Advances of Japanese Machine Design

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Machine Design and Theory".

Deadline for manuscript submissions: closed (15 November 2021) | Viewed by 14032

Special Issue Editors


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Guest Editor
Department of Mechanical Systems Engineering, School of Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan
Interests: physical and social human–robot interaction; motion science

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Guest Editor
Department of Mechanical Engineering, School of Engineering, Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Interests: mechanical systems design; kinematics; dynamics; robotics; assistive devices; machine elements; actuators

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Guest Editor
Department of Mechanical, Energy and Management Engineering, Università della Calabria, 87036 Rende, Italy
Interests: robotics; robot design; mechatronics; walking hexapod; design procedure; mechanics of machinery; leg–wheel
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Special Issue Information

Dear Colleagues,

Research activities of the Japanese Council of IFToMM focus on the many aspects of the theory, design, practice, and application of mechanism and machine design. Several international collaborative works have been done and there are also new activities despite the pandemic situation. This Special Issue contains a selection of the best papers presented at the 26th Jc-IFToMM Symposium 2021 (3rd International Jc-IFToMM Symposium) and on the recent advances in the research areas covered by IFToMM. Novel results and solutions in the broad field of machine design, achieved in Japan as well as with international collaborations mainly within the IFToMM community, are presented.

Prof. Gentiane Venture
Prof. Yusuke Sugahara
Prof. Dr. Giuseppe Carbone
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 submissions that pass pre-check are 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. Machines is an international peer-reviewed open access monthly 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 2400 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

  • Kinematics
  • Machine elements
  • Actuators
  • Gearing and transmissions
  • Linkage and cam
  • Mechanism design
  • Dynamics of machinery
  • Tribology
  • Vehicle mechanism, dynamics and design
  • Reliability
  • Experimental method in mechanism
  • Robotics
  • Mechatronics
  • Biomechanics
  • Micro/nano mechanism and machine
  • Medical/welfare devices
  • Nature and machines
  • Design methodology
  • History of mechanism and machine science
  • Education in mechanism and machine science

Published Papers (4 papers)

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Research

14 pages, 3928 KiB  
Article
Improving HRI with Force Sensing
by Akiyoshi Hayashi, Liz Katherine Rincon-Ardila and Gentiane Venture
Machines 2022, 10(1), 15; https://doi.org/10.3390/machines10010015 - 24 Dec 2021
Cited by 3 | Viewed by 2642
Abstract
In the future, in a society where robots and humans live together, HRI is an important field of research. While most human–robot-interaction (HRI) studies focus on appearance and dialogue, touch-communication has not been the focus of many studies despite the importance of its [...] Read more.
In the future, in a society where robots and humans live together, HRI is an important field of research. While most human–robot-interaction (HRI) studies focus on appearance and dialogue, touch-communication has not been the focus of many studies despite the importance of its role in human–human communication. This paper investigates how and where humans touch an inorganic non-zoomorphic robot arm. Based on these results, we install touch sensors on the robot arm and conduct experiments to collect data of users’ impressions towards the robot when touching it. Our results suggest two main things. First, the touch gestures were collected with two sensors, and the collected data can be analyzed using machine learning to classify the gestures. Second, communication between humans and robots using touch can improve the user’s impression of the robots. Full article
(This article belongs to the Special Issue Advances of Japanese Machine Design)
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15 pages, 3549 KiB  
Article
Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb
by Ying-Chi Liu, Kosuke Irube and Yukio Takeda
Machines 2021, 9(12), 323; https://doi.org/10.3390/machines9120323 - 28 Nov 2021
Cited by 4 | Viewed by 2774
Abstract
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into [...] Read more.
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human limb and its kinematic mobility. First, the human upper-limb model was made to estimate the interaction force and moment through inverse kinematic analysis. Second, a static analysis was conducted to obtain the force and moment acting on the human limb, which is directly related to the user’s comfort and safety. Then, the design parameters of the 3-RPS robot were obtained by generic optimization through kineto-static analysis. Finally, the influence of the parasitic motion of the 3-RPS robot and the initial offset between the wrist center and the robot moving platform were discussed. Through the analysis results, we provide effective solutions to ensure the safety and comfort of the user. Full article
(This article belongs to the Special Issue Advances of Japanese Machine Design)
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19 pages, 9429 KiB  
Article
Investigation on the Finishing Characteristics of a Magnetic Abrasive Finishing Process with Magnetic Abrasive Slurry Circulation System
by Jiaye Xu, Yanhua Zou and Huijun Xie
Machines 2021, 9(9), 195; https://doi.org/10.3390/machines9090195 - 10 Sep 2021
Cited by 4 | Viewed by 2523
Abstract
The magnetic abrasive finishing (MAF) process is an ultra-precision surface finishing technology. In order to further improve the finishing efficiency and continuity, a magnetic abrasive finishing process using the circulatory system to renew magnetic abrasive slurry was proposed. This study investigated the mechanism [...] Read more.
The magnetic abrasive finishing (MAF) process is an ultra-precision surface finishing technology. In order to further improve the finishing efficiency and continuity, a magnetic abrasive finishing process using the circulatory system to renew magnetic abrasive slurry was proposed. This study investigated the mechanism of the compound magnetic finishing fluid in the process using the conveyor belt as the carrier to complete the circulation and finishing through simulation and theoretical analysis. The influence of the different distribution states of the magnetic finishing fluid in the conveyor belt and the finishing area on the finishing characteristics is observed and analyzed, in addition to a series of experiments to explore the feasibility of finishing polychlorotrifluoroethylene resin plate through this process. Experimental results show that as the working gap decreases, the distribution width of compound magnetic finishing fluid on the conveyor belt becomes larger, and the distribution of the points of action on the workpiece in the finishing area is significantly different and the area increases, and obtains a higher finishing force and finishing efficiency. In this study, the surface roughness of polychlorotrifluoroethylene resin plate was improved from 274 nm Ra to 34 nm Ra within 15 min. Full article
(This article belongs to the Special Issue Advances of Japanese Machine Design)
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19 pages, 8970 KiB  
Article
Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance
by Giacomo Palmieri and Cecilia Scoccia
Machines 2021, 9(6), 121; https://doi.org/10.3390/machines9060121 - 18 Jun 2021
Cited by 36 | Viewed by 4906
Abstract
This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators [...] Read more.
This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full mobility redundant manipulators operating in a three-dimensional workspace. The control strategy consists of a combination of off-line path planning algorithms with on-line motion control. The path planning algorithm is used to generate trajectories able to avoid fixed obstacles detected before the robot starts to move; this is based on the potential fields method combined with a smoothing interpolation that exploits Bézier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; this is realized using a velocity control law based on the null space method for redundancy control. Furthermore, an additional term of the control law is introduced which takes into account the speed of the obstacles, as well as their position. In order to test the algorithms, a set of simulations are presented: the redundant collaborative robot KUKA LBR iiwa is controlled in different cases, where fixed or dynamic obstacles interfere with its motion. The simulated data show that the proposed method for the smoothing of the trajectory can give a reduction of the angular accelerations of the motors of the order of 90%, with an increase of less than 15% of the calculation time. Furthermore, the dependence of the on-line control law on the speed of the obstacle can lead to reductions in the maximum speed and acceleration of the joints of approximately 50% and 80%, respectively, without significantly increasing the computational effort that is compatible for transferability to a real system. Full article
(This article belongs to the Special Issue Advances of Japanese Machine Design)
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