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 |  موضوع: كتاب Mechanism Design for Robotics الخميس 03 فبراير 2022, 11:37 pm | |
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أخواني في الله
أحضرت لكم كتاب
Mechanism Design for Robotics
MEDER 2021
Saïd Zeghloul, Med Amine Laribi, Marc Arsicault
Editors
و المحتوى كما يلي :
Contents
Linkage and Manipulators
Analytical Movement Optimization of Dual-Arm Planar Robots
with Rotating Platform 3
Matteo Bottin, Giulio Rosati, and Giovanni Boschetti
Inverse Kinematics and Velocity Analysis of a 6-DOF Hexapod-Type
Manipulator with a Circular Guide 12
Alexey Fomin, Anton Antonov, Daniil Petelin, Victor Glazunov,
and Marco Ceccarelli
Torque Minimization of Dynamically Decoupled R-R Spatial Serial
Manipulators via Optimal Motion Control . 20
Vigen Arakelian, Jing Geng, and Yaodong Lu
Kinematic Analysis of a Coaxial 3-RRR Spherical Parallel
Manipulator Based on Screw Theory . 28
Alejandro T. Cruz-Reyes, Manuel Arias-Montiel,
and Ricardo Tapia-Herrera
A Novel Design for an Autonomous Mobile Agricultural Fruit
Harvesting Robot 38
Divyansh Khare, Sandra Cherussery, and Santhakumar Mohan
Parallel Manipulators
A Comparison of Algebraic and Iterative Procedures
for the Generation of the Workspace of Parallel Robots 53
Matteo Russo and Marco Ceccarelli
Symbolic Kinematics of Special 3-RSR Parallel Mechanism
with Zero Coupling Degree 62
Huiping Shen, Yao Tang, Tao Li, and Qingmei Meng
xiInverse Kinematics and Workspace of a 3-PRRS Type
Parallel Manipulator . 71
Zh. Baigunchekov, M.A. Laribi, R. Kaiyrov, and E. Zholdassov
Investigation of Interference-Free Workspace of a Cartesian
(3-PRRR) Parallel Manipulator . 79
Isaac John, Parvathi Sunilkumar, Santhakumar Mohan, and Larisa Rybak
Exit Point, Initial Length and Pose Self-calibration Method
for Cable-Driven Parallel Robots 90
Bozhao Wang and Stéphane Caro
Kinematic Simulation of a Geared Planar Parallel Manipulator 102
Antonio-Marius-Flavius Luputi, Erwin-Christian Lovasz,
Marco Ceccarelli, Sticlaru Carmen, and Ana-Maria Stoian
Mechanics of Robots
Design Criteria Study for Underactuated Symmetric Pinching
Mechanism of Pinch Roll Machine in High-Speed Wire
Rod Product Line 113
Wang Renquan, Yao Shuangji, Marco Ceccarelli, and Yang Xiaohan
Design of a Reconfigurable Novel Constant-Force Mechanism
for Assistive Exoskeletons 122
Yichen Liu, Zhongyi Li, and Shaoping Bai
Aerodynamic Double Pendulum with Nonlinear Elastic Spring . 132
Yury Selyutskiy, Marat Dosaev, Andrei Holub, and Marco Ceccarelli
Design of a Flexible Interphalangeal Joint . 141
Job Eli Escobar-Flores, Christopher R. Torres-San Miguel,
Luis Antonio Aguilar-Pérez, and Marco Ceccarelli
Mechanism Deign
A Reconfigurable Underactuated Grasper
with In-hand Manipulation 151
Carl A. Nelson
Design of a Robotic Brace with Parallel Structure for Spine
Deformities Correction 159
Rahul Ray, Laurence Nouaille, Briac Colobert, Laurine Calistri,
and Gérard Poisson
An Adaptive Drive of Spacecraft Docking Mechanism 168
Konstantin S. Ivanov, Dana T. Tulekenova, and Marco Ceccarelli
xii ContentsDriving Mechanism in Robotized Hospital Bed for Patients
with COVID 19 . 179
Jorge Enrique Araque Isidro and Marco Ceccarelli
Synthesis of a Function Generator Six-Bar Linkage in Two Steps
with Genetic Algorithm . 187
Claudio Villegas, Mathias Hüsing, and Burkhard Corves
Design and Analysis of a Device for Enlarging the Allowable Position
Error for Screwing Task 195
Hao-Tien Ku and Yu-Hsun Chen
Dimensional Synthesis of a Four-Bar Linkage Assessing the Path
and Reformulating the Error Function . 204
Alfonso Hernández, Aitor Muñoyerro, Mónica Urízar, and Víctor Petuya
Actuators and Control
Motion Control of 6-DOF Relative Manipulation Device 217
Sergey Khalapyan, Larisa Rybak, Elena Gaponenko,
and Giuseppe Carbone
Genetic Algorithm with Iterative Learning Control for Estimation
of the Parameters of Robot Dynamics 226
Kaloyan Yovchev and Lyubomira Miteva
Control of the Vibrations of a Cartesian Automatic Machine 236
Matteo Bottin , Giulio Cipriani , Domenico Tommasino, and Alberto Doria
Innovative Mechanism/Robot and their Applications
Design of the 2 D.o.F Compliant Positioning Device Based
on the Straight-Line Watt’s Mechanisms 247
Jaroslav Hricko and Stefan Havlik
Optimal Design of a Five-Bar Mechanism Dedicated to Assisting
in the Fingers Flexion-Extension Movement 256
Araceli Zapatero-Gutiérrez, Med Amine Laribi,
and Eduardo Castillo-Castañeda
An Extendable Continuum Robot Arm to Deal with a Confined Space
Having Discontinuous Contact Area 265
Daisuke Matsuura, Ryota Shioya, H. Harry Asada, and Yukio Takeda
Mobile Manipulator and EOAT for In-Situ Infected Plant Removal . 274
Taher Deemyad and Anish Sebastian
New Variable Stiffness Joint (VSJ): Study and Simulation . 284
M. G. Contreras-Calderón, M. A. Laribi, and E. Castillo-Castañeda
Contents xiiiSpecial Session in Honor of Prof. Said Zeghloul
Design of an 8-DoF Redundant Robotic Platform for Medical
Applications 297
Elie Gautreau, Aurélien Thomas, Juan Sandoval, Med Amine Laribi,
and Saïd Zeghloul
Serial Approach for Solving the Forward Kinematic Model
of the DELTA Robot . 305
Majdi Meskini, Houssem Saafi, Med Amine Laribi, Abdelfattah Mlika,
Marc Arsicault, and Said Zegloul
On the Optimal Design of LAWEX for a Safe Upper Arm
Rehabilitation Exercising 313
Ines Ben Hamida, Med Amine Laribi, Abdelfattah Mlika, Lotfi Romdhane,
Saïd Zeghloul, and Giuseppe Carbone
A Reconfigurable 6-DoF Cable-Driven Parallel Robot
with an Extended Rotational Workspace 322
Ferdaws Ennaiem, Abdelbadiâ Chaker, Med Amine Laribi, Juan Sandoval,
Sami Bennour, Abdelfattah Mlika, Lotfi Romdhane, and Saïd Zeghloul
Author Index .
