Twisted String Actuation Systems

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Twisted String Actuation Systems

Author : Igor Gaponov
Publisher : Butterworth-Heinemann
ISBN 13 : 9780128141953
Total Pages : 0 pages
Book Rating : 4.1/5 (419 download)

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Book Synopsis Twisted String Actuation Systems by : Igor Gaponov

Download or read book Twisted String Actuation Systems written by Igor Gaponov and published by Butterworth-Heinemann. This book was released on 2024-07-01 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Twisted String Actuation Systems: Applications, Modelling, and Control discusses the emerging area of twisted string actuation. It provides the basics of modeling and control, while also outlining the potential advantages of this actuation technique. Several detailed case studies describe the requirements and design parameters of the TSAs developed for different robotic applications. In addition, the book covers guidelines for engineers on the design and implementation of TSA in new areas and applications, discussing how to select strings with appropriate properties and suitable material, how to model actuators, and how to predict efficiency and lifetime. The book will benefit the engineering community and increase the popularity of this promising novel type of actuator as it brings together the most up-to-date technologies and advances in the TSA field, along with their background and history.

The Effects of End Termination on the Endurance Life of Twisted String Actuators

Author : Bradley Scott Roan
Publisher :
ISBN 13 :
Total Pages : 92 pages
Book Rating : 4.:/5 (969 download)

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Book Synopsis The Effects of End Termination on the Endurance Life of Twisted String Actuators by : Bradley Scott Roan

Download or read book The Effects of End Termination on the Endurance Life of Twisted String Actuators written by Bradley Scott Roan and published by . This book was released on 2016 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: Actuation is possibly the most fundamental aspect of any robotic system; a robot without any means to interact with the physical world is simply a computer. As such, new actuation methods are valuable additions to the field of robotics, and optimization of such methods can help advance the field as a whole. Twisted string actuators (TSA) are a relatively novel type of actuator, which convert the rotary motion of an electric motor to a tensile linear motion by twisting two or more strings around one another thereby shortening the length. When the twisting element is composed of high tensile strength fibers (such as high modulus polyethylene fiber), these actuators have the potential to possess many desirable characteristics of actuators, such as high force, high speed, high specific power (power to weight ratio), and high power density (power to volume ratio). Furthermore, because the transmission element is string, these actuators can be designed and built very cost efficiently. One of the major drawbacks of TSAs is their endurance life. While many engineering components operate in the millions of cycles, twisted string actuators operate in the range of tens of thousands of cycles. For some applications, this low endurance life is no issue, because the strings in the actuator are cheap and easily replaced. For many applications, however, this low of endurance life is unacceptable. The purpose of this thesis is to explore the effects of the end termination of the twisted element on the endurance life of the actuator. The basic architecture and concept of twisted string actuators is presented, as well as the mathematical description of their behavior. A hypothesis concerning the endurance life of the twisted element with respect to the end termination of the twisted element is presented and supported. A potential solution to the problem of low endurance life of twisted string actuators is presented and tested alongside two other common architectures. The results from this test are presented and discussed. When different architectures of twisted strings were tested and compared under identical conditions (i.e. style of string, material of string, resting length of twisting element, loading of the actuator, and actuation speed) it was found that the separator plate architecture outperformed both the pulley-to-pulley architecture, and the proposed architecture. The pulley-to-pulley tests resulted in a median endurance life of 36.5 cycles, the separator plate architecture resulted in a median endurance life of 364 cycles, and the proposed architecture resulted in a median endurance life of 115 cycles. During testing, the phenomenon of axial twist of individual strings, in addition to the twisting of the string pair driven by the motor, was observed, and identified as a potential explanation for the limited endurance life of the proposed architecture when compared with that of the separator plate architecture.

