scholarly journals Design and Modeling of a Compliant Link for Inherently Safe Corobots

2017 ◽  
Vol 10 (1) ◽  
Author(s):  
Yu She ◽  
Hai-Jun Su ◽  
Deshan Meng ◽  
Siyang Song ◽  
Junmin Wang
Keyword(s):  
Mechanical Design ◽  
Dynamic Performance ◽  
Inherent Safety ◽  
Promising Alternative ◽  
Head Injury Criterion ◽  
Width Distribution ◽  
Human Operators ◽  
Safety Constraint ◽  
Traditional Approaches ◽  
And Control

In this paper, we propose a variable width compliant link that is designed for optimal trade-off of safety and control performance for inherently safe corobots. Intentionally introducing compliance to mechanical design increases safety of corobots. Traditional approaches mostly focus on the joint compliance, while few of them study the link compliance. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by head injury criterion (HIC). The robotic links are modeled as two-dimensional beams with a variable width. Given a safety threshold, i.e., HIC constraint, the width distribution along the link is optimized to give a uniform distribution of HIC, which guarantees inherent safety for human operators. This solution is validated by a human–robot impact simulation program built in matlab. A static model of the variable width link is derived and verified by finite element simulations. Not only stress in the link is reduced, this new design has a better control and dynamic performance quantified by a larger natural frequency and a larger bandwidth compared with designs made of uniform beams and compliant joints (CJs). The proposed variable width link takes full advantage of the link rigidity while keeps inherent safety during a human–robot impact. This paper demonstrates that the compliant link solution could be a promising alternative approach for addressing safety concerns of human–robot interactions.

Shape Optimization of 2D Compliant Links for Design of Inherently Safe Robots

2015 ◽  
Author(s):  
Yu She ◽  
Hai-Jun Su ◽  
Carter J. Hurd
Keyword(s):  
Shape Optimization ◽  
Compliant Mechanisms ◽  
Mechanical Design ◽  
Longitudinal Direction ◽  
Head Injury Criterion ◽  
Impact Simulation ◽  
Novel Method ◽  
Safety Constraint ◽  
The Cost ◽  
Traditional Approaches

In this paper, we represent a preliminary work towards the design of compliant mechanisms for human safe co-robots. We developed a shape optimization framework for design of planar compliant links for inherently safe robotic manipulators. It is well known intentionally introducing compliance to mechanical design can increase safety of robots. However traditional approaches such as elastic joints or uniform compliant links, were either at the cost of significantly reduced performance or with increased extra complexity and cost. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by Head Injury Criterion (HIC). The robotic links are modeled as a 2D beam with a variable width. Given a safety threshold i.e. HIC constraint, the width of the beam is optimized to give a uniform distribution of HIC along the longitudinal direction of the link. Links with a uniform HIC distribution have a better control performance. Finally, this solution is validated by an huamn-robot impact simulation program built in Matlab.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Design of a Multi-Arm Robot for Mandible Reconstruction Surgery

2014 ◽  
Vol 654 ◽  
pp. 187-190 ◽  
Author(s):  
Hong Hua Zhao ◽  
Jian Ying Tian ◽  
Dong Song Li ◽  
Chang Sheng Ai
Keyword(s):  
Mechanical Design ◽  
The Novel ◽  
Robot System ◽  
Mandible Reconstruction ◽  
3D Navigation ◽  
Reconstruction Surgery ◽  
And Control ◽  
Robotic Surgical System ◽  
Surgical System ◽  
Poor Stability

Clinical treatment for mandible defects is Mandible Reconstruction Surgery (MRS) including bone grafts, distraction osteogenesis and bone tissue engineering, however, MRS is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore, a robotic surgical system was designed to assist surgeons on manipulating. For this study, the robot system was given in brief, then mechanical design and control system of the novel three-arm robot.And experiment results in this study show that the robot works stably and accurately. The development of this medical robot system contributes to the promotion and popularization of the MRS in clinics.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

DECAFF: Experimental Study on Human Haptic Perception

2000 ◽  
Author(s):  
Scott L. Springer ◽  
Nicola J. Ferrier
Keyword(s):  
Interface Design ◽  
Haptic Perception ◽  
Human Perception ◽  
Initial Contact ◽  
Haptic Interfaces ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Contact Distance ◽  
Traditional Approaches ◽  
And Control

