Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics

468 Pages·2019·94.44 MB·English

by  Alessandro Gasparetto

Mechanisms and Machine Science 66
Alessandro Gasparetto
Editors
Marco Ceccarelli
Mechanism
Design for
Robotics
Proceedings of the 4th IFToMM
Symposium on Mechanism Design for
Robotics
Mechanisms and Machine Science
Volume 66
Series editor
Marco Ceccarelli
LARM: Laboratory of Robotics and Mechatronics
DICeM: University of Cassino and South Latium
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: [email protected]
Editorial Board Members
Alfonso Hernandez
MechanicalEngineering,UniversityoftheBasqueCountry,Bilbao,Vizcaya,Spain
Tian Huang
Department of Mechatronical Engineering, Tianjin University, Tianjin, China
Steven A. Velinsky
Mechanical and Aerospace Engineering, University of California Davis, Davis,
California, USA
Yukio Takeda
Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan
Burkhard Corves
Institute of Mechanism Theory, Machine D, RWTH Aachen University, Aachen,
Nordrhein-Westfalen, Germany
This book series establishes a well defined forum for monographs, edited Books,
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More information about this series at http://www.springer.com/series/8779
Alessandro Gasparetto Marco Ceccarelli
(cid:129)
Editors
Mechanism Design
for Robotics
Proceedings of the 4th IFToMM Symposium
on Mechanism Design for Robotics
123
Editors
Alessandro Gasparetto MarcoCeccarelli
Dipartimento Politecnico di Ingegneriae Dipartimento di IngegneriaMeccanica e
Architettura Civile
Universitàdegli Studi diUdine Universitàdi Cassino edel Lazio
Udine, Italy Meridionale
Cassino, Italy
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-030-00364-7 ISBN978-3-030-00365-4 (eBook)
https://doi.org/10.1007/978-3-030-00365-4
LibraryofCongressControlNumber:2018953825
©SpringerNatureSwitzerlandAG2019,correctedpublication2019
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Preface
MEDER 2018, the IFToMM International Symposium on Mechanism Design for
Robotics,isthefourtheventofaseriesthatstartedin2010asaspecificconference
activity on mechanisms for robots. The first event was held at Universidad
Panamericana de Ciudad de Mexico (Mexico) in September 2010; the second was
heldatBeihangUniversityinBeijing(China)inOctober2012;thethirdeventwas
held at Aalborg University in Aalborg (Denmark) in June 2015.
The aim of the MEDER Symposium is to bring together researchers, industry
professionals,andstudentsfromabroadrangeofdisciplinesrelatedtomechanisms
and robotics, to share the latest developments and discuss the directions for the
future of mechanisms and robotics research.
MEDER 2018 received a great attention not only from the academic but also
from the industrial world. Four prominent companies showed their attention by
sponsoring the event and presenting themselves during the symposium. Moreover,
oneofthetwokeynotelectureswasheldbytheCEOofamulti-nationalcompany
located in the northeast of Italy. Thus, MEDER 2018 has become an important
forumofexchangeandcollaborationbetween academyandindustryinthefieldof
robotics.
TheproceedingsofMEDER2018contains52papers,whichwereselectedafter
reviewfororalpresentation.Thesepaperscoverseveralaspectsofthewidefieldof
Mechanism Design for Robotics, from theoretical studies up to practical applica-
tions through new robot design and prototypes. Theywere authored mainlyby the
IFToMMcommunitycomingfromAustria,Brazil,China,Denmark,France,India,
Italy, Japan, Kazakhstan, Mexico, Romania, Russia, Serbia, Spain, Sweden, and
USA.
We express grateful thanks to the MEDER Symposium International Scientific
Committee members, namely Marco Ceccarelli (University of Cassino, Italy,
Chair),DingXilun(BeihangUniversity,China),GrigoreGogu(SIGMAClermont,
France), Mario Acevedo (University Panamericana, Mexico), Shaoping Bai
v
vi Preface
(Aalborg University, Denmark), Yukio Takeda (Tokyo Institute of Technology,
Japan), Alba Perez Gracia (Idaho State University, USA), Yan Jin (Belfast
University, UK), Erwin Lovasz (Politehnica University Timisoara, Romania),Said
Zeghloul (Poitiers University, France), Victor Petuya (University of Basque
Country, Spain).