Advanced Bimanual Manipulation

Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 364229040X
Total Pages : 284 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis Advanced Bimanual Manipulation by : Bruno Siciliano

Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-04-12 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics

Author : Pierre Larochelle
Publisher : Springer Nature
ISBN 13 : 3030439291
Total Pages : 321 pages
Book Rating : 4.0/5 (34 download)

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Book Synopsis Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics by : Pierre Larochelle

Download or read book Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics written by Pierre Larochelle and published by Springer Nature. This book was released on 2020-04-20 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest fundamental research contributions, innovations, and applications in the field of design and analysis of complex robotic mechanical systems, machines, and mechanisms, as presented by leading international researchers at the 1st USCToMM Symposium on Mechanical Systems and Robotics (USCToMM MSR 2020), held in Rapid City, South Dakota, USA on May 14-16, 2020. It covers highly diverse topics, including soft, wearable and origami robotic systems; applications to walking, flying, climbing, underground, swimming and space systems; human rehabilitation and performance augmentation; design and analysis of mechanisms and machines; human-robot collaborative systems; service robotics; mechanical systems and robotics education; and the commercialization of mechanical systems and robotics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting and impactful research results that will inspire novel research directions and foster multidisciplinary research collaborations among researchers from around the globe.

Converging Clinical and Engineering Research on Neurorehabilitation IV

Author : Diego Torricelli
Publisher : Springer Nature
ISBN 13 : 3030703169
Total Pages : 870 pages
Book Rating : 4.0/5 (37 download)

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Book Synopsis Converging Clinical and Engineering Research on Neurorehabilitation IV by : Diego Torricelli

Download or read book Converging Clinical and Engineering Research on Neurorehabilitation IV written by Diego Torricelli and published by Springer Nature. This book was released on 2021-10-01 with total page 870 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book reports on advanced topics in the areas of neurorehabilitation research and practice. It focuses on new methods for interfacing the human nervous system with electronic and mechatronic systems to restore or compensate impaired neural functions. Importantly, the book merges different perspectives, such as the clinical, neurophysiological, and bioengineering ones, to promote, feed and encourage collaborations between clinicians, neuroscientists and engineers. Based on the 2020 International Conference on Neurorehabilitation (ICNR 2020) held online on October 13-16, 2020, this book covers various aspects of neurorehabilitation research and practice, including new insights into biomechanics, brain physiology, neuroplasticity, and brain damages and diseases, as well as innovative methods and technologies for studying and/or recovering brain function, from data mining to interface technologies and neuroprosthetics. In this way, it offers a concise, yet comprehensive reference guide to neurosurgeons, rehabilitation physicians, neurologists, and bioengineers. Moreover, by highlighting current challenges in understanding brain diseases as well as in the available technologies and their implementation, the book is also expected to foster new collaborations between the different groups, thus stimulating new ideas and research directions.

Towards Autonomous Robotic Systems

Author : Kaspar Althoefer
Publisher : Springer
ISBN 13 : 3030253325
Total Pages : 503 pages
Book Rating : 4.0/5 (32 download)

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Book Synopsis Towards Autonomous Robotic Systems by : Kaspar Althoefer

Download or read book Towards Autonomous Robotic Systems written by Kaspar Althoefer and published by Springer. This book was released on 2019-07-16 with total page 503 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volumes LNAI 11649 and 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 87 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.

Handbook of Smart Materials, Technologies, and Devices

Author : Chaudhery Mustansar Hussain
Publisher : Springer Nature
ISBN 13 : 3030842053
Total Pages : 2831 pages
Book Rating : 4.0/5 (38 download)

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Book Synopsis Handbook of Smart Materials, Technologies, and Devices by : Chaudhery Mustansar Hussain

