Robotics and Mechatronics: Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics

311 Pages·2016·13.75 MB·English

by  Saïd Zeghloul

Mechanisms and Machine Science 37
Saïd Zeghloul
Med Amine Laribi
Jean-Pierre Gazeau Editors
Robotics and
Mechatronics
Proceedings of the 4th IFToMM
International Symposium on Robotics
and Mechatronics
Mechanisms and Machine Science
Volume 37
Series editor
Marco Ceccarelli, Cassino, Italy
More information about this series at http://www.springer.com/series/8779
ï
Sa d Zeghloul Med Amine Laribi
(cid:129)
Jean-Pierre Gazeau
Editors
Robotics and Mechatronics
Proceedings of the 4th IFToMM International
Symposium on Robotics and Mechatronics
123
Editors
Saïd Zeghloul Jean-Pierre Gazeau
Institut PPRIME, UPR3346 Institut PPRIME, UPR3346
University of Poitiers University of Poitiers
Poitiers Poitiers
France France
MedAmineLaribi
Institut PPRIME, UPR3346
University of Poitiers
Poitiers
France
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-22367-4 ISBN978-3-319-22368-1 (eBook)
DOI 10.1007/978-3-319-22368-1
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SpringerChamHeidelbergNewYorkDordrechtLondon
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Preface
ISRM 2015, IFToMM International Symposium on Robotics and Mechatronics, is
the fourth event of a series that startedin 2009 as a specific conference activity on
robotics and mechatronics. The first event was held at the Hanoi University of
Science and Technology, Vietnam in September 2009, the second was held at
Shanghai Jiao Tong University, Shanghai, China in November 2011, and the third
was held at the Nanyang Technological University, Singapore in October 2013.
TheaimoftheISRMsymposiumistobring together researchers,industrialists,
and students involved in a broad range of disciplines related to Robotics and
Mechatronics, in an intimate and stimulating environment in order to disseminate
their results and to exchange about future works, trends, and challenges.
ISRM2015receivedmorethan40papers,andaftercareful reviewwithatleast
two reviews for each paper, 31 papers were considered suitable for publication in
this book and were presented in the conference. The oral presentations were
organizedintoa2-dayconferencewithseventechnicalsessionsheldfrom24to25
June in University of Poitiers, France.
The ISRM 2015 proceeding presents state-of-art research findings in robotics
and authored mainly from the IFToMM community from China, France, Greece,
Italy, Kazakhstan, Mexico, Morocco, Russia, Singapore, Spain, Taiwan, Tunisia,
and United States of America. Major topics of the papers are related with robotics
and mechatronics, including but not limited to: mechanism design, modeling and
simulation, kinematics and dynamics of multibody systems, control methods,
navigation and motion planning, sensors and actuators, bio-robotics,
micro/nano-robotics, complex robotic systems, walking machines, humanoids,
parallel kinematic structures: analysis and synthesis, smart devices, new design,
application, and prototypes.
In conjunction with ISRM 2015, a technical day “Open and Collaborative
Robotics”washeld.Theaimwasdedicatedtohighlightdevelopmentsandresearch
advances in industrial robotics and automation, covered by industry professionals,
professors,andresearchersworkingoncollaborativeroboticsissues.Thistechnical
v
vi Preface
day was co-organized by B&R Automation and Pprime institute of the University
of Poitiers on Tuesday 23 June at the Futuroscope campus in Poitiers
We would like to express grateful thanks to the members of the current
International Scientific Committee for ISRM Symposium for cooperating enthusi-
astically for the success of the 2015 event:
I-Ming Chen (Singapore) as Chair of the IFToMM Technical Committee on
Robotics and Mechatronics
Marco Ceccarelli (Italy)
Feng Gao (China-Beijing)
Manfred Hiller (Germany)
Qiang Huang (China-Beijing)
Shuo-Hung Chang (China-Taipei)
Nguyen Phong Dien (Vietnam)
Lotfi Romdhane (Tunisia)
Yukio Takeda (Japan)
Min-June Tsai (China-Taipei)
Nguyen Van Khang (Vietnam)
Saïd Zeghloul (France)
Teresa Zielinska (Poland)
We thank the authors who have contributed with very interesting papers on
several subjects, covering many fields of Robotics and Mechatronics and addi-
tionally for their cooperation in revising papers in a short time in agreement with
reviewers’comments.Wearegratefultothereviewersforthetimeandeffortsthey
spent in evaluating the papers with a tight schedule that has permitted the publi-
cation of this proceedings volume in time for the symposium.
We thank University of Poitiers, in particular, the Fundamental and Applied
Science Faculty, for having hosted the ISRM 2015 event.
We also thank the support of International Federation for the Promotion of
Mechanism and Machine Science (IFToMM). The symposium received generous
supportfromlocalsponsors,namelytheUniversityofPoitiers,TheGrandPoitiers,
