Multibody Mechatronic Systems

These are the Proceedings of the 6th International Symposium on Multibody Systems and Mechatronics (MUSME 2017) which was held in Florianópolis, Brazil, October 24-28, 2017. Topics addressed include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and control of mechatronic systems. The MUSME 2017 Symposium was one of the activities of the FEIbIM Commission for Mechatronics and IFToMM technical Committees for Multibody Dynamics, Robotics and Mechatronics.

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Synthesis of Mechanisms and Robots.- Synthesis of precision flexible mechanisms using screw theory with a finite elements validation, by Martín Pucheta, Alejandro Gallardo.- Enumeration of kinematic chains with zero variety for epicyclic gear trains with one and two degrees of freedom, by Marina Baldissera de Souza, Rodrigo de Souza Vieira, Daniel Martins.- Mechanism Design and Kinematics Analysis of a Bat Robot, by Deming Kong, Jingshan Zhao.- Vector Analysis of the Cable Tension Conditions, by Thaís Muraro, Daniel Martins, Leonardo Sacht.- Actuated degree-of-control: a new approach for mechanisms design, by Estevan Hideki Murai, Roberto Simoni, Daniel Martins.- Analysis of self-aligning mechanisms by means of matroid theory, by Andrea Piga Carboni, Henrique Simas, Daniel Martins.- Review and classification of workpiece toggle clamping devices, by Mateus Viana de Oliveira Costa, Estevan Hideki Murai, Fabíola Rosa, Daniel Martins.- Supporting the laminated ferromagnetic pole piecesin a magnetic gear: a structure behaviour analysis from a multibody model, by Melaine Desvaux, Bernard Multon, Hamid Ben Ahmed, Stéphane Sire.- Kinematic Analysis.- Kinematic Analysis for a Planar Redundant Serial Manipulator, by Zijia Li, Mathias Brandstötter, Michael Hofbaur.- Workspace Analysis of a Parallel Manipulator Using Multi-Objective Optimization and Bio-Inspired Methods, by Rogério Sales Gonçalves, Joao Carvalho, Fran Sergio Lobato.- Modeling of a four-legged robot with variable center of mass as a cooperative multirobot system, by Cristiane Tonetto, Antônio Bento Filho, Altamir Dias.- Assembly sequence planning for shape heterogeneous modular robot systems, by Anelize Zomkowski Salvi, Roberto Simoni, Henrique Simas.- Static Analysis.- Kinetostatics and Optimal Design of a 2PRPU Shoenflies-Motion Generator, by Henrique Simas, Raffaele Di Gregorio.- Influence of the working mode on the maximum isotropic force capability maps for a 3RRR planar parallel manipulator, by Leonardo Mejia Rincon, Daniel Ponce, Juan Camilo Herrera Pineda, Henrique Simas, Daniel Martins.- Maximum isotropic force capability maps in planar cooperative systems: A practical case study, by Juan Camilo Herrera Pineda, Leonardo Mejia Rincon, Roberto Simoni, Henrique Simas.- Balancing conditions of the RSS'P spatial mechanism An alternative method using Natural Coordinates, by Mario Acevedo.- Dynamic Analysis.- Elastodynamic Performance of a Planar Parallel Mechanism under Uncertainties, by Fabian Andres Lara-Molina, Edson Hideki Koroishi, Thamiris Costa.- Complex modelling and dynamical analysis of parallel cable mechanisms, by Radek Bulín, Michal Hajzman, Pavel Polach.- A new methodology for the balancing of mechanisms using the Davies' method, by Julio Frantz, Leonardo Mejia Rincon, Henrique Simas, Daniel Martins.- The Dynamic Synthesis of an Energy-Efficient Watt-II-Mechanism, by Ferdinand Schwarzfischer, Mathias Hüsing, Burkhard Corves.- Multibody dynamic analysis of a High-AltitudeLong-Endurance aircraft concept, by Luciano Nitardi, Bruno Roccia, Sergio Preidikman, Fernando Flores.- Control of Mechatronic Systems.- High-Order Sliding Mode Control for Solar Tracker Manipulator, by Irandi Gutiérrez, Eusebio Eduardo Hernández Martínez, Armando Oropeza, Sajjad Keshtkar.- Towards a Servovision based Control of a Planar Parallel Manipulator, by Fernanda Colombo, Maíra da Silva.