50 research outputs found

    MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

    Full text link
    El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

    Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

    Get PDF
    This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

    Low Mobility Cable Robot with Application to Robotic Warehousing

    Get PDF
    Cable-based robots consist of a rigid mobile platform connected via flexible links (cables, wires, tendons) to a surrounding static platform. The use of cables simplifies the mechanical structure and reduces the inertia, allowing the mobile platform to reach high motion acceleration in large workspaces. These attributes give, in principle, an advantage over conventional robots used for industrial applications, such as the pick and place of objects inside factories or similar exterior large workspaces. However, unique cable properties involve new theoretical and technical challenges: all cables must be in tension to avoid collapse of the mobile platform. In addition, positive tensions applied to cables may affect the overall stiffness, that is, cable stretch might result in unacceptable oscillations of the mobile platform. Fully constrained cable-based robots can be distinguished from other types of cable-based robots because the motion and force generation of the mobile platform is accomplished by controlling both the cable lengths and the positive cable tensions. Fully constrained cable-based robots depend on actuator redundancy, that is, the addition of one or more actuated cables than end-effector degrees of freedom. Redundancy has proved to be beneficial to expand the workspace, remove some types of singularities, increase the overall stiffness, and support high payloads in several proposed cable-based robot designs. Nevertheless, this strategy demands the development of efficient controller designs for real-time applications. This research deals with the design and control of a fully constrained cable-based parallel manipulator for large-scale high-speed warehousing applications. To accomplish the design of the robot, a well-ordered procedure to analyze the cable tensions, stiffness and workspace will be presented to obtain an optimum structure. Then, the control problem will be investigated to deal with the redundancy solution and all-positive cable tension condition. The proposed control method will be evaluated through simulation and experimentation in a prototype manufactured for testing

    Multibody dynamics 2015

    Get PDF
    This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version

    Human Machine Interaction

    Get PDF
    In this book, the reader will find a set of papers divided into two sections. The first section presents different proposals focused on the human-machine interaction development process. The second section is devoted to different aspects of interaction, with a special emphasis on the physical interaction

    A Bio-inspired Distributed Control Architecture: Coupled Artificial Signalling Networks

    Get PDF
    This thesis studies the applicability of computational models inspired by the structure and dynamics of signalling networks to the control of complex control problems. In particular, this thesis presents two different abstractions that aim to capture the signal processing abilities of biological cells: a stand-alone signalling network and a coupled signalling network. While the former mimics the interacting relationships amongst the components in a signalling pathway, the latter replicates the connectionism amongst signalling pathways. After initially investigating the feasibility of these models for controlling two complex numerical dynamical systems, Chirikov's standard map and the Lorenz system, this thesis explores their applicability to a difficult real world control problem, the generation of adaptive rhythmic locomotion patterns within a legged robotic system. The results highlight that the locomotive movements of a six-legged robot could be controlled in order to adapt the robot's trajectory in a range of challenging environments. In this sense, signalling networks are responsible for the robot adaptability and inter limb coordination as they self-adjust their dynamics according to the terrain's irregularities. More generally, the results of this thesis highlight the capacity of coupled signalling networks to decompose non-linear problems into smaller sub-tasks, which can then be independently solved

    On the dynamics of human locomotion and co-design of lower limb assistive devices

    Get PDF
    Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive capability. Such devices are conventionally designed to be anthropomorphic. They follow the morphology of the human lower limbs. It has been shown previously that non-anthropomorphic designs can lead to increased comfort and better dynamical properties due to the fact that there is more morphological freedom in the design parameters of such a device. At the same time, exploitation of this freedom is not always intuitive and can be difficult to incorporate. In this work we strive towards a methodology aiding in the design of possible non-anthropomorphic structures for the task of human locomotion assistance by means of simulation and optimization. The simulation of such systems requires state of the art rigid body dynamics, contact dynamics and, importantly, closed loop dynamics. Through the course of our work, we first develop a novel, open and freely available, state of the art framework for the modeling and simulation of general coupled dynamical systems and show how such a framework enables the modeling of systems in a novel way. The resultant simulation environment is suitable for the evaluation of structural designs, with a specific focus on locomotion and wearable robots. To enable open-ended co-design of morphology and control, we employ population-based optimization methods to develop a novel Particle Swarm Optimization derivative specifically designed for the simultaneous optimization of solution structures (such as mechanical designs) as well as their continuous parameters. The optimizations that we aim to perform require large numbers of simulations to accommodate them and we develop another open and general framework to aid in large scale, population based optimizations in multi-user environments. Using the developed tools, we first explore the occurrence and underlying principles of natural human gait and apply our findings to the optimization of a bipedal gait of a humanoid robotic platform. Finally, we apply our developed methods to the co-design of a non-anthropomorphic, lower extremities, wearable robot in simulation, leading to an iterative co-design methodology aiding in the exploration of otherwise hard to realize morphological design

    Modular soft pneumatic actuator system design for compliance matching

    Get PDF
    The future of robotics is personal. Never before has technology been as pervasive as it is today, with advanced mobile electronics hardware and multi-level network connectivity pushing âsmartâ devices deeper into our daily lives through home automation systems, virtual assistants, and wearable activity monitoring. As the suite of personal technology around us continues to grow in this way, augmenting and offloading the burden of routine activities of daily living, the notion that this trend will extend to robotics seems inevitable. Transitioning robots from their current principal domain of industrial factory settings to domestic, workplace, or public environments is not simply a matter of relocation or reprogramming, however. The key differences between âtraditionalâ types of robots and those which would best serve personal, proximal, human interactive applications demand a new approach to their design. Chief among these are requirements for safety, adaptability, reliability, reconfigurability, and to a more practical extent, usability. These properties frame the context and objectives of my thesis work, which seeks to provide solutions and answers to not only how these features might be achieved in personal robotic systems, but as well what benefits they can afford. I approach the investigation of these questions from a perspective of compliance matching of hardware systems to their applications, by providing methods to achieve mechanical attributes complimentary to their environment and end-use. These features are fundamental to the burgeoning field of Soft Robotics, wherein flexible, compliant materials are used as the basis for the structure, actuation, sensing, and control of complete robotic systems. Combined with pressurized air as a power source, soft pneumatic actuator (SPA) based systems offers new and novel methods of exploiting the intrinsic compliance of soft material components in robotic systems. While this strategy seems to answer many of the needs for human-safe robotic applications, it also brings new questions and challenges: What are the needs and applications personal robots may best serve? Are soft pneumatic actuators capable of these tasks, or âusefulâ work output and performance? How can SPA based systems be applied to provide complex functionality needed for operation in diverse, real-world environments? What are the theoretical and practical challenges in implementing scalable, multiple degrees of freedom systems, and how can they be overcome? I present solutions to these problems in my thesis work, elucidated through scientific design, testing and evaluation of robotic prototypes which leverage and demonstrate three key features: 1) Intrinsic compliance: provided by passive elastic and flexible component material properties, 2) Extrinsic compliance: rendered through high number of independent, controllable degrees of freedom, and 3) Complementary design: exhibited by modular, plug and play architectures which combine both attributes to achieve compliant systems. Through these core projects and others listed below I have been engaged in soft robotic technology, its application, and solutions to the challenges which are critical to providing a path forward within the soft robotics field, as well as for the future of personal robotics as a whole toward creating a better society

    Humanoid Robots

    Get PDF
    For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion
    corecore