Special Issue "Robotics and Vibration Mechanics"

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Mechanical Engineering".

Deadline for manuscript submissions: 31 December 2020.

Special Issue Editors

Prof. Dr. Alessandro Gasparetto
Website1 Website2
Guest Editor
Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy
Interests: robotics; modeling and control of mechatronic systems; mechanical vibrations
Special Issues and Collections in MDPI journals
Dr. Lorenzo Scalera
Website
Guest Editor
Polytechnic Department of Engineering and Architecture, University of Udine, 33100 Udine, Italy
Interests: robotics; mechatronics; mechanical vibrations; dynamic modelling of automatic machines and robots; cable-driven robots; collaborative robotics
Dr. Ilaria Palomba
Website
Guest Editor
Faculty of Science and Technology, Free University of Bozen-Bolzano, 39100 Bolzano, Italy
Interests: theoretical and experimental investigations in the fields of mechanics of machines, mechanical vibrations, multibody dynamics, and industrial and collaborative robotics
Special Issues and Collections in MDPI journals

Special Issue Information

Dear Colleagues,

Robotics and vibration mechanics are among the main research areas in mechanical engineering. Robotics includes the design, construction, control, operation, and trajectory planning of autonomous and automatic machines that can substitute or help humans in several tasks in manufacturing processes, dangerous situations, and even in the domestic environment. On the other hand, vibration mechanics investigate the dynamic effects that can arise when flexible mechanical systems are excited by an external time-varying disturbance, or set in motion with an initial input and allowed to vibrate freely.

The growing interest and development of collaborative and lightweight robots and mechanisms have led to the study and investigation of several aspects of both robotic systems and mechanical vibrations strictly related between them. Indeed, compliance and flexibility may lead to undesired mechanical vibrations, especially when lightweight systems performing high-speed operations are considered. Therefore, a proper structural design, trajectory planning, and control architecture are required to correctly steer the system during operation.

This Special Issue will bring researchers together to present recent advances and technologies in the fields of robotics and vibration mechanics. Suitable topics include, but are not limited to, the following:

  • Robotics and autonomous systems
  • Mechanical vibrations and noise
  • Kinematic and dynamic modeling of robotic systems
  • Path and trajectory planning
  • Automatic control systems
  • Flexible multibody systems
  • Collaborative robotics
  • Design and optimization of robotic and mechatronic systems
  • Mechanisms design
  • Manufacturing systems

Prof. Dr. Alessandro Gasparetto
Dr. Lorenzo Scalera
Dr. Ilaria Palomba
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All papers will be peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • robotics
  • mechanical vibrations
  • dynamic modeling
  • control systems
  • mechatronics

Published Papers (3 papers)

Order results
Result details
Select all
Export citation of selected articles as:

Research

Open AccessArticle
Modeling, Simulation, and Vision-/MPC-Based Control of a PowerCube Serial Robot
Appl. Sci. 2020, 10(20), 7270; https://doi.org/10.3390/app10207270 - 17 Oct 2020
Abstract
A model predictive control (MPC) scheme for a Schunk PowerCube robot is derived in a structured step-by-step procedure. Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form. To handle the heavy online computational burden concerning the derived nonlinear model, a [...] Read more.
A model predictive control (MPC) scheme for a Schunk PowerCube robot is derived in a structured step-by-step procedure. Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form. To handle the heavy online computational burden concerning the derived nonlinear model, a linear time-varying MPC scheme is developed based on linearizing the nonlinear system concerning the desired trajectory and the a priori known corresponding feed-forward controller. Camera-based systems allow sensing of the robot on the one hand and monitoring the environments on the other hand. Therefore, a vision-based MPC is realized to show the effects of vision-based control feedback on control performance. A semi-automatic trajectory planning is used to perform two meaningful experimental studies in which the advantages and restrictions of the proposed (vision-based) linear time-varying MPC scheme are pointed out. Everything is implemented on a slim, low-cost control system with a standard laptop PC. Full article
(This article belongs to the Special Issue Robotics and Vibration Mechanics)
Show Figures

Figure 1

Open AccessArticle
A Multicriteria Motion Planning Approach for Combining Smoothness and Speed in Collaborative Assembly Systems
Appl. Sci. 2020, 10(15), 5086; https://doi.org/10.3390/app10155086 - 24 Jul 2020
Abstract
Human–robot interaction is an important aspect of Industry 4.0, and the extended use of robotics in industrial environments will not be possible without enabling them to safely interact with humans. This imposes relevant constraints in the qualitative characterization of the motions of robots [...] Read more.
Human–robot interaction is an important aspect of Industry 4.0, and the extended use of robotics in industrial environments will not be possible without enabling them to safely interact with humans. This imposes relevant constraints in the qualitative characterization of the motions of robots when sharing their workspace with humans. In this paper, we address the trade-off between two such constraints, namely the smoothness, which is related to the cognitive stress that a person undergoes when interacting with a robot, and the speed, which is related to normative safety requirements. Given an execution time, such an approach will allow us to plan safe trajectories without neglecting cognitive ergonomics and production efficiency aspects. We first present the methodology able to express the balance between these qualities in the form of a composite objective function. Thanks to the variational formalism, we identify the related set of optimal trajectories with respect to the given criterion and give a suitable parametrization to them. Then, we are able to formulate the safety requirements in terms of a reparametrization of the motion. Finally, numerical and experimental results are provided. This allows the identification of the preferable sets of the possible motions that satisfy the operator’s psychological well-being and the assembly process performance by complying with the safety requirements in terms of mechanical risk prevention. Full article
(This article belongs to the Special Issue Robotics and Vibration Mechanics)
Show Figures

Figure 1

Open AccessArticle
Multibody Dynamics of Nonsymmetric Planar 3PRR Parallel Manipulator with Fully Flexible Links
Appl. Sci. 2020, 10(14), 4816; https://doi.org/10.3390/app10144816 - 13 Jul 2020
Cited by 1
Abstract
This paper presents the implementation of the floating frame of reference formulation to model the flexible multibody dynamics of a nonsymmetric planar 3PRR parallel manipulator. All of the links, including the moving platform, of the manipulator under study are assumed flexible whereas the [...] Read more.
This paper presents the implementation of the floating frame of reference formulation to model the flexible multibody dynamics of a nonsymmetric planar 3PRR parallel manipulator. All of the links, including the moving platform, of the manipulator under study are assumed flexible whereas the joints are assumed rigid. Using the Euler-Bernoulli beam, the flexibility of the links is modeled by using the Rayleigh-Ritz and finite element approximations. In both approximations, fixed-free boundary conditions are applied to the elastic coordinates of the links. These boundary conditions enable the evaluation of the elastic displacement at a link tip coincident with the end-effector of the manipulator which is of interest in the high precision robotics application. Both the approximations were compared by applying two different types of loads to the manipulator. It is shown that the elastic displacements obtained by using both the approximations have an agreement with a slight difference in the magnitude. In addition, the sensitivity analysis shows that the rigidity of the manipulator is much affected by the in-plane depth of the manipulator links’ cross section. Full article
(This article belongs to the Special Issue Robotics and Vibration Mechanics)
Show Figures

Figure 1

Back to TopTop