Mechanisms and Machine Science 66 Alessandro Gasparetto Editors Marco Ceccarelli Mechanism Design for Robotics Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics Mechanisms and Machine Science Volume 66 Series editor Marco Ceccarelli LARM: Laboratory of Robotics and Mechatronics DICeM: University of Cassino and South Latium Via Di Biasio 43, 03043 Cassino (Fr), Italy e-mail: [email protected] Editorial Board Members Alfonso Hernandez MechanicalEngineering,UniversityoftheBasqueCountry,Bilbao,Vizcaya,Spain Tian Huang Department of Mechatronical Engineering, Tianjin University, Tianjin, China Steven A. Velinsky Mechanical and Aerospace Engineering, University of California Davis, Davis, California, USA Yukio Takeda Mechanical Engineering, Tokyo Institute of Technology, Tokyo, Japan Burkhard Corves Institute of Mechanism Theory, Machine D, RWTH Aachen University, Aachen, Nordrhein-Westfalen, Germany This book series establishes a well defined forum for monographs, edited Books, and proceedings on mechanical engineering with particular emphasis on MMS (MechanismandMachineScience).Thefinalgoalisthepublicationofresearchthat shows the development of mechanical engineering and particularly MMS in all technical aspects, even in very recent assessments. Published works share an approach by which technical details and formulation are discussed, and discuss modern formalisms with the aim to circulate research and technical achievements for use in professional, research, academic, and teaching activities. This technical approach is an essential characteristic of the series. By discussing technical details andformulationsintermsofmodernformalisms,thepossibilityiscreatednotonly to show technical developments but also to explain achievements for technical teachingandresearchactivitytodayandforthefuture.Thebookseriesisintended to collect technical views on developments of the broad field of MMS in a unique frame that can be seen in its totality as an Encyclopaedia of MMS but with the additional purpose of archiving and teaching MMS achievements. Therefore the book series will be of use not only for researchers and teachers in Mechanical Engineering but also for professionals and students for their formation and future work. More information about this series at http://www.springer.com/series/8779 Alessandro Gasparetto Marco Ceccarelli (cid:129) Editors Mechanism Design for Robotics Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics 123 Editors Alessandro Gasparetto MarcoCeccarelli Dipartimento Politecnico di Ingegneriae Dipartimento di IngegneriaMeccanica e Architettura Civile Universitàdegli Studi diUdine Universitàdi Cassino edel Lazio Udine, Italy Meridionale Cassino, Italy ISSN 2211-0984 ISSN 2211-0992 (electronic) Mechanisms andMachineScience ISBN978-3-030-00364-7 ISBN978-3-030-00365-4 (eBook) https://doi.org/10.1007/978-3-030-00365-4 LibraryofCongressControlNumber:2018953825 ©SpringerNatureSwitzerlandAG2019,correctedpublication2019 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. 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ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics,isthefourtheventofaseriesthatstartedin2010asaspecificconference activity on mechanisms for robots. The first event was held at Universidad Panamericana de Ciudad de Mexico (Mexico) in September 2010; the second was heldatBeihangUniversityinBeijing(China)inOctober2012;thethirdeventwas held at Aalborg University in Aalborg (Denmark) in June 2015. The aim of the MEDER Symposium is to bring together researchers, industry professionals,andstudentsfromabroadrangeofdisciplinesrelatedtomechanisms and robotics, to share the latest developments and discuss the directions for the future of mechanisms and robotics research. MEDER 2018 received a great attention not only from the academic but also from the industrial world. Four prominent companies showed their attention by sponsoring the event and presenting themselves during the symposium. Moreover, oneofthetwokeynotelectureswasheldbytheCEOofamulti-nationalcompany located in the northeast of Italy. Thus, MEDER 2018 has become an important forumofexchangeandcollaborationbetween academyandindustryinthefieldof robotics. TheproceedingsofMEDER2018contains52papers,whichwereselectedafter reviewfororalpresentation.Thesepaperscoverseveralaspectsofthewidefieldof Mechanism Design for Robotics, from theoretical studies