bluuebunny/crossref_metadata_2025_split huggingface dataset:
Design and Control of a Bio-Inspired Inchworm Robot Using a Novel Helical Artificial Muscle Actuator
Authors: Quarnstrom Joel , Xiang Yujiang 
Published: November 2023

Abstract
Bio-inspired robots provide solutions in many applications. Robots that can traverse and transport materials through confined areas are useful in disaster response, mining, mapping, and tunneling. The proposed robot is an inchworm-inspired robot that contracts and expands its body segments to move. It has spiky feet that are angled to only allow each foot to slide forward. It has a small frontal area compared to its length, and this allows it to travel through tight gaps or tunnels. Each segment uses two helical actuators as prismatic linkages to drive both forward movement and turning movement. These helical actuators transform the rotation of stepper motors into linear motion. Many linkage configurations were considered in designing this robot, and one without continuous singularities was selected. The robot stride consists of an extension phase and a contraction phase. In each phase, one foot is stationary, and one foot is moving. When each of the feet is in motion, the ground reaction force is assumed to be zero. The motion planning of the robot is designed so that the velocity and acceleration of each of the robot’s rigid bodies is zero at the beginning and end of each movement phase. In the future, this robot will be prototyped using mostly 3D printed components, and its control algorithm will be refined during testing.
Nonlinear Vibration Absorber for Reducing Hand Vibration From a Vibro-Impact Hammer Model
Authors: Alabi Oreoluwa , Gupta Sunit Kumar , Barry Oumar 
Published: November 2023

Abstract
The transmission of vibrations from hand-held impact machines (HHIM) to the human hands is undesirable and can cause serious injury, including amputation of the hand. Therefore, it is crucial to analyze and develop efficient vibration control methods to curb vibration transmission to the hands from a HHIM. The first step towards developing an efficient vibration control method is to obtain a model that can accurately predict the dynamics of the HHIM. Thereafter, a numerical or theoretical study of the HHIM-Vibration control device model can reveal the devices effectiveness. To address the need for a HHIM model, we analyze a reduced order model of a HHIM which incorporates the vibro-impact interactions of the HHIM bit with the ground. The effectiveness of a cubic nonlinear absorber in the HHIM is then studied via a lumped mass parameter model consisting of a vibro-impact tool model coupled to the hand-arm system (HAS) and a cubic nonlinear tuned vibration absorber (NLTVA). A detailed numerical analysis of this system is performed to show the rich nonlinear dynamics of the system. The results from this study show that an appropriate selection of absorber parameters can effectively change the amplitude and periodicity of vibrations at the hand, thereby proving the potential of a cubic nonlinear absorber as a viable vibration control option.
Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method
Authors: Ginnante Angelica , Caro Stéphane , Simetti Enrico , Leborne François 
Published: November 2023

Abstract
Determining the workspace of a robotic manipulator is extremely significant for knowing its abilities and planning the robot application. There exist several techniques for the robot workspace determination. However, these methods usually are affected by computational redundancy, like in the case of Monte Carlo based methods, or their implementation is difficult. Moreover, the workspace analysis of kinematic redundant manipulators is even more complex. This paper introduces a ray-based workspace determination algorithm, easy to implement and not affected by computational redundancy. The proposed method can be applied to any type of serial robot, but it is tested only on spatial kinematic redundant robots. The results show how the approach can clearly determine the boundary of the robot workspace in a short period of time. Finally the time and quality performance of the ray-based method results are compared to the Monte Carlo one demonstrating the improvement of the proposed method.
Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges
Authors: Jiang Zhujin , Zhang Ketao 
Published: November 2023

Abstract
Adopting a screw algebra-based approach, this paper analyzes the stiffness of flexure hinges and the resultant reaction force (RRF) of a rigid origami-inspired modified Wren parallel mechanism with flexure hinges (WPM) capable of helical motion. Analytical solution of the RRF, consisting of force in the direction of translation and torque around the axis of helical motion, applied to the platform of the WPM by flexure hinges is revealed. Simulation is implemented to verify the theoretical analysis of the RRF of the WPM. To further validate the theoretical model, multi-layered aluminium composite panel is selected for fabricating flexure hinges and the WPM capable of high precise motion and large force transmission. The resistive torque of the flexure hinge and the RRF of the WPM are measured and compared with the analytical solution. Both simulation and experimental results reveal that the RRF of the WPM resulted from flexure hinges is precisely modelled using the screw algebra-based approach. A novel bipedal robot integrating the WPM is developed for applications in extreme environment where pneumatically actuated systems are preferred over electrical machines and drives. This study paves a way for developing novel WPM-integrated robotic devices and precisely modelling the coherent stiffness of the rigid origami-inspired parallel mechanisms with flexure hinges.
Comparisons of Dynamic Models of a Stacked Miura-Origami Structure Based on Different Modeling Techniques
Authors: Wu Haiping , Liu Zuolin , Fang Hongbin 
Published: November 2023