- Multibody Model of the VVER 1000 Nuclear Reactor Control Assembly and Simulation of Its Moving Parts Drop, by Pavel Polach, Michal Hajzman.- Single-state friction model for control purposes, by Fernando Villegas, Rogelio Hecker, Gustavo Flores.- Design and Optimal Control of a Robotic Speech-to-Sign Language Transliterating System, by Maykol Jiampiers Campos Trinidad, Erwin Daniel López Zapata, Renzo Sebastián Salazar Arévalo, Juan José Acostupa del Carpio.- Modelling and Simulation.- Robust Critical Inverse Condition Number for a 3RRR Robot Using Failure, by Hiparco Lins Vieira, João Fontes,Maíra da Silva, Andre Teofilo Beck.- Simulation of a Serial Robot Calibration through Screw Theory, by Lucas Kato, Tiago Pinto, Henrique Simas, Daniel Martins.- Comparative study of autonomous aerial navigation methods oriented to environmental monitoring, by Jorge Roberto López Cáceres, Manasses Antoni Mauricio Condori, Luis Alvaro.- Rojas Machado, Erwin Dianderas, Juan Pablo Vargas Machuca Bueno, Ricardo Raul Rodriguez Bustinza.- Simulation and experimental verification of a global redundancy resolution for a 3PRRR prototype, by João Fontes, Maíra da Silva.- A computational aeroelastic framework for studying non-conventional aeronautical systems, by Sergio Preidikman, Bruno Roccia, Marcos Verstraete, Luis Ceballos, Balakumar Balachandran.- ILQG Planner Applied to Dynamic Systems with Intermittent Contact, by Henrique Garcia, Leonardo Luna, Gustavo Jose Giardini Lahr, Glauco Caurin.- Cost Effective Provisioning of Electricity in Smart Nano-Grid Using GA and Optimized Heuristic, by Nabila Ahmad.- Prototypes and Experimental Validations Mathematical Modeling and Prototype Development of a Pneumatically-Actuated Bench for Sloping Terrain Simulation, by Marcia Regina Maboni Porsch, Nivia Maria Kinalski, Roberta Goergen, Andrei Fiegenbaum, Luiz Antônio Rasia, Antonio Carlos Valdiero.- An experimental characterization of roll hemming process, by José Eduardo Esquivel González, Giuseppe Carbone, Marco Ceccarelli, Juan Carlos Jauregui.- Experimental Characterization of a Feedforward Control for the Replication of Moving Resistances on a Chassis Dynamometer, by Elvis Bertoti, Jony Eckert, Rodrigo Yamashita, Ludmila Silva, Franco Giuseppe Dedini.- Experimental Setup of a Novel Four DOF Parallel Manipulator, by Marina Vallés, Pedro Araujo-Gómez, Vicente Mata, Angel Valera, Miguel Díaz-Rodríguez, Alvaro Page, Nidal Farhat.- Behaviour comparison between mechanical epicyclic gears and magnetic gears, by Melaine Desvaux, Bernard Multon, Hamid Ben Ahmed, Stéphane Sire.- Mechatronic Systems for Assistive Technology Design Optimization of a Cable-driven Parallel Robot in Upper Arm Training-Rehabilitation Processes, by Eusebio Eduardo Hernández Martínez, S. Ivvan Valdez, Giuseppe Carbone, Marco Ceccarelli.- Kinematic analysis of an exoskeleton-based robot for elbow and wrist rehabilitation, by Nicolae Plitea, Bogdan Gherman, Giuseppe Carbone, Marco Ceccarelli, Calin Vaida, Alexandru Banica, Doina Pisla, Adrian Pisla.- Experimental Evaluation of Artificial Human Ribs, by Luis Antonio Aguilar, Marco Ceccarelli, Christopher-René Torres-San-Miguel, Guillermo Urriolagoitia-Sosa, Guillermo Urriolagoitia-Calderón.- Kinetostatic model of the human knee for preoperative planning: part A Method and Validation, by Daniel Ponce, Leonardo Mejia Rincon, Ernesto Ponce, Daniel Martins, Rodrigo Roesler, Julio Feller Golin.- Kinetostatic model of the human knee for preoperative planning: part B Clinical application for medical decision making, by Daniel Ponce, Julio Feller Golin, Ernesto Ponce, Rodrigo Roesler, Daniel Martins, Leonardo Mejia Rincon.- On the Kinematics of an Innovative Spherical Parallel Robot for the Shoulder Rehabilitation, by Nicolae Plitea, Calin Vaida, Giuseppe Carbone, Adrian PISLA, Ionut Ulinici, Doina Pisla.- Automatic Elevation Syste…