Mechanism Design for Robotics: MEDER 2021

Preface
Organization
	Program Chair
	Program Committee
Introduction to the Special Session in Honour of Prof. Said Zeghloul
Contents
I Linkage and Manipulators
Analytical Movement Optimization of Dual-Arm Planar Robots with Rotating Platform
	1 Introduction
	2 Analytical Model
	3 Simulation Results and Discussion
	4 Conclusions
	References
Inverse Kinematics and Velocity Analysis of a 6-DOF Hexapod-Type Manipulator with a Circular Guide
	Abstract
	1 Introduction
	2 Manipulator Architecture
	3 Kinematic Analysis
		3.1 Inverse Kinematics
		3.2 Velocity Analysis
		3.3 Case Study
	4 Conclusions
	Acknowledgements
	References
Torque Minimization of Dynamically Decoupled R-R Spatial Serial Manipulators via Optimal Motion Control
	Abstract
	1 Introduction
	2 Dynamic Decoupling of the R-R Spatial Serial Manipulator
	3 Motion Generation via “Bang-Bang” Profile
	4 Illustrative Example and Simulation Results
	5 Conclusion
	References
Kinematic Analysis of a Coaxial 3-RRR Spherical Parallel Manipulator Based on Screw Theory
	1 Introduction
	2 Coaxial SPM Description
	3 Position Analysis
		3.1 Inverse Kinematics
		3.2 Forward Kinematics
		3.3 Numerical Results
	4 Velocity Analysis
		4.1 Numerical Results
	5 Conclusions
	References
A Novel Design for an Autonomous Mobile Agricultural Fruit Harvesting Robot
	1 Introduction
	2 Motivation
	3 Design Considerations
	4 Mechanical Design
		4.1 Chassis Design
		4.2 Manipulator Design
		4.3 End-Effector Design
	5 Architecture
	6 Concluding Remarks
	References
II Parallel Manipulators
A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots
	Abstract
	1 Introduction
	2 Workspace Determination
		2.1 Workspace Discretization
		2.2 Algebraic Geometrical Approach
	3 Numerical Examples
		3.1 CaPaMan
		3.2 3-UPR Mechanism
		3.3 Results and Discussion
	4 Conclusions
	References
Symbolic Kinematics of Special 3-RSR Parallel Mechanism with Zero Coupling Degree
	Abstract
	1 Introduction
	2 The Antenna PM with Zero Coupling Degree
	3 Position Analysis
		3.1 Descriptions of the Kinematics Modeling
		3.2 Analysis of Forward Position Solution
		3.3 Analysis of Inverse Position Solution
	4 Examples
	5 Workspace Analysis of Decoupling Optimized Model
	6 Conclusions
	Acknowledgments
	References
Inverse Kinematics and Workspace of a 3-PRRS Type Parallel Manipulator
	Abstract
	1 Introduction
	2 Workspace Analysis
	3 Numerical Results
	4 Conclusions
	Acknowledgment
	References
Investigation of Interference-Free Workspace of a Cartesian (3-PRRR) Parallel Manipulator
	1 Introduction
		1.1 Description of the Mechanism
	2 Link Interference
		2.1 Algorithm 1- Interference Free Workspace
		2.2 Algorithm 2- Largest Inscribed Cuboid
	3 Results and Discussions
	4 Conclusions and Further Works
	References
Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots
	1 Introduction
	2 CDPR Modelling
	3 Identification Methodology
	4 Simulation Results
		4.1 Effect of Tuning Parameters
		4.2 Effect of Number of Poses
		4.3 Results Analysis
	5 Conclusions and Future Work
	References
Kinematic Simulation of a Geared Planar Parallel Manipulator
	Abstract
	1 Introduction
	2 A 3-R(PRRGR)RR Planar Parallel Manipulator with Geared Linkages
		2.1 Inverse Positional Kinematic Approach
	3 Numerical Example
	4 Conclusions
	References
III Mechanics of Robots
Design Criteria Study for Underactuated Symmetric Pinching Mechanism of Pinch Roll Machine in High-Speed Wire Rod Product Line
