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Advances in Mechanical Design
This book gathers selected papers from 2023 International Conference on Mechanical Design (2023 ICMD), held in Chengdu, China. The main objectives are to bring the community of researchers in the fields of mechanical design together, to exchange and discuss the most recent investigations, challenging problems and new trends, and to encourage the wider implementation of the advanced design technologies and tools in the world, particularly throughout China. The theme of 2023 ICMD is “Innovative Design Drives High-Quality Development”, and the event devotes to providing an excellent forum for the scholars all around the world to share their innovative ideas, cutting-edge research results.
Design of high-performance legged robots
Author: Josephus J. M. Driessen
language: en
Publisher: Università degli Studi di Genova
Release Date: 2019-07-11
PhD Dissertation The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple.
Design of Joints in Steel Structures
Author: ECCS - European Convention for Constructional Steelwork
language: en
Publisher: John Wiley & Sons
Release Date: 2017-06-19
This book details the basic concepts and the design rules included in Eurocode 3 "Design of steel structures" Part 1-8 "Design of joints". Joints in composite construction are also addressed through references to Eurocode 4 "Design of composite steel and concrete structures" Part 1-1 "General rules and rules for buildings". Moreover, the relevant UK National Annexes are also taken into account. Attention has to be duly paid to the joints when designing a steel or composite structure, in terms of the global safety of the construction, and also in terms of the overall cost, including fabrication, transportation and erection. Therefore, in this book, the design of the joints themselves is widely detailed, and aspects of selection of joint configuration and integration of the joints into the analysis and the design process of the whole construction are also fully covered. Connections using mechanical fasteners, welded connections, simple joints, moment-resisting joints and lattice girder joints are considered. Various joint configurations are treated, including beam-to-column, beam-to-beam, column bases, and beam and column splice configurations, under different loading situations (axial forces, shear forces, bending moments and their combinations). The book also briefly summarises the available knowledge relating to the application of the Eurocode rules to joints under fire, fatigue, earthquake, etc., and also to joints in a structure subjected to exceptional loadings, where the risk of progressive collapse has to be mitigated. Finally, there are some worked examples, plus references to already published examples and to design tools, which will provide practical help to practitioners.