Download or read book Handbook of Smart Materials, Technologies, and Devices written by Chaudhery Mustansar Hussain and published by Springer Nature. This book was released on 2022-11-09 with total page 2831 pages. Available in PDF, EPUB and Kindle. Book excerpt: This handbook brings together technical expertise, conceptual background, applications, and societal aspects of Industry 4.0: the evolution of automation and data exchange in fabrication technologies, materials processing, and device manufacturing at both experimental and theoretical model scales. The book assembles all the aspects of Industry 4.0, starting from the emergence of the concept to the consequences of its progression. Drawing on expert contributors from around the world, the volume details the technologies that sparked the fourth revolution and illustrates their characteristics, potential, and methods of use in the industrial and societal domains. In addition, important topics such as ethics, privacy and security are considered in a reality where all data is shared and saved remotely. The collection of contribution serve a very broad audience working in the fields of science and engineering, chemical engineering, materials science, nanotechnology, energy, environment, green chemistry, sustainability, electrical and electronic engineering, solid-state physics, surface science, aerosol technology, chemistry, colloid science, device engineering, and computer technology. This handbook ideal reference libraries in universities and industrial institutions, government and independent institutes, individual research groups and scientists.

Advances in Italian Mechanism Science

Author : Giuseppe Quaglia
Publisher : Springer Nature
ISBN 13 : 3031645693
Total Pages : 578 pages
Book Rating : 4.0/5 (316 download)

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Book Synopsis Advances in Italian Mechanism Science by : Giuseppe Quaglia

Download or read book Advances in Italian Mechanism Science written by Giuseppe Quaglia and published by Springer Nature. This book was released on with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Proceedings of the Eighth Asia International Symposium on Mechatronics

Author : Baoyan Duan
Publisher : Springer Nature
ISBN 13 : 9811913099
Total Pages : 2195 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Proceedings of the Eighth Asia International Symposium on Mechatronics by : Baoyan Duan

Download or read book Proceedings of the Eighth Asia International Symposium on Mechatronics written by Baoyan Duan and published by Springer Nature. This book was released on 2022-07-12 with total page 2195 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book presents high-quality papers from the Eighth Asia International Symposium on Mechatronics (AISM 2021). It discusses the latest technological trends and advances in electromechanical coupling and environmental adaptability design of electronic equipment, sensing and measurement, mechatronics in manufacturing and automations, energy harvesting & storage, robotics, automation and control systems. It includes papers based on original theoretical, practical and experimental simulations, development, applications, measurements, and testing. The applications and solutions discussed in the book provide excellent reference material for future product development.

Mathematical Models of Hysteresis

Author : I.D. Mayergoyz
Publisher : Springer Science & Business Media
ISBN 13 : 1461230284
Total Pages : 225 pages
Book Rating : 4.4/5 (612 download)

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Book Synopsis Mathematical Models of Hysteresis by : I.D. Mayergoyz

Download or read book Mathematical Models of Hysteresis written by I.D. Mayergoyz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 225 pages. Available in PDF, EPUB and Kindle. Book excerpt: The purpose of this book is to describe in sufficient detail the mathematical models of hysteresis nonlinearities with "nonlocal memories. " The distinct feature of these nonlinearities is that their future states depend on past histories of input variations. It turns out that memories of hysteresis nonlinearities are quite selective. Indeed, experiments show that only some past input extrema (not the entire input variations) leave their marks upon future states of hysteresis nonlinearities. Thus, special mathematical tools are needed to describe nonlocal selective memories of hysteresis nonlinearities. The origin of such tools can be traced back to the landmark paper of Preisach. The book is primarily concerned with Preisach-type models of hysteresis. All these models have a common generic feature; they are constructed as superposi tions of simplest hysteresis nonlinearities-rectangular loops. The discussion is by and large centered around the following topics: various generalizations and extensions of the classical Preisach model (with special emphasis on vector generalizations), finding of necessary and sufficient conditions for the represen tation of actual hysteresis nonlinearities by various Preisach-type models, solution of identification problems for these models, and numerical implementa tion and experimental testing of Preisach-type models. Although the study of Preisach-type models constitutes the main subject of the book, some effort is also made to establish some interesting connections between these models and such topics as the critical state model for superconducting hysteresis, the classi cal Stoner-Wohlfarth model for vector magnetic hysteresis, thermal activation type models for viscosity, magnetostrictive hysteresis and neural networks.