Abstract
Origami-inspired structures and materials have shown great potential in engineering fields, but encounter some dynamic issues. Conventional research on folding sequence, kinematics, and static analysis is not sufficient to effectively predict the dynamic behavior of origami structures, therefore, an accurate and processible dynamic model is necessary. This paper discusses the effects of different modeling techniques on the static/dynamic behavior of origami structures. Stacked Miura-origami is selected as the research platform to study the effects of different modeling techniques on the static and dynamic characteristics of origami structures. Quasi-static tests and dynamic experiments are first carried out to provide data for modeling purposes. The force-displacement constitution relationships and dynamic responses under harmonic excitation are then studied and compared. It indicates that under low external excitation energy, the response amplitude is closely related to the tangent stiffness at the steady-state equilibrium position, which is related to the accuracy of the constitution curves. Nevertheless, the proposed models show different dynamic behaviors when the excitation frequency is increased, in some circumstances, the response even exceeds the kinematic limits. A complete parameter study is necessary to advance the state of the art of dynamic modeling for origami structures based on different techniques in the future. This paper presents a fundamental understanding of the dynamic modeling of origami structures, and the results are beneficial to provide a guide for establishing an accurate and processible dynamic model.
Building a Cloud-Based Digital Twin for a Robotic Assembly System
Authors: Bin Touhid Md Tahmid , Marne Mrunal , Oskroba Theodore , Mirahmadi Sayed Amirhossein , Zhu Enshen , Mahrabian Alireza , Defersha Fantahun , Yang Sheng 
Published: November 2023

Abstract
The potential of Digital Twin (DT) technology to revolutionize industry by enabling virtual simulations of physical systems in real-time has garnered significant attention in recent years. DTs have been widely applied in the manufacturing field to solve various problems, such as shopfloor resource optimization, layout design, commissioning, monitoring, and supervisory control. However, current DT research works are highly conceptual, and how to develop a DT for a legacy system needs more practical understanding. To address the challenge, this paper develops a cloud-based pipeline for building a digital twin of a robotic assembly system. The proposed pipeline is featured by cloud infrastructures, real-time bi-directional monitoring and control, and web-based DT. The use of cloud infrastructure and WebGL helps to increase remote accessibility, enabling real-time visualization of the DT through web environments. To demonstrate the viability of the proposed pipeline, a proof-of-concept DT of a robotic assembly system with over 2000 components was implemented with demonstrated scenes of online order submission, job status monitoring, exception handling, and remote feedback control. Overall, the proposed cloud-based DT pipeline could provide a practical and efficient solution for integrating DT technology into real-world cyber-physical systems. Future works and limitations are also discussed in the end.
A Novel Pre-Rotating Rotary Guardrail and its Effects on Guiding and Anti-Collision
Authors: Haoyang Su , Kaiqiang Mi , Xiaohui Su , Jiantao Zhang 
Published: November 2023

Abstract
In this paper, a novel pre-rotating guardrail is proposed to enhance the guiding and anti-collision capability of guardrail as the car hits in road accident. The new design sets up pre-rotating through leaf spring installed inside the rotary. The function of the proposed pre-rotating design is numerically studied by using LS-DYNA tool. The preliminary results are reported in the paper.
Safe Robot to Human Tool Handover to Support Effective Collaboration
Authors: Kang Jeon Ho , Limcaoco Paolo , Dhanaraj Neel , Gupta Satyandra K. 
Published: November 2023

Abstract
Robot-to-human mechanical tool handover is a common task in a human-robot collaborative assembly where humans are performing complex, high-value tasks and robots are performing supporting tasks. This paper discusses an approach to ensure the safe handover of mechanical tools to humans. We introduce a framework to enable smart robotic assistants to safely and efficiently perform robot-to-human tool handovers. Our system utilizes a specialized gripper design capable of firmly grasping objects with irregular geometries. We utilize a tool end detection method so that the robot grasps the tool end and ensures that the human can safely grab the handle during handover. Additionally, the system is able to detect if the tool moves during the grasping process and either restart the pickup or account for the new orientation during hand-off planning. Lastly, the hand-off planning ensures the robot releases the tool at the appropriate time when the human has safely grabbed the handle. Our experimental results indicate that our system can safely and effectively hand off many different types of tools. We have tested the system’s ability to handle contingencies that may occur during the handover process successfully.
Large-Scale Path Planning in Complex Environments Based on Genetic Algorithm
Authors: Hu Chuanhui , Jin Yan 
Published: November 2023

