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Twisted String Actuation Systems

Twisted String Actuation Systems Book
Author : Gaponov Igor,Jee-Hwan Ryu,Simeon Nedelchev
Publisher : Butterworth-Heinemann
Release : 2019-11
ISBN : 9780128141953
Language : En, Es, Fr & De

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Book Description :

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. Summarizes the state-of-the-art research in the area of twisted string actuators Provides the reader with the basics of modeling and control over actuators of this type, also outlining the potential advantages of this actuation technique Presents several case studies describing, in detail, the requirements and design parameters of the TSAs developed for various engineering applications, ranging from precise object positioning, to heavy-duty manipulation Includes MATLAB code files for modeling different aspects of the TSAs

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

The Effects of End Termination on the Endurance Life of Twisted String Actuators Book
Author : Bradley Scott Roan
Publisher : Unknown
Release : 2016
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

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.

Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics

Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics Book
Author : Pierre Larochelle,J. Michael McCarthy
Publisher : Springer Nature
Release : 2020-04-20
ISBN : 3030439291
Language : En, Es, Fr & De

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Book Description :

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.

Advanced Bimanual Manipulation

Advanced Bimanual Manipulation Book
Author : Bruno Siciliano
Publisher : Springer Science & Business Media
Release : 2012-04-12
ISBN : 364229040X
Language : En, Es, Fr & De

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Book Description :

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.

Advances in Italian Mechanism Science

Advances in Italian Mechanism Science Book
Author : Vincenzo Niola
Publisher : Springer Nature
Release : 2020
ISBN : 303055807X
Language : En, Es, Fr & De

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Book Description :

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.

Human Friendly Robotics 2020

Human Friendly Robotics 2020 Book
Author : Matteo Saveriano,Erwan Renaudo,Antonio Rodríguez-Sánchez,Justus Piater
Publisher : Springer Nature
Release : 2021-03-06
ISBN : 3030713563
Language : En, Es, Fr & De

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Book Description :

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. .

Towards Autonomous Robotic Systems

Towards Autonomous Robotic Systems Book
Author : Kaspar Althoefer,Jelizaveta Konstantinova,Ketao Zhang
Publisher : Springer
Release : 2019-07-16
ISBN : 3030253325
Language : En, Es, Fr & De

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Book Description :

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.

Soft Robotics Trends Applications and Challenges

Soft Robotics  Trends  Applications and Challenges Book
Author : Cecilia Laschi,Jonathan Rossiter,Fumiya Iida,Matteo Cianchetti,Laura Margheri
Publisher : Springer
Release : 2016-09-21
ISBN : 3319464604
Language : En, Es, Fr & De

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Book Description :

This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

Experimental Robotics

Experimental Robotics Book
Author : Jaydev P. Desai,Gregory Dudek,Oussama Khatib,Vijay Kumar
Publisher : Springer
Release : 2013-07-09
ISBN : 3319000659
Language : En, Es, Fr & De

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Book Description :

The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.

Springer Handbook of Robotics

Springer Handbook of Robotics Book
Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer
Release : 2016-07-27
ISBN : 3319325523
Language : En, Es, Fr & De

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Book Description :

The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Engineering Haptic Devices

Engineering Haptic Devices Book
Author : Christian Hatzfeld,Thorsten A. Kern
Publisher : Springer
Release : 2014-09-15
ISBN : 1447165187
Language : En, Es, Fr & De

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Book Description :

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.

Cable Driven Parallel Robots

Cable Driven Parallel Robots Book
Author : Andreas Pott
Publisher : Springer
Release : 2018-03-27
ISBN : 3319761382
Language : En, Es, Fr & De

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Book Description :

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.

Vacuum Bazookas Electric Rainbow Jelly and 27 Other Saturday Science Projects

Vacuum Bazookas  Electric Rainbow Jelly  and 27 Other Saturday Science Projects Book
Author : Neil A. Downie
Publisher : Princeton University Press
Release : 2018-06-05
ISBN : 0691188572
Language : En, Es, Fr & De

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Book Description :

How do you crack nuts with a piece of string? Reverse gravity? Cobble together a clock out of a coffee cup, a soda bottle, and some water? Use a vacuum cleaner and nineteenth-century railroad technology to fashion a makeshift bazooka that can launch paper projectiles? Create a rainbow in a block of Jello? This is a one-volume romp through a whole array of counterintuitive science experiments that require little more than common household items and a sense of curiosity. Prepare to have your surprise sensors on overload as Neil Downie stretches math, physics, and chemistry to do what they have never done before. This book describes twenty-nine unusual but practical experiments, detailing how they are done and the math and physics behind them. It will delight both casual and inveterate tinkerers. Of varying levels of complexity, the experiments are grouped in sections covering a wide field of physics and the borders of chemistry, ranging from dynamic mechanics (''Kinetic Curiosities'') to electricity (''Antediluvian Electronics'') and combustion (''Infernal Inventions''). The chapters are titillatingly titled, from ''Twisted Sinews'' and ''Mole Radio'' to ''A Symphony of Siphons'' and ''Tornado Transistor.'' More-detailed explanations, along with simple mathematical models using high-school level math, are given in boxes accompanying each experiment. Armchair scientists will welcome this edifying and entertaining alternative to idleness, not least for the buoyant prose, enriched by historical and literary anecdotes introducing each topic. With this book in hand, tinkerers, whether dabblers in science or devotees, students or teachers, need never again wonder how to impress friends, the judges at the science fair, and, not least, themselves.