Proceedings of I4SDG Workshop 2023

Author : Victor Petuya
Publisher : Springer Nature
ISBN 13 : 3031324390
Total Pages : 506 pages
Book Rating : 4.0/5 (313 download)

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Book Synopsis Proceedings of I4SDG Workshop 2023 by : Victor Petuya

Download or read book Proceedings of I4SDG Workshop 2023 written by Victor Petuya and published by Springer Nature. This book was released on 2023-05-18 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the proceedings of the 2nd IFToMM Workshop for Sustainable Development Goals - I4SDG 2023 held in Bilbao, Spain, on 22-23 June 2023. The workshop papers are focused on those aspects of the theory, design and applications of Mechanism and Machine Science that are fundamental for moving towards sustainable development. The main topics of the workshop are: sustainable energy systems, robotics and mechatronics, biomechanical and medical systems, education, linkages, gears, transmissions and actuators, engines and powertrains, tribology, transportation machinery, service systems for sustainability, humanitarian engineering and socio-technical systems for sustainable and inclusive development. The contributions, selected through a rigorous international peer-review process, highlight many exciting ideas that will drive new research directions and foster multidisciplinary collaboration between researchers from different backgrounds.

Human-Friendly Robotics 2020

Author : Matteo Saveriano
Publisher : Springer Nature
ISBN 13 : 3030713563
Total Pages : 144 pages
Book Rating : 4.0/5 (37 download)

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Book Synopsis Human-Friendly Robotics 2020 by : Matteo Saveriano

Download or read book Human-Friendly Robotics 2020 written by Matteo Saveriano and published by Springer Nature. This book was released on 2021-03-06 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents recent methodological, technological, and experimental developments concerning human-friendly robots and their introduction into everyday life. The book contains a selection of 10 papers presented at the 13th edition of the International Workshop on Human-Friendly Robotics (HFR). The International Workshop on Human-Friendly Robotics (HFR) is an annual meeting that brings together academic scientists, researchers, and research scholars to present their latest, original findings on all aspects concerning human-friendly robotics where safe and dependable machines operate in close proximity to humans or directly interact with them in a wide range of contexts. The 13th edition was organized by the University of Innsbruck and took place in Innsbruck, Austria. The book is primarily intended for robotics researchers and postgraduates which are doing or willing to do research in fields related to human-friendly robotics, including human–robot interaction, robot control, robot learning, and intuitive interfaces. .

Haptics: Science, Technology, and Applications

Author : Domenico Prattichizzo
Publisher : Springer
ISBN 13 : 331993399X
Total Pages : 733 pages
Book Rating : 4.3/5 (199 download)

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Book Synopsis Haptics: Science, Technology, and Applications by : Domenico Prattichizzo

Download or read book Haptics: Science, Technology, and Applications written by Domenico Prattichizzo and published by Springer. This book was released on 2018-06-05 with total page 733 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNCS 10893 and 10894 constitutes the refereed proceedings of the 11th International Conference EuroHaptics 2018, held in Pisa, Italy, in June 2018. The 95 papers (40 oral presentations and 554 poster presentations) presented were carefully reviewed and selected from 138 submissions. These proceedings reflect the multidisciplinary nature of EuroHaptics and cover all aspects of haptics, including neuroscience, psychophysics, perception, engineering, computing, interaction, virtual reality and arts.

Advances in Italian Mechanism Science

Author : Vincenzo Niola
Publisher : Springer Nature
ISBN 13 : 303055807X
Total Pages : 902 pages
Book Rating : 4.0/5 (35 download)

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Book Synopsis Advances in Italian Mechanism Science by : Vincenzo Niola

Download or read book Advances in Italian Mechanism Science written by Vincenzo Niola and published by Springer Nature. This book was released on 2020-08-19 with total page 902 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 3rd International Conference of IFToMM ITALY, held online on September 9-11, 2020. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.