up to practical applica- tions through new robot design and prototypes. Theywere authored mainlyby the IFToMMcommunitycomingfromAustria,Brazil,China,Denmark,France,India, Italy, Japan, Kazakhstan, Mexico, Romania, Russia, Serbia, Spain, Sweden, and USA. We express grateful thanks to the MEDER Symposium International Scientific Committee members, namely Marco Ceccarelli (University of Cassino, Italy, Chair),DingXilun(BeihangUniversity,China),GrigoreGogu(SIGMAClermont, France), Mario Acevedo (University Panamericana, Mexico), Shaoping Bai v vi Preface (Aalborg University, Denmark), Yukio Takeda (Tokyo Institute of Technology, Japan), Alba Perez Gracia (Idaho State University, USA), Yan Jin (Belfast University, UK), Erwin Lovasz (Politehnica University Timisoara, Romania),Said Zeghloul (Poitiers University, France), Victor Petuya (University of Basque Country, Spain). We thank the authors who contributed with very interesting papers on several subjects,coveringmanyfieldsofMechanismDesignforRobotics,andadditionally fortheircooperationinrevisingpapersinduetimeinagreementwiththereviewers’ comments. We are grateful to the reviewers for the time and efforts they spent in evaluating the papers within a given schedule, which made the publication of this volume of proceedings possible. The reviewers are Mario Acevedo (Universidad Panamericana de Ciudad de Mexico), Oscar Altuzarra (ETSI Bilbao, University of the Basque Country), Manuel Arias-Montiel (Universidad Tecnologica de la Mixteca), Shaoping Bai (Aalborg University), Sandipan Bandyopadhyay (IIT Madras), Roberto Belotti (Free University of Bozen-Bolzano), Paolo Boscariol (University of Padova), Giovanni Boschetti (University of Padova), Mathias Brandstötter (Joanneum Research Forschungsgesellschaft mbH), Tobias Bruckmann(UniversityofDuisburg-Essen),DanieleCafolla(UniversityofCassino and Southern Lazio), Alessandro Cammarata (University of Catania), Domenico Campolo (Nanyang Technological University), Giuseppe Carbone (University of Cassino and Southern Lazio), Marco Carricato (University of Bologna), Cristina Castejón(UniversidadCarlosIIIdeMadrid),EduardoCastillo(InstitutoPolitecnico Nacional, Mexico City), Marco Ceccarelli (University of Cassino and Southern Lazio), Tarcisio Coelho (University of Sao Paulo), Gruescu Corina (University Politehnica Timisoara), Maíra Da Silva (University of São Paulo), Mehmet Ismet Can Dede (Izmir Institute of Technology), Raffaele Di Gregorio (University of Ferrara), Walter Franco (Politecnico di Torino), Paolo Gallina (University of Trieste), Juan Carlos Garcia-Prada (Universidad Carlos III de Madrid), Alessandro Gasparetto (University of Udine), Victor A. Glazunov (Mechanical Engineering Research Institute of the Russian Academy of Sciences), Francisco Gonzalez (UniversityofACoruña),ClaudiaAideGonzález-Cruz(UniversidadAutónomade Querétaro), Karl Gotlih (University of Maribor), Weizhong Guo (Shanghai Jiao TongUniversity),KonstantinIvanov(AlmatyUniversityofPowerEngineeringand Telecommunication), Juan Carlos Jauregui (Universidad Autónoma de Querétaro), Yan Jin (Queen’s University Belfast), Gökhan Kiper (İzmir Institute of Technology), Jiri Krejsa (Brno University of Technology), Chin-Hsing Kuo (National Taiwan University of Science and Technology), Med Amine Laribi (University of Poitiers), Erwin-Christian Lovasz (Universitatea Politehnica Timisoara), Esther Lugo-González (Universidad Tecnológica de la Mixteca), Vicente Mata (Universidad Politecnica de Valencia), Paulo Miyagi (University of Sao Paulo), Vassilis Moulianitis (University of the Aegean), Andreas Mueller (Johannes Kepler University), Domenico Mundo (Università della Calabria), Carl Preface vii Nelson (University of Nebraska–Lincoln), Vincenzo Niola (University of Naples FedericoII),TobiasOrtmaier(LeibnizUniversitätHannover),IlariaPalomba(Free University of Bozen-Bolzano), Jose-Alfonso Pamanes (Instituto Tecnologico de la Laguna), Chiara Passarini (University of Padova), Marko Penčić (University of Novi Sad), Alba Perez Gracia (Idaho State University), Victor Petuya (University of the Basque Country UPV/EHU), Celestin Preault (Université de Poitiers), Giuseppe Quaglia (Politecnico diTorino),DarioRichiedei(University ofPadova), SvenRink(RWTHAachenUniversity),NicolasRojas(ImperialCollegeLondon), GiulioRosati(UniversityofPadova),SergioSavino(UniversityofNaplesFederico II), Özgün Selvi (Cankaya