Fundamentals of Machine Theory and Mechanisms

Mata, Antonio Simón; Torras, Alex Bataller; Carrillo, Juan Antonio Cabrera; Juanco, Francisco Ezquerro; Martínez, Fernando Nadal; Fernández, Antonio J.

doi:10.1007/978-3-319-31970-4

Cited by 15 publications

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Structural and organisational conditions for being a machine

Militello

Moreno

2018

Biol Philos

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Although the analogy between macroscopic machines and biological molecular devices plays an important role in the conceptual framework of both neo-mechanistic accounts and nanotechnology, it has recently been claimed that certain complex molecular devices (consisting of biological or synthetic macromolecular aggregates) cannot be considered machines since they are subject to physicochemical forces that are different from those of macroscopic machines. However, the structural and physicochemical conditions that allow both macroscopic machines and microscopic devices to work and perform new functions, through a combination of elemental functional parts, have not yet been examined. In order to fill this void, this paper has a threefold aim: first, to clarify the structural and organisational conditions of macroscopic machines and microscopic devices; second, to determine whether the machine-like analogy fits nanoscale devices; and third, to assess whether the machine-like analogy is appropriate for describing the behaviour of some biological macromolecules. Finally, the paper gives an account of 'machine' which, while acknowledging the physicochemical and organisational differences between man-made machines and biological microscopic devices, nevertheless identifies a common conceptual core that allows us to consider the latter 'machines'.

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Structural and organisational conditions for being a machine

Militello

Moreno

2018

Biol Philos

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

et al. 2020

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Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm. The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner. The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload, and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow. The response speed is high because sensors and control algorithms are not needed. The variable stiffness principle is explained, and the design of the variable stiffness mechanism is analyzed. A prototype is fabricated, and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

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Estimation of the External Forces on a Robot Hand with Fingertip Tactile Sensors

Kim

2022

Int. J. Control Autom. Syst.

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Fundamentals of Machine Theory and Mechanisms

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Cited by 15 publications

References 0 publications

Structural and organisational conditions for being a machine

Structural and organisational conditions for being a machine

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Estimation of the External Forces on a Robot Hand with Fingertip Tactile Sensors

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