Abstract
Path planning has been a hot research topic in robotics, and it is also a vital functionality for autonomous systems. Generating optimal-quality path plans with the least computing time has always been the goal of researchers. As the time complexity of traditional path planning algorithms grows rapidly with the scale and complexity of the problem, evolutionary algorithms are widely applied due to their capability of giving near-optimal solutions to complex problems. However, evolutionary algorithms can be easily trapped in a local optimum and may converge to infeasible solutions. As the scale of the problem increases, evolutionary algorithms usually cannot find a feasible solution with random exploration, which makes it extremely challenging to solve long-range path-planning problems with these algorithms in environments filled with obstacles. This paper introduces a novel area-based collision assessment method for Genetic Algorithm (GA) that can guide the algorithm to find solutions with a variable number of waypoints in large-scale and obstacle-filled environments. To avoid premature convergence, the mutation process is replaced by a self-improving process to let the algorithm focus the operations on any potential solutions before discarding them in the selection process. The case studies show that the proposed GA-focus algorithm can be applied to different types of large-scale and challenging environments, escape local optimums, and find high-quality solutions.
A Comprehensive Dynamic Continuous Impact Model With Plastic Deformation
Authors: Mozaffari Hamed , Dabiri Arman 
Published: November 2023

Abstract
This paper presents a new comprehensive dynamic continuous impact model that accounts for elastic, elastoplastic, and plastic deformations. The model establishes the necessary conditions for each elastic, elastoplastic, and plastic deformation, considering the contact geometry, material characteristics, and impact dynamics. The proposed dynamic continuous impact model addresses the shortcomings of previous models in accurately predicting hysteresis curves and accounts for both material damping and plastic deformation. The proposed impact model solution is obtained through analytical calculation by eliminating additional assumptions and simplification approximations. The multi-variable integrals are transformed into a single one To obtain the analytical solution of the energy loss calculation. The incorporated extra dynamic parameters, such as damping factor and permanent deformation, are adjusted using the coefficient of restitution, resulting in a more practical hysteresis curve. These parameters are particularly important in high-speed impacts where the energy loss of damping is significant. To validate the performance of the proposed impact model, simulations are conducted for the collision of two stainless steel balls under different deformation scenarios (elastic, elastoplastic, and plastic). Additionally, finite element analysis results for an impact between a flat drill rod and a hammer rod are utilized. The simulation outcomes confirm that the newly developed impact model provides more accurate and realistic hysteresis curves compared to traditional static and dynamic continuous impact models.
Influence of Support Posture on Working Plate Operation for Grasp-Less Handling Technology With an Industrial Dual-Arm SCARA Robot
Authors: Yamanishi Genki , Hanai Hiroaki , Mita Yuma , Hirogaki Toshiki , Aoyama Eiichi 
Published: November 2023

Abstract
In this study, a measurement method was developed in which a ball rolling motion is created in a circular orbit on the work plate by horizontal in-plane maneuvering motion of the plate, named graspless ball handling, and the rolling motion error with respect to the reference circle is utilized. An experiment was conducted on a teaching method for controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. It was found that an error occurs in the peripheral speed in the rotation of the plate. When the work plate is grasped and the movement is taught, the program using the master-slave method was the primary influence on the motion error, confirming the possibility of correction.
A Design Automation Framework Supporting Design for Additive Manufacturing
Authors: Wiberg Anton , Persson Johan A. , Ölvander Johan 
Published: November 2023

