By Marco Ceccarelli, Victor A. Glazunov
This court cases quantity includes papers which have been chosen after overview for oral presentation at ROMANSY 2014, the twentieth CISM-IFToMM Symposium on thought and perform of Robots and Manipulators. those papers conceal advances on a number of facets of the huge box of Robotics as pertaining to concept and perform of Robots and Manipulators.
ROMANSY 2014 is the 20th occasion in a chain that begun in 1973 as one of many first convention actions on this planet on Robotics. the 1st occasion was once held at CISM (International Centre for Mechanical technology) in Udine, Italy on 5-8 September 1973. It used to be additionally the 1st subject convention of IFToMM (International Federation for the merchandising of Mechanism and laptop technology) and it was once directed not just to the IFToMM community.
Proceedings volumes of ROMANSY were constantly released to be on hand, additionally after the symposium, to a wide public of students and architects with the purpose to provide an outline of latest advances and developments within the concept, layout and perform of robots.
This lawsuits quantity, like prior ones of the sequence, includes contributions with achievements overlaying many fields of Robotics as concept and perform of Robots and Manipulators that may be an proposal for destiny developments.
Read or Download Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators PDF
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Additional info for Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators
In this case we have a matrix J homogeneous in dimension. Thus the computation of JJt yields: 0 JJ t =R2 cos2 h2 B À sin h2 cos h2 B B 0 ¼B B 0 B @ 0 0 À sin h2 cos h2 sin2 h2 þ 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 1 0 0C C 0C C: 0C C 0A 1 ð1Þ 22 V. A. Dung Cai and P. Bidaud The eigenvalues of the matrix JJt are the roots its characteristic polynomial, which can be determined by: PðXÞJJt cos2 h2 À X À sin h cos h 2 2 0 ¼ det 0 0 0 cos2 h2 À X ¼ det À sin h2 cos h2 0 À sin h2 cos h2 sin2 h2 þ 1 À X 0 0 0 0 À sin h2 cos h2 sin2 h2 þ 1 À X 0 0 0 1ÀX 0 0 0 0 0 0 1ÀX 0 0 0 0 0 1ÀX 1ÀX 0 0 1 À X 0 1ÀX 0 Á det 0 0 1ÀX 0 0 0 0 0 0 1ÀX 0 0 ¼ ð1 À XÞ4 ðX 2 À 2X þ cos2 h2 Þ: ð2Þ The eigenvalues of the matrix JJt are thus: & X ¼ 1; X ¼ 1 Æ j sin h2 j ð3Þ Therefore we can obtain the conditioning number of the mechanism as follow: sﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃﬃ 1 K¼ 1 À j sin h2 j ð4Þ where h2 represents the varus/valgus angular position, which is limited to 20° here.
4 Set up protocol to attach the device to the subject’s limbs. a The subject’s arm is being attached to the fixed base. b The forearm is being attached to the mechanism, the third mechanical chain is detached. c The third mechanical chain is re-attached to the mechanism. d End of set up protocol, the system is ready to use 4 Result The first version of the device was manufactured, assembled and tested. Figure 4 shows the set up protocol on the user’s arm. As the device is designed for muscular stretching exercises with patient having flexed elbow then the protocol must begin at full flexion.
25 -20 -30 Table 4 Properties of the springs Translation of jointδ2[m] No. 0 N/m Fig. 20 -10 [ ] 0 10 Fload[N] 40 30 20 10 0 -50 -40 -30 -20 -10 0 10 θ1[° ] 20 30 40 50 The effectiveness of each configuration on the load reduction was evaluated by an index, N ﬃ P g¼1À _ ^ load;j Fload;j À F j¼1 N Á Fload Á ; ð12Þ where Fload and F load are the ankle load with and without the springs at the j-th sampling and N is the number of acquired data. Based on the value of g shown in Table 5, the ankle load was reduced 91 % at most or 34 % at least by attaching the springs, and the reduction ratio can be increased by using larger dy.