We thank the authors who contributed with very interesting papers on several
subjects,coveringmanyfieldsofMechanismDesignforRobotics,andadditionally
fortheircooperationinrevisingpapersinduetimeinagreementwiththereviewers’
comments. We are grateful to the reviewers for the time and efforts they spent in
evaluating the papers within a given schedule, which made the publication of this
volume of proceedings possible. The reviewers are Mario Acevedo (Universidad
Panamericana de Ciudad de Mexico), Oscar Altuzarra (ETSI Bilbao, University
of the Basque Country), Manuel Arias-Montiel (Universidad Tecnologica de la
Mixteca), Shaoping Bai (Aalborg University), Sandipan Bandyopadhyay (IIT
Madras), Roberto Belotti (Free University of Bozen-Bolzano), Paolo Boscariol
(University of Padova), Giovanni Boschetti (University of Padova), Mathias
Brandstötter (Joanneum Research Forschungsgesellschaft mbH), Tobias
Bruckmann(UniversityofDuisburg-Essen),DanieleCafolla(UniversityofCassino
and Southern Lazio), Alessandro Cammarata (University of Catania), Domenico
Campolo (Nanyang Technological University), Giuseppe Carbone (University of
Cassino and Southern Lazio), Marco Carricato (University of Bologna), Cristina
Castejón(UniversidadCarlosIIIdeMadrid),EduardoCastillo(InstitutoPolitecnico
Nacional, Mexico City), Marco Ceccarelli (University of Cassino and Southern
Lazio), Tarcisio Coelho (University of Sao Paulo), Gruescu Corina (University
Politehnica Timisoara), Maíra Da Silva (University of São Paulo), Mehmet Ismet
Can Dede (Izmir Institute of Technology), Raffaele Di Gregorio (University of
Ferrara), Walter Franco (Politecnico di Torino), Paolo Gallina (University of
Trieste), Juan Carlos Garcia-Prada (Universidad Carlos III de Madrid), Alessandro
Gasparetto (University of Udine), Victor A. Glazunov (Mechanical Engineering
Research Institute of the Russian Academy of Sciences), Francisco Gonzalez
(UniversityofACoruña),ClaudiaAideGonzález-Cruz(UniversidadAutónomade
Querétaro), Karl Gotlih (University of Maribor), Weizhong Guo (Shanghai Jiao
TongUniversity),KonstantinIvanov(AlmatyUniversityofPowerEngineeringand
Telecommunication), Juan Carlos Jauregui (Universidad Autónoma de Querétaro),
Yan Jin (Queen’s University Belfast), Gökhan Kiper (İzmir Institute of
Technology), Jiri Krejsa (Brno University of Technology), Chin-Hsing Kuo
(National Taiwan University of Science and Technology), Med Amine Laribi
(University of Poitiers), Erwin-Christian Lovasz (Universitatea Politehnica
Timisoara), Esther Lugo-González (Universidad Tecnológica de la Mixteca),
Vicente Mata (Universidad Politecnica de Valencia), Paulo Miyagi (University of
Sao Paulo), Vassilis Moulianitis (University of the Aegean), Andreas Mueller
(Johannes Kepler University), Domenico Mundo (Università della Calabria), Carl
Preface vii
Nelson (University of Nebraska–Lincoln), Vincenzo Niola (University of Naples
FedericoII),TobiasOrtmaier(LeibnizUniversitätHannover),IlariaPalomba(Free
University of Bozen-Bolzano), Jose-Alfonso Pamanes (Instituto Tecnologico de la
Laguna), Chiara Passarini (University of Padova), Marko Penčić (University of
Novi Sad), Alba Perez Gracia (Idaho State University), Victor Petuya (University
of the Basque Country UPV/EHU), Celestin Preault (Université de Poitiers),
Giuseppe Quaglia (Politecnico diTorino),DarioRichiedei(University ofPadova),
SvenRink(RWTHAachenUniversity),NicolasRojas(ImperialCollegeLondon),
GiulioRosati(UniversityofPadova),SergioSavino(UniversityofNaplesFederico
II), Özgün Selvi (Cankaya University), Henrique Simas (Federal University of
Santa Catarina), Roberto Simoni (Federal University of Santa Catarina), Massimo
Sorli (Politecnico di Torino), Yusuke Sugahara (Tokyo Institute of Technology),
Iacopo Tamellin (University of Padova), Mónica Urizar (ETSI Bilbao, University
of the Basque Country), Calin Vaida (Technical University of Cluj-Napoca),
Gentiane Venture (Tokyo University of Agriculture and Technology), Renato
Vidoni (Free University of Bozen-Bolzano), Yu-Xin Wang (Zhejiang University),
Erich Wehrle (Free University of Bozen-Bolzano), Philippe Wenger (Laboratoire
des Sciences du Numérique de Nantes), Yuhu Yang (Tianjin University), Said
Zeghloul (Université de Poitiers), Yuru Zhang (Beihang University).