The Poitou-Charente region, and the industrial partner B&R Automation, which
were critical to make this symposium of low registration cost possible.
WethankthepublisherSpringeranditsEditorialstaffforacceptingandhelping
inthepublicationofthisProceedingsvolumewithinthebookseriesonMechanism
and Machine Science (MMS).
Poitiers Saïd Zeghloul
June 2015 Med Amine Laribi
Jean-Pierre Gazeau
Contents
Part I Mechanism and Advanced Mechanical Design
A Study of Structural Stress Analysis of Reducers for Supporting
Reliability Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Yuo-Tern Tsai, Kuan-Hong Lin and Kuo-Shong Wang
Structural and Dimensional Synthesis of Parallel Manipulator
with Two End—Effectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Zh. Baigunchekov, M. Kalimoldaev, M. Utenov, B. Arymbekov
and T. Baigunchekov
Parametric Design Optimization of Two Link Robotic Manipulator. . . 25
F.Z. Baghli, L. El Bakkali and O. Hamdoun
Investigation of the Behaviour of a New Miniature
Carbon-Paraffin Phase-Change Actuator . . . . . . . . . . . . . . . . . . . . . . 33
P. Lazarou and C. Rotinat-Libersa
Enumeration of Driving Mechanisms in Robotics by
Combinatorial Analysis Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
P. Mitrouchev, J. Chen, F. Mafray and Y. Zheng
Part II Humanoid and Legged Robotics
Design and Experiments on a New Humanoid Robot: TIDOM . . . . . . 53
A. Eon, P. Seguin, M. Arsicault and S. Zeghloul
vii
viii Contents
Experimental Inspiration and Rapid Prototyping of a Novel
Humanoid Torso. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
D. Cafolla and M. Ceccarelli
Design of Robots Used as Education Companion and Tutor . . . . . . . . 75
Albert Causo, Giang Truong Vo, I-Ming Chen and Song Huat Yeo
Walking of a Biped Robot Balanced with a Reciprocating Torso. . . . . 85
Víctor De-León-Gómez, J. Alfonso Pámanes and Víctor Santibáñez
Part III Parallel Manipulators
Determining the Reachable Workspace for 6-DOF Delta
Manipulators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
C.K. Huang and K.Y. Tsai
A Reconfiguration Strategy of a Parallel Delta-Type Robot
to Improve the Kinematic Performance . . . . . . . . . . . . . . . . . . . . . . . 111
A.L. Balmaceda-Santamaría and E. Castillo-Castaneda
Workspace and Singularity Analysis of a Delta like Family Robot. . . . 121
R. Jha, D. Chablat, F. Rouillier and G. Moroz
Optimal Trajectory Planning of 3RRR Parallel Robot Using
Ant Colony Algorithm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
O. Hamdoun, L. El Bakkali and F.Z. Baghli
Part IV Medical Robotics I
Force Control Implementation of a Haptic Device
for a Medical Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
H. Saafi, M.A. Laribi and S. Zeghloul
Integration of Automated Camera Steering for Robotic
Single-Site Surgery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Mohsen Zahiri, Carl A. Nelson, R. Gonzalo Garay-Romero
and Dmitry Oleynikov
Kinematic Models of a New Spherical Parallel Manipulator
Used as a Master Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
H. Saafi, M.A. Laribi, M. Arsicault and S. Zeghloul
Contents ix
Initial Experiments with the Leap Motion as a User Interface
in Robotic Endonasal Surgery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
T.A. Travaglini, P.J. Swaney, Kyle D. Weaver and R.J. Webster III
Part V Medical Robotics II
Mechatronic Device to Assist Therapies During Hand Fingers
Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
F. Aguilar-Pereyra and E. Castillo-Castaneda
Mechanical Design of a Craniotomy Robotic Manipulator Based
on Optimal Kinematic and Force Performance. . . . . . . . . . . . . . . . . . 191
T. Essomba, C.-T. Wu, S.-T. Lee and C.-H. Kuo
Dynamic Simulation of a Cable-Based Gait Training Machine. . . . . . . 199
H. Lamine, S. Bennour and L. Romdhane
An in Vivo Experiment to Assess the Validity of the Log
Linearized Hunt-Crossley Model for Contacts of Robots
with the Human Abdomen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
F. Courreges, M.A. Laribi, M. Arsicault and S. Zeghloul
Part VI Control and Vision
Real-Time Reconstruction of Heightmaps from Images Taken
with an UAV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Jose Gabriel Ramirez-Torres and Ander Larranaga-Cepeda
A Human-Machine Interface with Unmanned Aerial Vehicles . . . . . . . 233
D. Soto-Gerrero and J.-G. Ramrez-Torres
Design and Simulation of Robot Manipulator Position Control
System Based on Adaptive Fuzzy PID Controller . . . . . . . . . . . . . . . . 243
F.Z. Baghli and L. El Bakkali
Generating the Optimum Dynamic Trajectory of a Hybrid
Cable-Serial Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
M. Ismail, S. Lahouar and L. Romdhane
An Integrated Software Package for Advanced Industrial Robot
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
C. Liang, H. Yan, R. Li, I.-M. Chen, M.H. Ang Jr. and Z. Huang