Pantograph Mechanisms Research Articles

ОСОБЕННОСТИ ПОДГОТОВКИ И ПРОВЕДЕНИЯ ЭКСКУРСИЙ В ЕСТЕСТВЕННОНАУЧНОМ МУЗЕЕ И В БОТАНИЧЕСКОМ САДУ

The article talks about the important role played by the rectilinear-directing mechanism in the history of world science and technology. Using the example of pantograph, an early mathematical instrument, we will trace the development of this design, unique in its simplicity, over time and show rare examples of these devices from the collection of the Museum of Bauman Moscow State Technical University. The widespread use of pantographs dates back to the 18th-19th centuries, which allows us to reveal the relationship between natural sciences (the body of knowledge about the Earth, natural objects, phenomena and processes) and engineering, purely technical disciplines, using the example of the use of these scientific instruments in the activities of naturalists and scientists and inventors. Until recently, in mechanical engineering, the use of pantograph mechanisms made it possible to solve the problems of producing parts with complex shaped surfaces on copying machines without the use of CNC systems. Nowadays, copying machines with pantographs continue to be produced, but rather for hobbies, leisure, and artistic processing of materials. The authors’ choice of the topic is dictated by the infrequent mention of such tools and mechanisms in modern Russian publications and sources.

ПАНТОГРАФ: ИСТОРИЯ УНИВЕРСАЛЬНОЙ КОНСТРУКЦИИ

The article talks about the important role played by the rectilinear-directing mechanism in the history of world science and technology. Using the example of pantograph, an early mathematical instrument, we will trace the development of this design, unique in its simplicity, over time and show rare examples of these devices from the collection of the Museum of Bauman Moscow State Technical University. The widespread use of pantographs dates back to the 18th-19th centuries, which allows us to reveal the relationship between natural sciences (the body of knowledge about the Earth, natural objects, phenomena and processes) and engineering, purely technical disciplines, using the example of the use of these scientific instruments in the activities of naturalists and scientists and inventors. Until recently, in mechanical engineering, the use of pantograph mechanisms made it possible to solve the problems of producing parts with complex shaped surfaces on copying machines without the use of CNC systems. Nowadays, copying machines with pantographs continue to be produced, but rather for hobbies, leisure, and artistic processing of materials. The authors’ choice of the topic is dictated by the infrequent mention of such tools and mechanisms in modern Russian publications and sources.

Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

In this study, a robot was created to compete in the “7th Decommissioning Creative Robot Contest. The “Decommissioning Creative Robot Contest” is a robot contest in which the fields and tasks are set based on the assumption of decommissioning work at TEPCO’s Fukushima Daiichi Nuclear Power Station. The theme of this year’s competition is 3D decontamination of a highly contaminated area inside a nuclear reactor building. To solve the competition problem, we propose a robot for decommissioning work equipped with “an undercarriage mechanism that can cope with slopes and steps”, “a decontamination mechanism with two types of rotation trajectories”, and “a lifting mechanism with a high deformation rate. The undercarriage mechanism uses a four-wheel drive with infinite orbit to cope with slopes and steps. The decontamination mechanism uses two different types of orbits for decontamination: a circular rotating orbit and a longitudinal rotating orbit for rotation. For the lifting mechanism, three pantograph mechanisms were used. This study realized a control and mechanism to overcome steps and slopes, a deployment mechanism to high places, and a mechanism with two types of orbits to carefully decontaminate a large area.

A general method for the creation of dilational surfaces

Dilational structures can change in size without changing their shape. Current dilational designs are only suitable for specific shapes or curvatures and often require parts of the structure to move perpendicular to the dilational surface, thereby occupying part of the enclosed volume. Here, we present a general method for creating dilational structures from arbitrary surfaces (2-manifolds with or without boundary), where all motions are tangent to the described surface. The method consists of triangulating the target curved surface and replacing each of the triangular faces by pantograph mechanisms according to a tiling algorithm that avoids collisions between neighboring pantographs. Following this algorithm, any surface can be made to mechanically dilate and could, theoretically, scale from the fully expanded configuration down to a single point. We illustrate the method with three examples of increasing complexity and varying Gaussian curvature.

Type Synthesis of 1R1T Remote Center of Motion Mechanisms Based on Pantograph Mechanisms

The remote center of motion (RCM) mechanism is an important component of a minimally invasive surgery (MIS) robot. The feature of the RCM mechanism is that the output link can rotate around a fixed point and translate along an axis which passes the point; however, there is no revolute joint at the fixed point. The 3R1T RCM mechanism, which meets all the degrees-of-freedom (DOF) requirements of arbitrary MIS tools, can be assembled through many methods. An effective method is combining a planar closed-loop 1R1T RCM mechanism and two revolute joints. In this paper, we present an approach to construct 1R1T RCM mechanisms from pantograph mechanisms. First, pantograph mechanisms are divided into seven classifications according to the geometric transformations they represent. The concept of rigid motion tracking mechanism (RMTM) is proposed by combining two equivalent pantograph mechanisms. Then, a novel type synthesis method for 1R1T RCM mechanisms is discussed in detail, and it shows that a 1R1T RCM mechanism can be constructed by assembling an RMTM and a 1R1T mechanism. By this method, several examples are constructed.

