Dynamics of the Orthoglide parallel robot

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed orientation, which means that the actuating directions are normal to each other. Three identical legs connecting to the moving platform are located on three planes being perpendicular to each other too. Knowing the position and the translation motion of the platform, we develop the inverse kinematics problem and determine the position, velocity and acceleration of each element of the robot. Further, the principle of virtual work is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the input forces and the powers of the three actuators

Contributions to Open Problems on Cable Driven Robots and Persistent Manifolds for the Synthesis of Mechanisms

Although many efforts are continuously devoted to the advancement of robotics, there are still many open and unresolved problems to be faced. This thesis, therefore, sets out to tackle some of them with the aim of scratching the surface and look a little further for new ideas or solutions. The topics covered are mainly two. The first part deals with the development and improvement of control techniques for cable-driven robots. The second focuses on the study of persistent manifolds seen as constituting aspects of theoretical kinematics. In detail, -Part I deals with cable-driven platforms. In it, both techniques for selecting cable tensions and the design of a robust controller are developed. The aim is, therefore, to enhance the two building blocks of the overall control scheme in order to improve the performance of these robots during the execution of tracking tasks. -- The first chapter introduces to open problems and recalls the main concepts necessary to understand the following chapters; -- the contribution of the second chapter consists of the introduction of the Analytic Centre. It allows the generation of continuous and differentiable tension profiles while taking into account non-linear phenomena such as friction in the computation of tensions to be applied; -- the third chapter, although still at a preliminary stage, introduces sensitivity for tension calculation methods, offering perspectives of considerable interest for tension control in the current scientific context; -- the fourth chapter proposes the design of an adaptive controller. It allows external disturbances and/or uncertainties in the model to be faced such that the task can be performed with as little error as possible. The controller architecture is the innovative peculiarity conferring autonomy to cable systems. Initially applied to counteract wind in aerial systems it is now also used for cable breakage scenarios; -- the conclusions, at first, draw together the results obtained. In addition, they emphasise the lack of the techniques introduced in order to outline possible future paths and topics that need further investigation. - Part II delves into theoretical kinematics. The discovery and classification of invariant screw systems shed light on numerous aspects of robot mobility and synthesis. Nevertheless, this generated the emergence of new ideas and questions that are still unresolved. Among them, one of the more notable concerns the identification and classification of 5-dimensional persistent manifolds. -- Similarly to the first part, the first chapter provides an overview of the problems addressed and the theoretical notions necessary to understand the subsequent contributions; -- the second chapter contributes by directly tackling the above-mentioned question by exploiting the properties of dual quaternions, the Study quadric and differential geometry. A library of 5-persistent varieties, so far missing in the literature, is presented along with theorems that complete and generalise previous ones in the literature; -- an original work, concerning line motions and synthesis of mechanisms that generate them, is reported in the third chapter as a spin-off of the studies on persistent manifolds; -- the conclusions wrap up the obtained results trying to highlight gaps and deficiencies to be dealt with in the future. Here, two small sections are dedicated to ongoing works regarding the persistence definition and the screw systems' invariants and subvariants

Design of a Parallel Robotic Manipulator using Evolutionary Computing

In this paper the kinematic design of a 6‐dof parallel robotic manipulator is analysed. Firstly, the condition number of the inverse kinematic jacobian is considered as the objective function, measuring the manipulator’s dexterity and a genetic algorithm is used to solve the optimization problem. In a second approach, a neural network model of the analytical objective function is developed and subsequently used as the objective function in the genetic algorithm optimization search process. It is shown that the neuro‐genetic algorithm can find close to optimal solutions for maximum dexterity, significantly reducing the computational burden. The sensitivity of the condition number in the robot’s workspace is analysed and used to guide the designer in choosing the best structural configuration. Finally, a global optimization problem is also addressed

