Giovanni Boschetti, Alessandro Gasparetto's Advances in Italian Mechanism Science: Proceedings of the PDF

By Giovanni Boschetti, Alessandro Gasparetto

ISBN-10: 3319483749

ISBN-13: 9783319483740

ISBN-10: 3319483757

ISBN-13: 9783319483757

This quantity includes the lawsuits of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the college of Padova, Vicenza, Italy, on December 1-2, 2016. The e-book comprises contributions at the most modern advances on Mechanism and desktop technology. The fifty-nine papers take care of such subject matters as biomechanical engineering, historical past of mechanism and laptop technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.

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The system in Eqs. 17–23 is used to solve this problem by expressing all the parameters as functions of the coordinates of the end effector to give sin2 β = cos2 β = ð xH + f − l Þ 2 z2H + ðxH + f − lÞ2 z2H z2H + ðxH + f − lÞ2 1 ðyH + a − bÞ2 + z2H 2 = cotg α + 1 = b z2H sin2 αb ð31Þ ð32Þ ð33Þ A Kinematic Solution of a Novel Leg Mechanism … 47 1 ðyH − a + bÞ2 + z2H 2 = cotg α + 1 = f z2H sin2 αf ð34Þ 1 z2H + ðxH + f − lÞ2 + y2H 2 = tan α + 1 = l cos2 αl y2H ð35Þ Therefore, the Inverse Kinematic solution can be written as qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi sl = z2H + ðxH + f − lÞ2 + y2H ð36Þ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ðyH + a − bÞ2 + z2H ð37Þ qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi sf = ðyH − a + bÞ2 + z2H ð38Þ sb = 4 A Numerical Evaluation In order to characterize numerically the proposed mechanism, a CAD model is designed as function of available actuators [9] and for a future implementation in LARMbot humanoid robot [10].

5 18 G. Carbone et al. Fig. 6 Plot outputs from the simulation in Fig. 5: a angular displacement (°) of the forearm over time (s); b distance (mm) of point OC (attachment of the wrist) relative to point P (attachment of the first two cables) over time (s) environment Data from the Solidworks Motion simulations have been also compared with results obtained by using Eqs. (1) and (2) with very good matching of results. 6 Preliminary Tests on a Built Prototype Preliminary experimental tests have been carried out as shown in Fig.

6 Denavit Hartemberg model for DARTAGNAN 28 M. Perrelli et al. Fig. 7 Transformation for closed loop chain of DARTAGNAN intersection with the fifth axis, knowing that the axis of the fifth joint will always be horizontal, we can determine the angle in the x, y reference frame {0} as: θ = arctanððxh − xe Þ ̸ðye − yh ÞÞ Knowing this, the position of the point in which the fourth joint axis will cross the fifth may be determined at a known distance from sixth joint axis and on the right side of said axis.

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Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto


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