bluuebunny/crossref_metadata_2025_split huggingface dataset:
Motion Planning for Multi-Robot Assembly Systems
Authors: Bonert M. , Shu L. H. , Benhabib B. 
Published: February 2021

Abstract
This paper addresses a multi-robot optimal assembly planning problem which in essence is an augmented Travelling Salesperson Problem (TSP+). In our TSP+, both the “salesperson” (a robot with a tool) as well as the “cities” (another robot with a workpiece) move. Namely, in addition to the sequencing of tasks, further planning is required to choose where the “salesperson” should rendezvous with each “city”. The use of a genetic algorithm (GA) is chosen as the search engine for the solution of the multi-robot TSP+ optimization. As an example industrial application the optimization of the electronic-component placement process is addressed. In the most generalized component-placement system configuration, the placement robots meet the component delivery systems (CDSs) at optimal rendezvous locations for the pick-up of components and subsequently meet the printed circuit board (on the mobile XY-table) at optimal rendezvous locations for their placement. In addition to the solution of the component-placement sequencing problem and the rendezvous-point planning problem, the collision-avoidance issue is also addressed.
An Automatic Method for Finding the Assembly Configurations of Planar Non-Single-Input-Dyadic Mechanisms
Authors: Foster David E. , Cipra Raymond J. 
Published: February 2021

Abstract
This paper examines the problem of identifying the assembly configurations (ACs), also called circuits, of planar non-single-input-dyadic (NSID) mechanisms. An SID mechanism is a multi-loop mechanism which can be defined by adding one loop at a time such that the mechanism has one degree of freedom (DOF) after each loop is added. An NSID mechanism is any mechanism that does not meet the SID criterion. This includes all multi-DOF mechanisms, and some complex single-DOF mechanisms. An automatic, method is presented which allows a computer to determine the ACs of an NSID mechanism. For single-DOF mechanisms, the ACs are represented by curves drawn in a plane represented by two joint variables. For multi-DOF mechanisms, the ACs consist of one or more regions in the plane, which are defined by the curves that bound, them. The automated method finds these bounding curves, and then determines which curves belong to the same region, and which regions belong to the same AC. Mechanisms with pin joints and sliding joints are considered.
Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models
Authors: Pryor Mitch , Van Doren Matthew , Tesar Delbert 
Published: February 2021

Abstract
Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates this requirement is diminishing in importance with increasing computer performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored.
These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.
Kinematic Analysis and Modeling of Traction Drive CVT
Authors: Zhang X. , Tobler W. , Zhang Y. 
Published: February 2021

Abstract
This paper presents a systematic model for the design and analysis of toroidal traction drive continuously variable transmissions (CVT). The contacts between the input disk, the roller and the output disk of the traction drive are formulated using classical Hertzian contact theory. The traction force and side slip force occurring in CVT operation are modeled based on elasto-hydrodynamic theory and are correlated to the traction drive geometric and kinematic parameters. The model allows for the quantitative analysis of traction drive operation under specified torque inputs and over the desired ratio range.
On the Embedded Kinematic Fractionation of Epicyclic Gear Trains
Authors: Liu Chia-Pin , Chen Dar-Zen 
Published: February 2021

Abstract
In this paper, the concept of kinematic fractionation is introduced for epicyclic gear trains (EGTs) which contains structural fractionation as a degenerate case. Kinematic fractionation provides a viewpoint to determine the type of fractionation of an EGT by distinguishing the independent transmission path(s) inside. With the concept of kinematic fractionation, kinematically independent group(s) embedded in an EGT can be identified. A composition list, which depicts the links and the link connection in the associated group, is used to determine the type of fractionation. It is found that most previously enumerated structurally non-fractionated EGTs in the literature are kinematically fractionated. It is shown that a structurally non-fractionated EGT may be kinematically fractionated while a structurally fractionated EGT must be kinematically fractionated. The concept of kinematic fractionation can lead to efficient topological analysis of EGTs with physical comprehension.
Integrated Design and Control for a Programmable Four-Bar Linkage
Authors: Li Q. , Zhang W. J. , Guo L. S. 
Published: February 2021

