272
3.3.1 Parameter Optimization Among Overall Workspace 272
3.3.2 Parameter Optimization in Task Workspace 273
3.4 Task-Oriented Parameter Determination Based on New Performance Indexes 276
4 Conclusion 278
Acknowledgements 279
References 279
Human Factors to Develop a Safety Guard Model in Human-Robot Interaction 281
1 Introduction 281
2 Methodology 283
2.1 Experimental Setup 284
3 Background on Surface EMG and Fatigue Analysis 285
3.1 Fatigue Analysis 286
4 Kinematics and Dynamics of the UR5 Robot 288
5 Implementation Strategy 290
6 Conclusion 294
References 294
Singularity Design for RRSS Mechanisms 297
1 Introduction 297
2 The RRSS Mechanism 298
3 Singularity Design Equations for the RRSS Mechanism 299
4 Solution Procedure and a Numerical Example 302
5 Conclusion 307
References 307
Robotic Inspection Crawler for Small Diameter Complex Piping 308
1 Introduction 308
2 Requirements of Inspection System 309
3 Background of Design Concepts 310
4 Crawler Architecture 311
4.1 Gripping Mechanism 312
4.2 Locomotion Method 312
4.3 Steering System 312
4.4 Sensorless Locomotion Control 313
5 Crawler Design Dimensional Optimization 313
5.1 Dimensional Restrictions 313
5.2 Static Optimization 314
5.3 Dynamic Optimizations 315
6 Crawler Testing and Validation 316
7 Conclusion 317
References 318
Author Index 320