	Abstract
	1 Introduction
	2 Existing Problems Discussion
	3 Underactuated Pinching and Conveying Mechanisms
	4 Design Criteria Study Based on Statics and Kinematics
	5 Conclusion and Prospection
	References
Design of a Reconfigurable Novel Constant-Force Mechanism for Assistive Exoskeletons
	Abstract
	1 Introduction
	2 Design Modeling and Stiffness Simulation
		2.1 Basic Concept of HLCFM
		2.2 Design of a Reconfigurable Constant-Force Mechanism
		2.3 Simulations
	3 Prototype and Testing
		3.1 Prototype Design and Test Rig
		3.2 Experiments
	4 A Compact Design of a Passive Upper-Body Exoskeleton
	5 Conclusion
	Acknowledgments
	References
Aerodynamic Double Pendulum with Nonlinear Elastic Spring
	Abstract
	1 Introduction
	2 Aerodynamic Double Pendulum
	3 Equations of Motion
	4 Limit Cycles
	5 Conclusions
	References
Design of a Flexible Interphalangeal Joint
	Abstract
	1 Introduction
	2 Design Requirements
	3 Experimental Test Model
	4 Results
	5 Conclusion
	Acknowledgements
	References
IV Mechanism Deign
A Reconfigurable Underactuated Grasper with In-Hand Manipulation
	Abstract
	1 Introduction
	2 Grasper Design
	3 Analysis
	4 Prototype and Testing
	5 Conclusions
	Acknowledgments
	References
Design of a Robotic Brace with Parallel Structure for Spine Deformities Correction
	Abstract
	1 Introduction
	2 From Medical Specifications to Brace Concept
	3 Mechanical Design of Robotic Brace
		3.1 The Mechanism Architecture
		3.2 Kinematic Constraints
	4 Robotic Brace Integration
		4.1 Actuator
		4.2 Control of the Stewart Platform
		4.3 Sensors
	5 Simulation and Results
		5.1 Evaluation of Position Controller
		5.2 Determination of the Range of Motion
		5.3 Validation of the Force Control
	6 Conclusion and Future Works
	Acknowledgements
	References
An Adaptive Drive of Spacecraft Docking Mechanism
	Abstract
	1 Introduction
	2 Description of the Docking Mechanism
	3 Adaptive Gear Variator Description
	4 Description of Adaptive Drive of Docking Mechanism
	5 Mathematical Model of Adaptive Drive
	6 Analysis of Drive Modes
	7 Conclusion
	References
Driving Mechanism in Robotized Hospital Bed for Patients with COVID 19
	Abstract
	1 Introduction
	2 Problem and Requirements
	3 The Proposed Driving Mechanism
	4 Performance Analysis
	5 Conclusions
	References
Synthesis of a Function Generator Six-Bar Linkage in Two Steps with Genetic Algorithm
	Abstract
	1 Introduction
	2 Methods
	3 Results and Discussion
	4 Conclusions
	References
Design and Analysis of a Device for Enlarging the Allowable Position Error for Screwing Task
	Abstract
	1 Introduction
	2 Design Concepts
	3 Motion Analysis
	4 Conclusions
	References
Dimensional Synthesis of a Four-Bar Linkage Assessing the Path and Reformulating the Error Function
	Abstract
	1 Introduction
	2 Synthesis Equations
	3 Path Characterization of the Coupler Point of a Four-Bar
		3.1 Analytical Formulation of Branches and Circuits
		3.2 Treatment of Synthesis Considering Branches and Circuits
		3.3 Avoiding Order Defect
	4 Error Function Reformulation by Adding the Slope of the Curve
	5 Demonstrative Example
	6 Conclusions
	Acknowledgments
	References
V Actuators and Control
Motion Control of 6-DOF Relative Manipulation Device
	Abstract
	1 Introduction
	2 RS Model Development
	3 Development of a RS Model Taking into Account the Geometry of the End Effector and the Relative Position of the Modules
	4 Numerical Experiments
	5 Conclusions
	Acknowledgements
	References