Abstract
As the demand increases for machines of high accuracy, high speed and high stiffness, programmable closed-loop linkages emerge in the development of modern machinery. A mechatronic design methodology is proposed in this paper for the integrated design of mechanical structure and control algorithm for a programmable closed-loop mechanism system. This design methodology suggests a negative mass redistribution scheme, which follows the principle of a shaking force/shaking moment balancing scheme, for the modification of an existing four-bar mechanism, with the aim to obtain a simple system dynamic model and thus to facilitate controller design. In consequence, motion tracking performance and vibration behavior of the linkage system are significantly improved by simply applying a conventional PD control algorithm. The dynamic performances are further improved by using a model-based controller. The effectiveness of the proposed methodology has been verified by simulation studies.
Design of New Rotors for Trapping-Free and High-Sealing Lobe Pumps
Authors: Liu Hung-Cheng , Tong Shih-Hsi , Yang Daniel C. H. 
Published: February 2021

Abstract
A method for the design of new rotor profiles for high-sealing lobe pump is presented in this paper. The objective of this paper is to improve the sealing of lobe pumps by designing chamber profile conforming rotors. The deviation function method is adopted and the resultant rotor profiles are trapping-free and have C1 continuity. A design procedure for rotor generation is also developed. A sealing index is defined to evaluate the sealing property of lobe pumps. Our results show that it is possible to design many new rotor profiles that have better sealing property than conventional involute rotors.
Kinematic Abstractions for General Manipulator Control
Authors: Kapoor Chetan , Tesar Delbert 
Published: February 2021

Abstract
Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper presents the development of a C++ class library that supports the forward and inverse kinematics of all possible geometries of serial manipulators. Object-oriented analysis and design is the primary software development methodology used. Application of this methodology led to the sub-division of the kinematics domain into forward, and inverse kinematics. Analysis of these sub-domains resulted in their further sub-division, identification of abstract components, development of classes, interface specifications, and finally implementation and testing. Examples demonstrating programming and extensibility of the components in the kinematics domain are given. This work was part of the development of the Operational Software Components for Advanced Robotics (OSCAR) at the Robotics Research Group of The University of Texas at Austin. OSCAR supports reusable software components for the control of advanced robotic manipulators. This includes mathematical constructs, kinematics, dynamics, fault-tolerance, performance criteria, manual controllers, and a variety of physical manipulators and simulations.
Feasible Contact Forces in Semi-Active Vehicles
Authors: Sreenivasan S. V. , Choi B. J. 
Published: February 2021

Abstract
This article provides an integrated approach for identifying the feasible contact force distribution in various classes of semi-active vehicles including (a) vehicles with and without omni-directional motion capability, (b) vehicles with varying levels of actuated, unactuated, and spring joints, and (c) vehicles in singular kinematic configurations. The emphasis is on studying systems that have some level of overactuation which is defined as the number of actuators minus the mobility of the vehicle system. It is well known in the active vehicles and biomechanics literature that such overactuation can be used to optimize contact conditions to enhance locomotion capability. Once appropriate contact forces are computed, the desired actuator efforts can then be obtained. A geometric approach based on screw theory that leads to invariant analytical results has been used.
Kinematic Clearance Sensitivity Analysis of Spatial Structures With Revolute Joints
Authors: Innocenti Carlo 
Published: February 2021

Abstract
The paper presents a new method to assess the influence of joint clearances in spatial structures that are composed of links connected by revolute joints. The method allows assessment of the amount by which joint clearances affect the rigid-body position of a generic link of the structure when an external load is exerted on the link. Unlike other procedures, the proposed method relies on the clearance-free idealization of the structure under investigation. An example shows application of the proposed method to the analysis of the structure derived from a multi-loop manipulator by freezing its actuators.
Applying Shape Annealing to Full-Scale Transmission Tower Re-Design
Authors: Shea Kristina , Smith Ian F. C. 
Published: February 2021

Abstract
Application of structural optimization to transmission tower design is facilitated since major costs, including material, transportation, construction and maintenance, are directly proportional to the mass. Transmission towers are unique civil structures since they are often free from aesthetic considerations making the results of structural optimization less susceptible to subjective assessments. In this paper, shape annealing, a computational design technique, is applied to the optimally directed re-design of transmission towers. Shape annealing has been presented previously as an effective method for the generation of conventional and innovative discrete structures. So far, the method has been targeted at the conceptual design stage. This paper focuses on the re-design of existing full-scale transmission towers in collaboration with Énergie Ouest Suisse (EOS) in Lausanne, Switzerland. The purpose of this paper is to present the challenges and results of applying shape annealing to a highly constrained industrial application as well as the modifications that were needed. This application resulted in suggestions for improving the existing design and insights about practical application of the method to create a system for transmission tower design.
Design Model Applied to the Design of Production Machines
Authors: de Roode B. H. , Crone H. A. 
Published: February 2021