Cable-Driven Parallel Robots

Author : Andreas Pott
Publisher : Springer
ISBN 13 : 3319761382
Total Pages : 475 pages
Book Rating : 4.3/5 (197 download)

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Book Synopsis Cable-Driven Parallel Robots by : Andreas Pott

Download or read book Cable-Driven Parallel Robots written by Andreas Pott and published by Springer. This book was released on 2018-03-27 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cable-driven parallel robots are a new kind of lightweight manipulators with excellent scalability in terms of size, payload, and dynamics capacities. For the first time, a comprehensive compendium is presented of the field of cable-driven parallel robots. A thorough theory of cable robots is setup leading the reader from first principles to the latest results in research. The main topics covered in the book are classification, terminology, and fields of application for cable-driven parallel robots. The geometric foundation of the standard cable model is introduced followed by statics, force distribution, and stiffness. Inverse and forward kinematics are addressed by elaborating efficient algorithms. Furthermore, the workspace is introduced and different algorithms are detailed. The book contains the dynamic equations as well as simulation models with applicable parameters. Advanced cable models are described taking into account pulleys, elastic cables, and sagging cables. For practitioner, a descriptive design method is stated including methodology, parameter synthesis, construction design, component selection, and calibration. Rich examples are presented by means of simulation results from sample robots as well as experimental validation on reference demonstrators. The book contains a representative overview of reference demonstrator system. Tables with physical parameters for geometry, cable properties, and robot parameterizations support case studies and are valuable references for building custom cable robots. For scientist, the book provides the starting point to address new scientific challenges as open problems are named and a commented review of the literature on cable robot with more than 500 references are given.

Electric Drives and Electromechanical Systems

Author : Richard Crowder
Publisher : Butterworth-Heinemann
ISBN 13 : 0081028857
Total Pages : 324 pages
Book Rating : 4.0/5 (81 download)

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Book Synopsis Electric Drives and Electromechanical Systems by : Richard Crowder

Download or read book Electric Drives and Electromechanical Systems written by Richard Crowder and published by Butterworth-Heinemann. This book was released on 2019-10-19 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electric Drives and Electromechanical Devices: Applications and Control, Second Edition, presents a unified approach to the design and application of modern drive system. It explores problems involved in assembling complete, modern electric drive systems involving mechanical, electrical, and electronic elements. This book provides a global overview of design, specification applications, important design information, and methodologies.This new edition has been restructured to present a seamless, logical discussion on a wide range of topical problems relating to the design and specification of the complete motor-drive system. It is organised to establish immediate solutions to specific application problem. Subsidiary issues that have a considerable impact on the overall performance and reliability, including environmental protection and costs, energy efficiency, and cyber security, are also considered. - Presents a comprehensive consideration of electromechanical systems with insights into the complete drive system, including required sensors and mechanical components - Features in-depth discussion of control schemes, particularly focusing on practical operation - Includes extensive references to modern application domains and real-world case studies, such as electric vehicles - Considers the cyber aspects of drives, including networking and security

Engineering Haptic Devices

Author : Christian Hatzfeld
Publisher : Springer
ISBN 13 : 1447165187
Total Pages : 596 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Engineering Haptic Devices by : Christian Hatzfeld

Download or read book Engineering Haptic Devices written by Christian Hatzfeld and published by Springer. This book was released on 2014-09-15 with total page 596 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this greatly reworked second edition of Engineering Haptic Devices the psychophysic content has been thoroughly revised and updated. Chapters on haptic interaction, system structures and design methodology were rewritten from scratch to include further basic principles and recent findings. New chapters on the evaluation of haptic systems and the design of three exemplary haptic systems from science and industry have been added. This book was written for students and engineers that are faced with the development of a task-specific haptic system. It is a reference book for the basics of haptic interaction and existing haptic systems and methods as well as an excellent source of information for technical questions arising in the design process of systems and components. Divided into two parts, part 1 contains typical application areas of haptic systems and a thorough analysis of haptics as an interaction modality. The role of the user in the design of haptic systems is discussed and relevant design and development stages are outlined. Part II presents all relevant problems in the design of haptic systems including general system and control structures, kinematic structures, actuator principles and sensors for force and kinematic measures. Further chapters examine interfaces and software development for virtual reality simulations.