1P1-A05 劣駆動平行四辺形クローラ機構を有する3モジュール型配管検査ロボット(スマートメカニズム"sMechanism"とその制御)

In this paper, we present a new in-pipe robot with independent underactuated parallelogram crawler modules, which can automatically overcome inner obstacles in the pipes. The parallelogram crawler modules are adopted to maintain the anterior-posterior symmetry of forward and backward movements, and a simple differential mechanism based on a pair of spur gears is installed to provide underactuated mechanisms. A central base unit connects each crawler module through foldable pantograph mechanisms. In addition, an operation controller to make the robot turn is developed. To verify the basic behavior of this robot, primary experiments in a pipe with different diameters, a pipe with a partial step, bend pipe, and T-branch were conducted.

222 射出成形パンタグラフ機構を用いた3脚振動形移動ロボットに関する研究(OS15-1 リンク・カムI)

A 3 leg moving robot which has legs constructed by injection molding pantograph mechanism from polypropylene is herein suggested, and the velocity characteristics are measured in this paper. The injection molding pantograph mechanism has some natural frequencies in various directions with reference to the output point when an input wave is applied at an input point. Therefore, if the injection molding pantograph mechanisms are applied as legs, the robot employing pantograph mechanisms can move in various directions by actuating only one leg. A manufactured 3 leg vibration moving robot could move forward at 38mm/s, backward at 54mm/s and spin at 0.23rad/s by actuating one leg. By shifting the phase between each leg and the amplitude of the legs, the vibration propelled robot was able to accomplish a high speed of 167mm/s.

2912 射出成形パンタグラフ機構を用いた表面実装システムの開発(S53-2 機構の開発とシミュレーション(2),S53 機構の開発とシミュレーション)

2912 射出成形パンタグラフ機構を用いた表面実装システムの開発(S53-2 機構の開発とシミュレーション(2),S53 機構の開発とシミュレーション)

1310 射出成形一体パンタグラフ機構の異なる共振モードを利用した小形移動ロボット(OS7-2 マイクロメカトロニクス(2))

1310 射出成形一体パンタグラフ機構の異なる共振モードを利用した小形移動ロボット(OS7-2 マイクロメカトロニクス(2))

Dynamic characteristic of miniature molding pantograph mechanisms for surface mount systems

A new surface mount system with a parallel arrangement of miniature manipulators was proposed for use in system downsizing. The miniature manipulator consists of a molded pantograph mechanism, which is composed of large-deflective hinges and links. The purpose in this study is to investigate the static and dynamic characteristics of the pantograph mechanism. The static characteristic is clarified to analyze the nonlinear moment at the hinges and the displacement error of the output point. The dynamic characteristic deals with the forces at the input and the hinges, along with the dynamic displacement error of the output point when the miniature manipulator is driven at 20 Hz, and the output point is moved on a U-shape for picking and placing works. We consider forced vibrations corresponding to natural frequencies and mode shapes of the pantograph mechanism. These investigations apply the Finite Element Method (ANSYS) and Multi-Body-System approach (SIMPACK) and different levels of modeling are compared.

2709 繰返し荷重曲げ疲労試験に基づく射出成形パンタグラフ機構の大変形ヒンジ寿命(S66-3 卒業研究コンテスト(3),S66 卒業研究コンテスト)

2709 繰返し荷重曲げ疲労試験に基づく射出成形パンタグラフ機構の大変形ヒンジ寿命(S66-3 卒業研究コンテスト(3),S66 卒業研究コンテスト)

121 大変形ヒンジおよびリンクからなる 2 由度パンタグラフ機構の静・動特性

121 大変形ヒンジおよびリンクからなる 2 由度パンタグラフ機構の静・動特性

Geometrical analysis of self-compensating suspension systems for railcar engineering

The present analysis addresses several passive tilt systems for railroad cars aiming to compensate for the cart deficiency on curved tracks. To this end, the virtual centre of suspension must be located as close as possible to the longitudinal plane of symmetry of the coach, above the mass centre level for stability reasons. On the one hand, pantograph or Peaucellier's mechanisms may achieve the correct self-compensation. On the other hand, simpler articulated systems yield the desired goal with an excellent approximation. For example, selective algorithms can be applied for designing eight-link mechanisms, to be optimized thereafter by some method of the gradient type, minimizing the mean square value of the transverse acceleration component.