Genetic Algorithm with Iterative Learning Control for Estimation of the Parameters of Robot Dynamics
	Abstract
	1 Introduction
	2 Problem Formulation
	3 Genetic Algorithm with ILC for Estimation of the Parameters of the Dynamics
		3.1 Initialization of the First Generation
		3.2 Selection
		3.3 Crossover Operation
		3.4 Mutation Operation
		3.5 Terminal Condition
	4 Simulation Results
	5 Conclusion
	Acknowledgement
	References
Control of the Vibrations of a Cartesian Automatic Machine
	1 Introduction
	2 Experimental Tests on the Cutting Machine
	3 Structural Modifications
	4 Prediction of the Effect of a TVA by Means of the Sherman-Morrison Formula
	5 Effect of Machine Acceleration
	6 Conclusion
	References
VI Innovative Mechanism/Robot and their Applications
Design of the 2 D.o.F Compliant Positioning Device Based on the Straight-Line Watt’s Mechanisms
	Abstract
	1 Introduction
	2 Compliant Straight-Line Mechanisms
	3 Design of the 2 D.o.F Positioning Platform
	4 Conclusion
	Acknowledgment
	References
Optimal Design of a Five-Bar Mechanism Dedicated to Assisting in the Fingers Flexion-Extension Movement
	Abstract
	1 Introduction
	2 Fingers Rehabilitation Devices
		2.1 Kinematical Analysis for the Five-Bar Mechanism Proposal
	3 Synthesis Problem
		3.1 Formulation of the Problem
		3.2 Gradient Implementation
	4 Conclusion
	Acknowledgments
	References
An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area
	Abstract
	1 Introduction
	2 A Geometric Analysis and Evaluation Indices to Determine a Workspace Capable of Avoiding Insufficient Configurations
	3 Experimental Validation Using a Prototype Setup
	4 Conclusion
	Acknowledgement
	References
Mobile Manipulator and EOAT for In-Situ Infected Plant Removal
	Abstract
	1 Introduction
	2 Project Overview and Simulated Model of Potato Field in the Lab
	3 Analysis the Possible Options for Roguing Mechanism
		3.1 Grasping Mechanism Design Methodology
		3.2 The Best Options
	4 Final Design
		4.1 Parts of the Mechanism
		4.2 Motion Study
	5 Prototype Model
	6 Conclusion
	References
New Variable Stiffness Joint (VSJ): Study and Simulation
	Abstract
	1 Introduction
	2 Variable Stiffness Joint Proposal
	3 VSJ Mathematical Model
	4 Simulation
	5 Conclusions
	References
VII Special Session in Honor of Prof. Said Zeghloul
Design of an 8-DoF Redundant Robotic Platform for Medical Applications
	Abstract
	1 Introduction
	2 Robot Modelling
		2.1 Denavit-Hartenberg Parameters
		2.2 Kinematic and Dynamic Modeling
		2.3 Control Law
	3 Preliminary Results
	4 Prototype
	5 Conclusion
	Acknowledgements
	References
Serial Approach for Solving the Forward Kinematic Model of the DELTA Robot
	1 Introduction
	2 DELTA Robot
		2.1 Forward Kinematic Model
		2.2 Inverse Kinematic Model
	3 Serial Approach Numerical Validation
	4 Conclusion
	References
On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising
	Abstract
	1 Introduction
	2 The LAWEX Rehabilitation Device
		2.1 The LAWEX Robot
	3 Multi-objective Synthesis of LAWEX Robot
		3.1 Compactness Objective Function
		3.2 Patient Safety Characterization
		3.3 Cables Tensions Minimization
		3.4 Problems Constraints
		3.5 Problem Formulation
		3.6 Implementation and Results
	4 Conclusion
	References
A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace
	Abstract
	1 Introduction
	2 Prescribed Workspace Analysis
	3 Formulation of the Optimization Problem
	4 Optimization Results and Reconfigurable CDPR
	5 Conclusion
	Acknowledgments
	References
Author Index