We thank the University of Udine, in particular the Polytechnic Department of
Engineering and Architecture (DPIA), for hosting the MEDER 2018 event. We
would like to thank our colleagues and the administrative staff at DPIA, in par-
ticularStefanoMiani,FabioMiani,LorenzoScalera,RobertaFabbro,CinziaDella
Mora, Maria Grazia Zugolo, and Elvio Castellarin, for their efforts and support in
organizingthesymposium.WealsothankthemembersoftheNationalOrganizing
Committee, including Giovanni Boschetti, Giuseppe Carbone, Paolo Gallina,
Giuseppe Quaglia, Renato Vidoni as well as their collaborator Chiara Passarini.
SpecialthankstothesymposiumSecretary,PaoloBoscariol,forthetimeandeffort
he put in dealing with all the problems related to the organization of the
symposium.
We thank the International Federation for the Promotion of Mechanism and
Machine Science (IFToMM) for sponsorship of two Young Delegate Grants. We
thank the TC for Robotics and Mechatronics and the TC for Linkages and
Mechanical Controls of IFToMM, as well as IFToMM Italy, the Italian Section of
IFToMM, for their sponsorship. We also would like to thank the industrial com-
panies that sponsored the event, namely Danieli & C. Officine Meccaniche,
Fameccanica Data, Sistec srl, and Danieli Automation, and the people in these
companies who contributed to the symposium, respectively, Rolando Paolone,
Oronzo Lucia, Claudio Da Broi, and Marco Ometto. Their help was crucial in
allowingtheorganizationofthesocialprogram,whilekeepingtheregistrationfees
very low.
We thank the two keynote speakers, namely Michael Hofbaur (Joanneum
Research, Klagenfurt, Austria) and Sergio Barel (Brovedani Group, San Vito al
Tagliamento,Italy),whodealtwithcutting-edgetopicsinthefieldofrobotics,from
an academic as well as from an industrial perspective.
viii Preface
Wethankthepublisher Springeranditseditorialstaffforacceptingandhelping
in the publication of this volume of proceedings.
We are grateful to our families for their patience and comprehension and, in
particular, to Barbara Comini also for her help inorganizing the socialprogram of
MEDER 2018, the fourth IFToMM International Symposium on Mechanism
Design for Robotics.
July 2018 Alessandro Gasparetto
Marco Ceccarelli
Contents
Busker Robot: A Robotic Painting System for Rendering Images
into Watercolour Artworks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Lorenzo Scalera, Stefano Seriani, Alessandro Gasparetto,
and Paolo Gallina
A Simple and General Closed-Form Method for Direct Kinematics
of Mechanism Based on SOC Modeling . . . . . . . . . . . . . . . . . . . . . . . . . 9
Huiping Shen, Ke Xu, Guanglei Wu, and Ting-li Yang
Development of LARMbot 2, A Novel Humanoid Robot
with Parallel Architectures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Matteo Russo, Daniele Cafolla, and Marco Ceccarelli
A Two-Step Algorithm for the Dynamic Reduction
of Flexible Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
A. Cammarata, R. Sinatra, and P. D. Maddio
AVariableStiffnessRoboticArmUsingLinearlyActuatedCompliant
Parallel Guided Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
R. Hu, V. Venkiteswaran, and H.-J. Su
Development of a Sensing System for Zero Gravity Simulation
Using a Robot Manipulator to Test Antenna Reflector
Unfolding in Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
S. D’Attanasio and J. Charron
Underactuated Finger Behavior Correlation Between Vision System
Based Experimental Tests and Multibody Simulations. . . . . . . . . . . . . . 49
Chiara Cosenza, Vincenzo Niola, and Sergio Savino
Unified Pose Parametrization for 1T2R Parallel Manipulators. . . . . . . . 57
Yuanqing Wu and Marco Carricato
ix