Author Index
A
Aguilar-Pérez, Luis Antonio, 141
Antonov, Anton, 12
Arakelian, Vigen, 20
Araque Isidro, Jorge Enrique, 179
Arias-Montiel, Manuel, 28
Arsicault, Marc, 305
Asada, H. Harry, 265
B
Bai, Shaoping, 122
Baigunchekov, Zh., 71
Bennour, Sami, 322
Boschetti, Giovanni, 3
Bottin, Matteo, 3, 236
C
Calistri, Laurine, 159
Carbone, Giuseppe, 217, 313
Carmen, Sticlaru, 102
Caro, Stéphane, 90
Castillo-Castañeda, Eduardo, 256, 284
Ceccarelli, Marco, 12, 53, 102, 113, 132, 141,
168, 179
Chaker, Abdelbadiâ, 322
Chen, Yu-Hsun, 195
Cherussery, Sandra, 38
Cipriani, Giulio, 236
Colobert, Briac, 159
Contreras-Calderón, M. G., 284
Corves, Burkhard, 187
Cruz-Reyes, Alejandro T., 28
D
Deemyad, Taher, 274
Doria, Alberto, 236
Dosaev, Marat, 132
E
Ennaiem, Ferdaws, 322
Escobar-Flores, Job Eli, 141
F
Fomin, Alexey, 12
G
Gaponenko, Elena, 217
Gautreau, Elie, 297
Geng, Jing, 20
Glazunov, Victor, 12
H
Hamida, Ines Ben, 313
Havlik, Stefan, 247
Hernández, Alfonso, 204
Holub, Andrei, 132
Hricko, Jaroslav, 247
Hüsing, Mathias, 187
I
Ivanov, Konstantin S., 168
J
John, Isaac, 79
 The Editor(s) (if applicable) and The Author(s), under exclusive license
to Springer Nature Switzerland AG 2021
S. Zeghloul et al. (Eds.): MEDER 2021, MMS 103, pp. 333–334, 2021.
https://doi.org/10.1007/978-3-030-75271-2334 Author Index
K
Kaiyrov, R., 71
Khalapyan, Sergey, 217
Khare, Divyansh, 38
Ku, Hao-Tien, 195
L
Laribi, Med Amine, 71, 256, 284, 297, 305, 313,
322
Li, Tao, 62
Li, Zhongyi, 122
Liu, Yichen, 122
Lovasz, Erwin-Christian, 102
Lu, Yaodong, 20
Luputi, Antonio-Marius-Flavius, 102
M
Matsuura, Daisuke, 265
Meng, Qingmei, 62
Meskini, Majdi, 305
Miteva, Lyubomira, 226
Mlika, Abdelfattah, 305, 313, 322
Mohan, Santhakumar, 38, 79
Muñoyerro, Aitor, 204
N
Nelson, Carl A., 151
Nouaille, Laurence, 159
P
Petelin, Daniil, 12
Petuya, Víctor, 204
Poisson, Gérard, 159
R
Ray, Rahul, 159
Renquan, Wang, 113
Romdhane, Lotfi, 313, 322
Rosati, Giulio, 3
Russo, Matteo, 53
Rybak, Larisa, 79, 217
S
Saafi, Houssem, 305
Sandoval, Juan, 297, 322
Sebastian, Anish, 274
Selyutskiy, Yury, 132
Shen, Huiping, 62
Shioya, Ryota, 265
Shuangji, Yao, 113
Stoian, Ana-Maria, 102
Sunilkumar, Parvathi, 79
T
Takeda, Yukio, 265
Tang, Yao, 62
Tapia-Herrera, Ricardo, 28
Thomas, Aurélien, 297
Tommasino, Domenico, 236
Torres-San Miguel, Christopher R., 141
Tulekenova, Dana T., 168
U
Urízar, Mónica, 204
V
Villegas, Claudio, 187
W
Wang, Bozhao, 90
X
Xiaohan, Yang, 113
Y
Yovchev, Kaloyan, 226
Z
Zapatero-Gutiérrez, Araceli, 256
Zeghloul, Saïd, 297, 313, 322
Zegloul, Said, 305
Zholdassov, E., 71
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