University), Henrique Simas (Federal University of Santa Catarina), Roberto Simoni (Federal University of Santa Catarina), Massimo Sorli (Politecnico di Torino), Yusuke Sugahara (Tokyo Institute of Technology), Iacopo Tamellin (University of Padova), Mónica Urizar (ETSI Bilbao, University of the Basque Country), Calin Vaida (Technical University of Cluj-Napoca), Gentiane Venture (Tokyo University of Agriculture and Technology), Renato Vidoni (Free University of Bozen-Bolzano), Yu-Xin Wang (Zhejiang University), Erich Wehrle (Free University of Bozen-Bolzano), Philippe Wenger (Laboratoire des Sciences du Numérique de Nantes), Yuhu Yang (Tianjin University), Said Zeghloul (Université de Poitiers), Yuru Zhang (Beihang University). We thank the University of Udine, in particular the Polytechnic Department of Engineering and Architecture (DPIA), for hosting the MEDER 2018 event. We would like to thank our colleagues and the administrative staff at DPIA, in par- ticularStefanoMiani,FabioMiani,LorenzoScalera,RobertaFabbro,CinziaDella Mora, Maria Grazia Zugolo, and Elvio Castellarin, for their efforts and support in organizingthesymposium.WealsothankthemembersoftheNationalOrganizing Committee, including Giovanni Boschetti, Giuseppe Carbone, Paolo Gallina, Giuseppe Quaglia, Renato Vidoni as well as their collaborator Chiara Passarini. SpecialthankstothesymposiumSecretary,PaoloBoscariol,forthetimeandeffort he put in dealing with all the problems related to the organization of the symposium. We thank the International Federation for the Promotion of Mechanism and Machine Science (IFToMM) for sponsorship of two Young Delegate Grants. We thank the TC for Robotics and Mechatronics and the TC for Linkages and Mechanical Controls of IFToMM, as well as IFToMM Italy, the Italian Section of IFToMM, for their sponsorship. We also would like to thank the industrial com- panies that sponsored the event, namely Danieli & C. Officine Meccaniche, Fameccanica Data, Sistec srl, and Danieli Automation, and the people in these companies who contributed to the symposium, respectively, Rolando Paolone, Oronzo Lucia, Claudio Da Broi, and Marco Ometto. Their help was crucial in allowingtheorganizationofthesocialprogram,whilekeepingtheregistrationfees very low. We thank the two keynote speakers, namely Michael Hofbaur (Joanneum Research, Klagenfurt, Austria) and Sergio Barel (Brovedani Group, San Vito al Tagliamento,Italy),whodealtwithcutting-edgetopicsinthefieldofrobotics,from an academic as well as from an industrial perspective. viii Preface Wethankthepublisher Springeranditseditorialstaffforacceptingandhelping in the publication of this volume of proceedings. We are grateful to our families for their patience and comprehension and, in particular, to Barbara Comini also for her help inorganizing the socialprogram of MEDER 2018, the fourth IFToMM International Symposium on Mechanism Design for Robotics. July 2018 Alessandro Gasparetto Marco Ceccarelli Contents Busker Robot: A Robotic Painting System for Rendering Images into Watercolour Artworks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Lorenzo Scalera, Stefano Seriani, Alessandro Gasparetto, and Paolo Gallina A Simple and General Closed-Form Method for Direct Kinematics of Mechanism Based on SOC Modeling . . . . . . . . . . . . . . . . . . . . . . . . . 9 Huiping Shen, Ke Xu, Guanglei Wu, and Ting-li Yang Development of LARMbot 2, A Novel Humanoid Robot with Parallel Architectures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Matteo Russo, Daniele Cafolla, and Marco Ceccarelli A Two-Step Algorithm for the Dynamic Reduction of Flexible Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 A. Cammarata, R. Sinatra, and P. D. Maddio AVariableStiffnessRoboticArmUsingLinearlyActuatedCompliant Parallel Guided Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 R. Hu, V. Venkiteswaran, and H.-J. Su Development of a Sensing System for Zero Gravity Simulation Using a Robot Manipulator to Test Antenna Reflector Unfolding in Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 S. D’Attanasio and J. Charron Underactuated Finger Behavior Correlation Between Vision System Based Experimental Tests and Multibody Simulations. . . . . . . . . . . . . . 49 Chiara Cosenza, Vincenzo Niola, and Sergio Savino Unified Pose Parametrization for 1T2R Parallel Manipulators. . . . . . . . 57 Yuanqing Wu and Marco Carricato ix