Abstract
This paper describes a general design model that serves as a base for computer-support in the conceptual design stage. The model consists of a model of the artefact to be designed, design activities and knowledge. The artefact model contains multiple views, each highlighting a certain aspect of the design. Design activities are performed to create this model and knowledge describes information generated in the past that can be reused. The general design model has been used to develop a specific model for the design of production machines. This specific model has been implemented in a prototype computer-program and has been evaluated within several companies. The results are promising and show that designers gain new insights by using the model.
Concurrent Robust Product and Process Design
Authors: Lindkvist Lars , Söderberg Rikard 
Published: February 2021

Abstract
This paper presents a method for assembly evaluation. The method uses two evaluation criteria, robustness and variation analysis, and is supported by a software tool developed by the authors. The robustness evaluation aims at detecting design and assembly solutions that are sensitive to variation and may cause problems during production. Using this method in early product and process design phases helps to find more robust concepts, resulting in shorter production start-up time and better precision.
The method’s use is exemplified in a concept study of the assembly process of the door to the body of a (fictitious) jeep. The study shows that the proposed method can be used to obtain an objective comparison between different concepts. This comparison includes both general robustness and the expected variation in the critical dimensions. The results can be used, together with economical and practical aspects, to determine which concept is best suited for the assembly process.
The software used is implemented in the MS Windows environment and has an JGES interface that enables the user to import CAD geometry from an arbitrary CAD system. It can perform different types of robustness evaluations as well as traditional variation analyses.
Locating Scheme Analysis for Robust Assembly and Fixture Design
Authors: Söderberg Rikard , Carlson Johan S. 
Published: February 2021

Abstract
This paper highlights the importance of robust locating scheme design and proposes methods and tools for components and assembly robustness design and evaluation.
The way datums and locators affect the entire variation control process, from early design stages to inspection of the final product, is discussed, and a structured work plan for incorporating robust locating scheme design into embodiment design is proposed.
Methods and tools for locating scheme analysis are developed and presented Sensitivity analysis and variation analysis are exemplified and discussed using a small assembly case. A comparision of Monte Carlo simulation versus the “matrix method” is made for variation analysis.
Shape Optimization for Fatigue Problems Using Continuum Damage Mechanics
Authors: Schnack Eckart , Weikl Wolfgang 
Published: February 2021

Abstract
In mechanical engineering we are usually concerned with dynamically loaded constructions, i.e. machinery parts. In this paper a new idea for high-cycle fatigue behaviour working with the two-grid method is presented, using one grid on the micro-level and the other one for the meso-level. While on the meso-level the behaviour of the construction in high-cycle fatigue is nearly linear, however on the micro-level there are defects and microcracking with small plastic zones around the crack tips. Using a homogenization technique, we develop an energy release rate formulation on the micro-grid, from which the evolution equation for increasing damage arises. The new idea is now to define the damage at the meso-level depending on the damage at the micro-level, while controlling the stress redistribution by a modified locally coupled analysis. This leads to a new concept for shape optimization of mechanical engineering problems using the sequential quadratic programming technique.
The theoretical and numerical results are controlled by experiments using a hydropulser machine. For high quality steel an increase of lifetime by a factor of about 3 was achieved for our shape optimized notched structures compared with the ones possessing classical circular cut-outs. Therefore we can say that this concept offers a new possibility for lifetime increasement of mechanical engineering structures.
General Procedure for Parametrisation With 3D-CAD Systems
Authors: Vajna Sándor , Schabacker Michael , Schmidt Rajko 
Published: February 2021

Abstract
Modern 3D CAD systems offer a series. of new possibilities in product development [Babel, 1997]. However, these technologies are not always utilised in their whole range like, for example, parametric modelling. The functionalities for the parametrisation of geometries are particularly profitable for the establishing of families-of-parts. They enable the development of design variations with low expense. In this paper, procedures for a methodical and systematic parametrisation are presented which were successfully applied in industrial projects using various CAD systems. Conclusions for requirements on parametric CAD systems were drawn from experiences gained during these projects.
A Systemic Decision Approach for Capitalizing Dysfunctions in Design Processes
Authors: Cardinal Julie Stal-Le , Mekhilef Mounib , Bocquet Jean-Claude 
Published: February 2021

