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Selected Papers from MEDER 2024: Advances in Mechanism Design for...
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Selected Papers from MEDER 2024: Advances in Mechanism Design for Robotics

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: closed (31 October 2024) | Viewed by 2299

Special Issue Editors

Prof. Dr. Marco Ceccarelli

E-Mail Website1 Website2
Guest Editor
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, 03043 Cassino, Italy
Interests: mechanism design mechanics of robots; robot design
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Erwin Lovasz

E-Mail Website
Guest Editor
Department of Mechatronics, Faculty of Mechanics, Politehnica University of Timisoara, 300222 Timisoara, Romania
Interests: mechanism design; mechanics of robots; precision mechanics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The aim of the Symposium on Mechanism Design for Robotics (MEDER 2024, https://meder2024.upt.ro/) is to bring together researchers, industry professionals and students from a broad range of disciplines related to mechanisms and robotics to share the latest developments and discuss the directions for the future of mechanism and robotics research. MEDER 2024 continues a successful series of Symposiums that has been started in Mexico 2010, continued in China 2012, in Denmark 2015, in Italy 2018 and in France 2021. The Conference will be held at the Conference Center and the buildings of Mechanical Faculty of Politehnica University of Timişoara in Timişoara, Romania.

Papers are solicited on topics related with mechanisms within aspects of theory, design, practice and its applications for robotics, including but not limited to: 

  • Mechanism design 
  • Mechanism education and history of MMS 
  • Theoretical and computational kinematics 
  • Experimental mechanics 
  • Mechanics of robots 
  • Control issues of mechanical systems 
  • Machine intelligence 
  • Innovative mechanisms and applications 
  • Linkages and manipulators 
  • Micro-mechanisms 
  • Dynamics of machinery and multi-body systems

You may choose our Joint Special Issue in Machines.

Prof. Dr. Marco Ceccarelli
Prof. Dr. Erwin Lovasz
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. Robotics 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 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.

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Further information on MDPI's Special Issue polices can be found here.

Published Papers (3 papers)

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24 pages, 8720 KiB  
Article
Feasibility Study of the Seven-Bar Linkage 7-PR(RRRR)RP Used for Medical Disinfection Robot
by Elida-Gabriela Tulcan, Carmen Sticlaru, Alexandru Oarcea, Melania Olivia Sandu, Narcis-Grațian Crăciun and Erwin-Christian Lovasz
Robotics 2024, 13(12), 177; https://doi.org/10.3390/robotics13120177 - 12 Dec 2024
Viewed by 243
Abstract
Current disinfection robots either have a bulky design or cannot operate in multiple configurations, therefore being unable to disinfect the hard-to-reach areas, which leads to low efficiency of the disinfection process. A solution for this problem would be to use disinfection robots with [...] Read more.
Current disinfection robots either have a bulky design or cannot operate in multiple configurations, therefore being unable to disinfect the hard-to-reach areas, which leads to low efficiency of the disinfection process. A solution for this problem would be to use disinfection robots with folding mechanisms which can operate in different configurations based on the area type that needs to be disinfected. This paper presents the feasibility study of the 7-PR(RRRR)RP seven-bar linkage used for a disinfection robot with folding mechanism. First, the structure’s parameters were computed with a synthesis method by developing the inequalities system in order to avoid the singularities positions of the mechanism. This initial method took into consideration different values of the design coefficient p (which indicates the two possible designs of the selected linkage) and an arbitrary value of the coefficient k > 1, which was imposed in order to substitute the resulting inequalities system with an equation system. However, applying this method does not ensure that the optimal 7-PR(RRRR)RP seven-bar linkage structure for the design of a medical disinfection robot is obtained. Furthermore, an optimized synthesis method was applied, which took into consideration the ratio between the total height of the mechanism and its total size. The parameters of the seven-bar linkage were computed for multiple values of the design coefficient p ∈ [1.1; 2] and multiple values of the coefficient k ∈ (0; 2], while a target function was implemented in order to identify the mechanism with the highest height range and the lowest size, which is considered to be the optimal structure for the design of a medical disinfection robot with a folding mechanism. The accuracy and the reliability of the results are furthermore strengthened by a performance analysis between the optimal indicated structure from the optimized synthesis method and other 7-PR(RRRR)RP seven-bar linkage structures, which were computed with different values of the parameters. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances in Mechanism Design for Robotics)
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23 pages, 3192 KiB  
Article
Design Optimization of a Parallel–Serial Manipulator Considering Stiffness Criteria
by Anton Antonov
Robotics 2024, 13(12), 176; https://doi.org/10.3390/robotics13120176 - 10 Dec 2024
Viewed by 311
Abstract
In this paper, we analyze stiffness and perform geometrical optimization of a parallel–serial manipulator with five degrees of freedom (5-DOF). The manipulator includes a 3-DOF redundantly actuated planar parallel mechanism, whose stiffness determines the stiffness of the whole mechanical system. First, we establish [...] Read more.
In this paper, we analyze stiffness and perform geometrical optimization of a parallel–serial manipulator with five degrees of freedom (5-DOF). The manipulator includes a 3-DOF redundantly actuated planar parallel mechanism, whose stiffness determines the stiffness of the whole mechanical system. First, we establish the kinematic and stiffness models of the mechanism and define its stiffness matrix. Two components of this matrix and the inverse of its condition number are chosen as stiffness indices. Next, we introduce an original two-step procedure for workspace analysis. In the first step, the chord method is used to find the workspace boundary. In the second step, the workspace is sampled inside the boundary by solving the point-in-polygon problem. After that, we derive stiffness maps and compute the average stiffness indices for various combinations of design variables. The number of these variables is reduced to two geometrical parameters, simplifying the representation and interpretation of the obtained results. Finally, we formulate the multi-objective design optimization problem, whose main goal is to maximize the lateral stiffness of the mechanism. We solve this problem using a hierarchical (ε-constraint) method. As a result, the lateral stiffness with optimized geometrical parameters increases by 54.1% compared with the initial design. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances in Mechanism Design for Robotics)
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15 pages, 1731 KiB  
Article
Kinematic Reliability of Manipulators Based on an Interval Approach
by Fabian Andres Lara-Molina and Rogério Sales Gonçalves
Robotics 2024, 13(11), 155; https://doi.org/10.3390/robotics13110155 - 23 Oct 2024
Viewed by 577
Abstract
Robotic manipulators inevitably experience the impact of uncertainties and errors, such as dimensional tolerances and joint clearances. Therefore, this paper proposes a novel method based on an interval approach to evaluate the kinematic reliability of manipulators. Kinematic reliability quantifies the probability of positioning [...] Read more.
Robotic manipulators inevitably experience the impact of uncertainties and errors, such as dimensional tolerances and joint clearances. Therefore, this paper proposes a novel method based on an interval approach to evaluate the kinematic reliability of manipulators. Kinematic reliability quantifies the probability of positioning errors that fall within allowable boundaries. As a result, reliability evaluates the probability that the interval end-effector error produced by dimensional tolerances exceeds an acceptable rate. The proposed reliability index is based on the interval error that conveys an alternative approach to the kinematic reliability methods based on probabilistic frameworks reported in the literature based on probabilistic approaches. The obtained numerical results demonstrate the viability of the proposed methodology by evaluating the reliability of a serial manipulator subjected to joint clearances and a parallel manipulator with dimensional tolerances. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances in Mechanism Design for Robotics)
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