Abstract DECAFF is a method for design and control of haptic interfaces that utilizes a DE-Coupled Actuator and Feed-Forward control. In this paper results of an experimental investigation are presented that quantify improved human haptic perception while using the DECAFF system, compared to the traditional haptic interface design and control systems. Perception improvements include the increased stability for rigid surfaces and increased ability of subjects to accurately identify initial contact with virtual surface boundaries. Traditional haptic interfaces employ an actuator directly coupled to the human operator that provides a force proportional to wall penetration distance and velocity. The DECAFF paradigm for design and control of haptic displays utilizes a de-coupled actuator and pre-contact distance sensing as a feed forward control term to improve stability and response performance. A human perception experiment has been performed that compares the touch sensation of the subjects for both the DECAFF system and traditional approaches to haptic display. In the human factors study the quality of rigid body display is evaluated in addition to the sensitivity of touch experienced by the subjects while making initial contact with virtual surfaces.

scholarly journals Mobile Laboratory Model for Next-Generation Heterogeneous Wireless Systems

Robotics ◽  
2013 ◽  
pp. 1644-1661
Author(s):  
Ibrahima Ngom ◽  
Hamadou Saliah-Hassane ◽  
Claude Lishou
Keyword(s):  
Mobile Devices ◽  
Wireless Systems ◽  
Integrated System ◽  
Laboratory Model ◽  
Mobile Laboratory ◽  
Next Generation ◽  
Distributed Communication ◽  
Human Operators ◽  
Heterogeneous Wireless Systems ◽  
And Control

Failure to integrate heterogeneous wireless systems generally makes it difficult, if not impossible, for the continuation of remote working or remote experiments when human operators and equipment coexist through networks in a collaborative environment. Mobile laboratories using ubiquitous mobile communication for next-generation heterogeneous wireless systems have prospects for increasing the operation of distributed communication and mobile ubiquitous systems. All “technology assessors” concur that tomorrow's society will have access to smart objects (mobile devices or apparatuses, mobile equipment, e.g. robots) that contain “programs” that will assist with communication in everyday life. However one of the tomorrow’s challenges will consist of programming those objects to cooperate with and control telecommunications technologies. For a Mobile Laboratory to ensure consistent mobility in an environment, it must combine various wireless networks as a single integrated system. In this chapter we propose a Mobile Laboratory Model with mobile devices that take advantage of multiple mobile gateways by using Internet Protocol (IP) as the interconnection protocol to achieve the objective stated above.

scholarly journals Development of gear dynamic performance testing machine

2021 ◽  
Vol 12 ◽  
pp. 20
Author(s):  
Ke Li ◽  
Bo Yu ◽  
Zhaoyao Shi ◽  
Zanhui Shu ◽  
Rui Li
Keyword(s):  
High Speed ◽  
Performance Test ◽  
Dynamic Testing ◽  
Mechanical Design ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Testing Machine ◽  
High Stress ◽  
Performance Testing ◽  
Current Application

With the development of gears towards high temperature, high pressure, high speed and high stress, gear measurement, in which only the static geometric accuracy is considered, is unable to meet the current application requirements. While, the low precision and single function gear tester constrains the measurement of gear dynamic performance. For the resolution of this problem, based on the principle of gear system dynamics and several precision mechanical design techniques, a gear dynamic testing machine has been developed, providing new instruments for gear testing. On the basis of research of the principle of dynamic performance test, the primary measurement items of the testing machine have been determined. The measuring principles of each item and the driving and loading form of the testing machine have been examined. The measurement and control system of the testing machine and its corresponding software have been developed. The instrument can not only obtain the static precision index of the gear, but also obtain the dynamic performance index of the gear in variable working conditions. According to the actual test, the uncertainty of instrument is 3.8 μm and the external disturbance caused by the shaft vibration is less than 0.6 μm, which can meet the 5–6 grade precision gear testing requirement.

Training a Team with Simulated Team Members

2002 ◽  
Vol 46 (25) ◽  
pp. 2026-2029
Author(s):  
Alma Schaafstal ◽  
Raegan M. Hoeft ◽  
Martin van Schaik
Keyword(s):  
Command And Control ◽  
Cost Effective ◽  
Research Approach ◽  
Control Task ◽  
Promising Alternative ◽  
Team Members ◽  
Long Run ◽  
Military Command ◽  
Definition Of ◽  
And Control

The process of training teams increasingly occurs in synthetic environments. However, it is often still modeled after live team training, including the disadvantages of live training, for example, the fact that all teammates must be available. This paper explores overcoming the disadvantages of human teammates in training teams in synthetic environments, while keeping the advantages of learning in a collaborative and cooperative fashion. Simulated teammates are a promising alternative because they are always available, may be modeled after experienced training personnel, and may be more cost effective in the long run. This paper details a research approach towards the definition of requirements for simulated teammates. In our approach, we carry out a set of experiments using confederates as simulated teammates, in a well-controlled simulation of a military command-and-control task The results of a first experiment show slightly better teamwork skills for those teams trained with simulated teammates.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Sign in / Sign up

Export Citation Format

Share Document