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and solve kinematic models and to identify geometric and non-geometric parameters in the calibration of parallel robots are discussed, examining the advantages and disadvantages of each method, presenting new trends and identifying unsolved problems. This overview tries to answer and show the solutions developed by the most up-to-date research to some of the most frequent questions that appear in the modelling of a parallel mechanism, such as how to measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters

Large-eddy simulation and multiscale modelling of a Richtmyer–Meshkov instability with reshock

Large-eddy simulations of the Richtmyer–Meshkov instability with reshock are pre- sented and the results are compared with experiments. Several configurations of shocks initially travelling from light (air) to heavy (sulfur hexafluoride, SF6) have been simulated to match previous experiments and good agreement is found in the growth rates of the turbulent mixing zone (TMZ). The stretched-vortex subgrid model used in this study allows for subgrid continuation modelling, where statistics of the unresolved scales of the flow are estimated. In particular, this multiscale modelling allows the anisotropy of the flow to be extended to the dissipation scale, eta, and estimates to be formed for the subgrid probability density function of the mixture fraction of air/SF6 based on the subgrid variance, including the effect of Schmidt number

Domes and Crosses: Exploiting synergies in two methodologies for biaxial tensile testing of membrane tissues

Biaxial tensile testing is the preferred method for mechanically testing membranous tissue as it can capture the tissue load response more holistically than uniaxial methods. There are two dominant approaches within the field of biaxial tensile testing: planar and bulge. Both methods can induce a state of biaxial tension within a specimen and both have their advantages and disadvantages. Bulge testing has the benefit of imposing a simple boundary condition on the tissue, making it quick and easy to set up. Planar Biaxial Tensile (PBT) testing is very sensitive to specimen preparation and requires non-trivial gripping systems. Some knowledge of the direction of maximum stiffness, prior to specimen mounting, is necessary for PBT to yield useful data. However, literature suggests that PBT is the more rigorous of the methods when it comes to collecting data to fully characterise a material model for membrane tissues. This study used the ease of bulge testing to determine the mean fibre axis of the tissue which informed the angle of PBT specimen excision. This was a rapid, non-destructive and creative method to avoid otherwise highly expensive imaging approaches to determine mean fibre direction. Further work was also done to develop a method of accurately determining specimen thickness for very thin tissues using a creative histological technique. By using a block of cutting medium to shape the membrane during processing steps, all four of the loaded edges of the tissue could be sectioned simultaneously for thickness measurement. Finally, the study served to develop a membrane tissue test protocol for further research using the in-house built biaxial tensile machines

Kinematics and Robot Design I, KaRD2018

This volume collects the papers published on the Special Issue “Kinematics and Robot Design I, KaRD2018” (https://www.mdpi.com/journal/robotics/special_issues/KARD), which is the first issue of the KaRD Special Issue series, hosted by the open access journal “MDPI Robotics”. The KaRD series aims at creating an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2018 received 22 papers and, after the peer-review process, accepted only 14 papers. The accepted papers cover some theoretical and many design/applicative aspects

Taphonomy and chronosequence of the 709 ka Kalinga site formation (Luzon Island, Philippines)

The recently described site of Kalinga in the Philippines adds to our understanding of Early-Middle Pleistocene hominin behaviour. Yet, disentangling the natural from the anthropogenic modifications that have taken place in such an old archaeological site is challenging. In this paper we use a set of taphonomic tools at hand to rectify the distortion made by natural processes during the formation of the Kalinga site. From the description of the ribs completeness, surface damages and scattering in the excavation, one can reconstruct the butchery, transport and deposition sequence of the rhino carcass and its post-depositional disturbances and diagenetic evolution of the site. We conclude that the rhino and the stone artefacts potentially used to deflesh the carcass were transported by a mudflow from its butchery place over a few meters only and got stuck and mixed with an older faunal assemblage that was transported by a small stream.Materials and methods Results Discussion and concluding remarks: Death and butchery of the rhino ; Transport and deposition ; Post‑depositional evolution of the site and diagenesis ; The relative age of the stone artefact