Abstract
Considering that general industrial objectives are still optimization of cost, delay, and quality, we present a dysfunctions approach for the decision making processes.
In this paper, we introduce the concept of Decision Time Line which covers the decision process from the request to the answer. We highlight that it is possible to give, on the one hand, a temporal description of dysfunctions and, on the other hand, an ontological description which allows a classification of these dysfunctions. A related software tool is then able to give premature alert for an actor when he is going to make an hazardous action. A set of examples coming from industrial dysfunctions are also reported and analyzed.
On Interpreting Key Characteristics
Authors: Srinivasan Vijay 
Published: February 2021

Abstract
This paper examines various interpretations of key characteristics. Starting with Juran’s dictum of focusing on “vital few” and not on “trivial many”, it looks at a representative sample of extant definitions and examples. Causality and sensitivity are then discussed at some length. It is argued that it is the weighted sensitivities that determine what characteristics are key and that literature on design of experiments has supported this view all along. Finally, a statistical interpretation of key characteristics is offered as a unifying framework to capture many of the recent interpretations of key characteristics.
Benchmarking of CMM Form-Fitting Algorithms for Functional Tolerance Analysis
Authors: Meng Joe , Zhang Chun (Chuck) , Wang H.-P. Ben , Xiao Yunkui 
Published: February 2021

Abstract
As the most commonly used computer aided inspection device in precision manufacturing, coordinate measuring machines (CMM’s) have drawn extensive interests from both researchers and practitioners. Different form-fitting algorithms have been developed to process the sampling data gathered by CMM’s. The two most commonly used form-fitting algorithms, the least squares (LS) and the minimum zone (MZ), have caused a lot of controversies in their applications for evaluations of part tolerances and functions. One of the key issues in CMM applications is to study the effectiveness of the algorithms on part functions and what result will be incurred if an inappropriate algorithm is applied. Through a case study, this paper focuses on benchmarking of the least squares and the minimum zone algorithms for functional tolerance analysis. Comparisons are also conducted to study the Type I and Type II errors which could be caused by applying the least squares and the minimum zone algorithms, respectively. The final result shows that the minimum zone algorithm is better than the least squares algorithm.
Tolerance Design: An Axiomatic Perspective
Authors: El-Haik Basem , Yang Kai 
Published: February 2021

Abstract
A mathematical relationship between tolerance design and axiomatic design is derived in this paper. The approach presented here is used to optimize the settings of design parameters tolerances through non-linear programming formulations. The main theme behind these formulations is to set the individual tolerances of design parameters to achieve minimal quality loss cost subject to functional requirements independence. The programming presented here achieves both functional requirements independence per Suh’s Axiom I and assure robustness by minimizing Taguchi’s quality loss function. All the mathematical linkages were developed as it relates to our axiomatic-tolerance optimization perspective.
Incorporating the Voice of the Customer in Preliminary Component Design
Authors: Beiter Kurt A. , Ishii Kosuke 
Published: February 2021

Abstract
This paper describes a procedure for incorporating the voice of the customer into preliminary component design. The procedure begins with establishing the customer requirements, the engineering metrics, and their relation to the top-level subassemblies. Then, the approach establishes the component-level requirements through systematic engineering flow-down from the system level. Component-level manufacturing and operational performance models establish the link between independent decision variables and the component requirements. Thus a link is made between system level customer requirements and component parameter design. The paper uses the redesign of a computer video projector as an example.
Concurrent Design and Manufacturing for Mechanical Systems
Authors: Chang Kuang-Hua , Silva Javier , Bryant Ira 
Published: February 2021

Abstract
Conventional product development process employs a design-build-break philosophy. The sequentially executed product development process often results in a prolonged lead-time and an elevated product cost. The proposed concurrent design and manufacturing (CDM) process employs physics-based computational methods together with computer graphics technique for product design. This proposed approach employs Virtual Prototyping (VP) technology to support a cross-functional team analyzing product performance, reliability, and manufacturing cost early in the product development stage; and conducting quantitative trade-off for design decision making. Physical prototypes of the product design are then produced using Rapid Prototyping (RP) technique primarily for design verification purposes. The proposed CDM approach holds potential for shortening the overall product development cycle, improving product quality, and reducing product cost. A software tool environment that supports CDM for mechanical systems is being built at the Concurrent Design and Manufacturing Research Laboratory (http://cdm.ou.edu) at the University of Oklahoma. A snap shot of the environment is illustrated using a two-stroke engine example. This paper presents three unique concepts and methods for product development: (i) bringing product performance, quality, and manufacturing cost together in early design stage for design considerations, (ii) supporting design decision-making through a quantitative approach, and (iii) incorporating rapid prototyping for design verification through physical prototypes.