Abstract
This scientific paper introduces a Design Automation (DA) framework that streamlines the Design for Additive Manufacturing (DfAM) process. The framework is designed to simplify the creation and evaluation of different design options by automating geometry creation using high-level CAD templates and setting up and connecting Computer-Aided Engineering (CAE) models to perform functional and manufacturing evaluations. By considering manufacturing constraints early in the design process, the framework aims to investigate various design alternatives and facilitate design changes late in the development process without additional manual work.
This framework provides a comprehensive view of the entire DfAM process, integrating everything from functional requirements to manufacturing evaluation and preparation into the same design automation framework. To demonstrate the usefulness of the framework, the authors used it to design a hydraulic pump. Compared to the original design, the design created with the proposed framework reduces pressure drop by more than 50% and reduces the pump’s weight by 35%. Furthermore, on an assembly level, the framework consolidates four components into two and eliminates two sealings.
In summary, the Design Automation framework introduced in this paper simplifies the DfAM process by enabling automation of geometry creation and the setup and connection of CAE models. The framework facilitates the exploration of different design alternatives early in the process, considering manufacturing constraints, and enables design changes later in the development process without manual work. The benefits of the framework are illustrated through the design of a hydraulic pump, where it achieved significant improvements in performance, weight, and assembly complexity.
Combined Estimation of Vehicle Body State and Sprung Mass Based on Electronically Controlled Air Suspension System
Authors: Xu Wanqiu , Yu Liangyao , Li Yong , Cheng Yiming 
Published: November 2023

Abstract
Aiming at vehicles equipped with the electronically controlled air suspension system, precise body status signals are needed as control inputs during ride comfort and stability control. However, there is an error between the signals measured by height sensors in the system and the actual body height changes due to the sensor installation and measurement principle. Therefore, a combined estimation method based on the Kalman filter and recursive least squares is proposed to solve the above problem, and the vehicle body state and sprung mass are estimated simultaneously. In this paper, a seven-degree-of-freedom dynamics model of the air suspension system is established. Based on this model, a Kalman filter estimator is established to estimate the state of the body, and the recursive least squares method is introduced to estimate the sprung mass of the vehicle to reduce the deviation in the state estimation. Finally, a simulation platform is built and the effectiveness of the proposed method is verified under the condition of the double lane change. The results show that the variation of sprung mass will deteriorate the state estimation results of the Kalman filter estimator, and the combined estimator of the Kalman filter and recursive least squares can effectively improve the accuracy of body state estimation.
Quality & Error Tendencies of Gears Printed by Stereolithography Three-Dimensional Printer
Authors: Duan Kaiwen , Osawa Keisuke , Tanaka Eiichiro 
Published: November 2023

Abstract
To ensure the high quality of three-dimensional (3D) printed spur and helical gears, it is important to measure and identify errors in the base pitch introduced during the printing process. This study utilized the span measurement method to quantify the errors in the base pitch of Stereolithography apparatus (SLA) printed gears. Results showed that errors in z-overcure and shrinkage caused a series of tendencies that can guide the production of high-quality gears. Additionally, the study discussed the importance of choosing a suitable printing posture, which was determined through precision checks. Since 3D printed gear is not as symmetric as the traditional manufactured gear, the base pitch on both the left and right sides will be different, hence some explanations about it were provided along with the example. By understanding and addressing errors in the base pitch of 3D-printed gears, manufacturers can produce high-quality gears that meet the needs of various applications.
Supporting Condition-Based Maintenance for Rotary Systems Under Multiple Fault Scenarios
Authors: Marshall Larry , Jensen David , Hu Han 
Published: November 2023

Abstract
This paper aims to conduct an evaluation of a range of supervised learning algorithms, which are utilized for the purpose of classifying single and multi-fault scenarios associated with rotary systems. Furthermore, the paper aims to develop a proof-of-concept prototype for in-situ fault detection and classification. The contemporary industry has been moving away from scheduled-based maintenance to condition-based maintenance, primarily due to the enhanced cost savings and flexibility offered by the latter. However, to achieve condition-based maintenance, it is crucial for operators to have access to fast and accurate methods of component fault detection and classification. Presently, various techniques are employed by companies for classifying machinery faults, which primarily involve a binary classification problem that focuses on the determination of whether a particular component is healthy or not. While this approach is useful, it often results in a loss of valuable information such as knowledge pertaining to the degraded component, the extent and location of degradation, and other critical details that can help companies make more informed decisions. By having access to more information, companies can become more fault-adaptive and can modify their processes and sequences to maintain product throughput. In order to achieve this, fault classification must occur at the system level, rather than solely through specific component monitoring. In the rotary machine domain, researchers primarily concentrate on the classification of single ball-bearing faults. However, little research has been conducted on the classification of multiple faulted bearings, warped shafts, or combinations of these scenarios, all of which are major and very plausible fault scenarios. This paper attempts to address these gaps by proposing a low-cost method for in-situ multi-fault classification. The approach aims to provide an effective solution for enhanced condition-based maintenance and improved decision-making in the rotary machine domain.