International Conference on Intelligent Data Communication Technologies and Internet of Things ICICI 2018

International Conference on Intelligent Data Communication Technologies and Internet of Things  ICICI  2018 Book
Author : Jude Hemanth,Xavier Fernando,Pavel Lafata,Zubair Baig
Publisher : Springer
Release : 2018-12-20
ISBN : 3030031462
Language : En, Es, Fr & De

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Book Description :

This book discusses data communication and computer networking, communication technologies and the applications of IoT (Internet of Things), big data, cloud computing and healthcare informatics. It explores, examines and critiques intelligent data communications and presents inventive methodologies in communication technologies and IoT. Aimed at researchers and academicians who need to understand the importance of data communication and advanced technologies in IoT, it offers different perspectives to help readers increase their knowledge and motivates them to conduct research in the area, highlighting various innovative ideas for future research.

Chemical Electrostatics

Chemical Electrostatics Book
Author : Fernando Galembeck,Thiago A. L. Burgo
Publisher : Springer
Release : 2017-03-09
ISBN : 3319523740
Language : En, Es, Fr & De

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Book Description :

This book provides new clues for understanding electrostatic charging in solids and liquids, resulting from the surge of research in this active area of science that is taking place since the 1990's but is still largely unknown to most researchers, lecturers and engineers. Written by a leading researcher in this field, this book describes the formation and properties of the Earth capacitor, the production of environmental electricity and its effect on natural and anthropic systems and examines many situations in which water may play a decisive role in electrostatic behavior. The authors present an informed critique of the long-held assumption that pure substances should be electroneutral. In this regard, the authors show that charge partition and accumulation is expected considering the electrochemical potential under non-zero electrostatic potential, which prevails at Earth surface. This book provides conceptual tools to guide the reader through the complexities and consequences of electrostatic phenomena while covering exciting current topics such as energy scavenging from the environment, electrostatic based green production, energy-saving processes, electrochemistry at the solid-gas interface, therapeutic electrostatic treatments, applications in sanitation and pest control and control of atmospheric electricity and its use in climate engineering.

Haptics Science Technology and Applications

Haptics  Science  Technology  and Applications Book
Author : Domenico Prattichizzo,Hiroyuki Shinoda,Hong Z. Tan,Emanuele Ruffaldi,Antonio Frisoli
Publisher : Springer
Release : 2018-06-04
ISBN : 3319934457
Language : En, Es, Fr & De

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Book Description :

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. ​

Intelligent Robotics and Applications

Intelligent Robotics and Applications Book
Author : Xin-Jun Liu,Zhenguo Nie,Jingjun Yu,Fugui Xie,Rui Song
Publisher : Springer Nature
Release : 2021-10-19
ISBN : 3030890953
Language : En, Es, Fr & De

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Book Description :

The 4-volume set LNAI 13013 – 13016 constitutes the proceedings of the 14th International Conference on Intelligent Robotics and Applications, ICIRA 2021, which took place in Yantai, China, during October 22-25, 2021. The 299 papers included in these proceedings were carefully reviewed and selected from 386 submissions. They were organized in topical sections as follows: Robotics dexterous manipulation; sensors, actuators, and controllers for soft and hybrid robots; cable-driven parallel robot; human-centered wearable robotics; hybrid system modeling and human-machine interface; robot manipulation skills learning; micro_nano materials, devices, and systems for biomedical applications; actuating, sensing, control, and instrumentation for ultra-precision engineering; human-robot collaboration; robotic machining; medical robot; machine intelligence for human motion analytics; human-robot interaction for service robots; novel mechanisms, robots and applications; space robot and on-orbit service; neural learning enhanced motion planning and control for human robot interaction; medical engineering.

Human Inspired Dexterity in Robotic Manipulation

Human Inspired Dexterity in Robotic Manipulation Book
Author : Tetsuyou Watanabe,Kensuke Harada,Mitsunori Tada
Publisher : Academic Press
Release : 2018-06-26
ISBN : 0128133961
Language : En, Es, Fr & De

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Book Description :

Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

New Trends in Medical and Service Robots

New Trends in Medical and Service Robots Book
Author : Hannes Bleuler,Mohamed Bouri,Francesco Mondada,Doina Pisla,Aleksandar Rodić,Patrick Helmer
Publisher : Springer
Release : 2015-11-12
ISBN : 3319238329
Language : En, Es, Fr & De

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Book Description :

Medical and Service Robotics integrate the most recent achievements in mechanics, mechatronics, computer science, haptic and teleoperation devices together with adaptive control algorithms. The book includes topics such as surgery robotics, assist devices, rehabilitation technology, surgical instrumentation and Brain-Machine Interface (BMI) as examples for medical robotics. Autonomous cleaning, tending, logistics, surveying and rescue robots, and elderly and healthcare robots are typical examples of topics from service robotics. This is the Proceedings of the Third International Workshop on Medical and Service Robots, held in Lausanne, Switzerland in 2014. It presents an overview of current research directions and fields of interest. It is divided into three sections, namely 1) assistive and rehabilitation devices; 2) surgical robotics; and 3) educational and service robotics. Most contributions are strongly anchored on collaborations between technical and medical actors, engineers, surgeons and clinicians. Biomedical robotics and the rapidly growing service automation fields have clearly overtaken the “classical” industrial robotics and automatic control centered activity familiar to the older generation of roboticists.