Design, fabrication, and evaluation of a new haptic device using a parallel mechanism

This paper presents design, fabrication, and evaluation of a new 6-DOF haptic device for interfacing with virtual reality by using a parallel mechanism. The mechanism is composed of three pantograph mechanisms that are driven by ground-fixed servomotors, three spherical joints between the top of the pantograph mechanisms and the connecting bars, and three revolute joints between the connecting bars and a mobile joystick handle. Forward and inverse kinematic analyses are performed and the Jacobian matrix is derived. Performance indexes such as global payload index, global conditioning index, translation and orientation workspaces, and sensitivity are evaluated to find optimal parameters in the design stage. The proposed haptic mechanism has better load capability than those of the pre-existing haptic mechanisms due to the fact that the motors are fixed at the base. It has also a wider orientation workspace mainly due to a RRR-type spherical joint. A control method is presented with gravity compensation and force feedback by a force/torque sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, the dynamic performance is evaluated for force characteristics. Virtual wall simulation with the developed haptic device is demonstrated.

Displacement Analysis of Pantograph Mechanisms with Superelastic Hinges.

For handling of a micromachine element and / or its parts, use of a micromechanical system is suitable. Thus, a pantograph mechanism is made from a plastic resin and superelastic hinges simultaneously using a small injection molding machine. The shape memory alloy having an effect of superelasticity is used as superelastic hinges. Therefore it is possible for superelastic hinges to have large bending displacements. The input and output displacements of the pantograph mechanism with superelastic hinges are measured and their linear relationship is confirmed. Then a micromechanical system for microbonding by adhesives is constructed using piezoelectric actuators, the pantograph mechanism and a needle. We confirmed that the proposed mechanical system performs well for microbonding by adhesives.

Characteristic Analysis of Pantograph Mechanisms with Superelastic Hinges.

To handle a micromachine element and/or its parts, a micromechanical system is suitable. Thus, a pantograph mechanism is made from a plastic resin and superelastic hinges simultaneously by using a small injection molding machine. Superelastic hinges made of shape memory alloy have an effect of super-elasticity. Therefore it is possible for superelatsic hinges to have great bending displacements. The input and output displacements of the pantograph mechanism with superelastic hinges are measured and their linear relationship is confirmed. Then a micromechanical system for microbonding by adhesives is made from piezoelectric actuators, the pantograph mechanism and a needle. We confirmed that the proposed mechanical system performs well for microbonding by adhesives.

The development of a general master arm for teleoperation considering its role as a man-machine interface

Master arm design is one of the most important issues in improving the maneuverability of master-slave manipulators. Though various types of master arm for teleoperation have been developed, no design criteria have been proposed for master arms as the man-machine interface and there are no compact master arms suitable for general use. In this paper, we discuss design criteria for a general master arm and present a new orthogonal type of master arm based on a pair of pantograph mechanisms that we have developed. This master arm is light in weight and compact, and the ergonomic switch layout on the grip was determined according to operational ease of use. The dynamic characteristics of this mechanism have been evaluated using generalized inertia tensor ellipsoids and good maneuverability has been confirmed in basic experiments.

A Synthesis of Robotic Pantograph Mechanisms based on Working Spaces and Static Characteristic Charts.

Kinematic and static characteristics of pantograph mechanisms have been analyzed and represented in the form of charts which enable rational syntheses of the mechanisms as robot arms and legs with two degrees of freedom. Namely, the maximum joint forces and bending moments of links when the mechanisms take arbitrary positions and attitudes have been formuiated by introducing two factors. Characteristic charts of statics have been made by plotting lines of positions of the output point where both of the factors are respectively constant in dimensionless working spaces. Making use of the characteristic charts, shapes and dimensions of working spaces, load conditions, strokes and arrangement positions of actuators etc. can be directly considered in the determination of kinematic parameters of the robot mechanisms with the optimum joint forces and bending moments of links.

A synthesis of pantograph mechanisms for robots based on working spaces and characteristic charts of statics.

Kinematic and static characteristics of pantograph mechanisms have been analyzed and represented in the form of charts which enable rational syntheses of the mechanisms as robot arms and legs with two degrees of freedom. Namely, two factors concerning the maximum joint forces and bending moments of links when the mechanisms take arbitrary positions and attitudes have been proposed and the positions of output points where the each factor takes various values are plotted in dimensionless reachable regions of the output points. Making use of the characteristic charts, dimensions of working spaces, loading conditions, strokes and arrangement positions of actuators etc. can be directly considered in the determination of kinematic parameters of the robot mechanisms with the optimum joint forces and bending moments of links.

The mechanical efficiency and kinematics of pantograph-type manipulators

The mechanical efficiency of pantograph mechanisms is studied using the concept of redefined geometric work, and is compared with a conventional open-chain and a closed-chain type manipulator. The kinematics of two types of six-degree-of-freedom pantograph manipulators are studied. Special mechanisms which simplify the kinematics are discussed. The computational complexity of both Cartesian and cylindrical pantograph manipulators are evaluated and compared with a PUMA-type manipulator. >