Design and Analysis of a Miniature Modular Inchworm Robot

2016 ◽  
Author(s):  
Wael Saab ◽  
Anil Kumar ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Linear Expansion ◽  
Low Cost ◽  
Equations Of Motion ◽  
Search And Rescue ◽  
Linear Motion ◽  
Motion Modeling ◽  
Anisotropic Friction ◽  
Confined Spaces ◽  
Simulation Results ◽  
Friction Analysis

This paper presents the design and analysis of a bioinspired miniature modular Inchworm robot. Inchworm robots play crucial roles in surveillance, exploration and search and rescue operations where maneuvering in confined spaces is required. Rectilinear gaits have been demonstrated with favorable results in terms of stability and small size due to the absence of wheels and tracks; however, exhibit slow speeds. The proposed mechanism utilizes undulatory rectilinear gait motion through linear expansion/contraction of modules and anisotropic friction skin to produce pure linear motion. The use of anisotropic friction skin results in a simple, low cost, miniature mechanical structure. Friction analysis of the anisotropic material is performed and the system is modeled to derive its equations of motion. Modeling and simulation results are validated through experiments performed with an integrated prototype. Results indicate that the robot can achieves an average forward velocity of 11 mm/s on various surfaces.

Design of a miniature modular inchworm robot with an anisotropic friction skin

Robotica ◽  
2018 ◽  
Vol 37 (3) ◽  
pp. 521-538 ◽  
Author(s):  
Wael Saab ◽  
Peter Racioppo ◽  
Anil Kumar ◽  
Pinhas Ben-Tzvi
Keyword(s):  
High Frequency ◽  
Experimental Validation ◽  
Anisotropic Friction ◽  
Confined Spaces ◽  
Model And Simulation ◽  
Body Dynamics ◽  
Two Generations ◽  
Simulation Results ◽  
Multi Body ◽  
Friction Analysis

SUMMARYThis paper presents the design, analysis, and experimental validation of a miniature modular inchworm robot (MMIR). Inchworm robots are capable of maneuvering in confined spaces due to their small size, a desirable characteristic for surveillance, exploration and search and rescue operations. This paper presents two generations of the MMIR (Version 1—V1 and Version 2—V2) that utilize anisotropic friction skin and an undulatory rectilinear gait to produce locomotion. This paper highlights design improvements and a multi-body dynamics approach to model and simulate the system. The MMIR V2 incorporates a slider-crank four-bar mechanism and a relative body revolute joint to produce high-frequency relative translation and rotation to increase forward velocity and enable turning capabilities. Friction analysis and locomotion experiments were conducted to assess the systems performance on various surfaces, validate the dynamic model and simulation results, and measure the maximum forward velocity. The MMIR V1 and V2 were able to achieve maximum forward velocities of 12.7 mm/s and 137.9 mm/s, respectively. These results are compared to reported results of similar robots published in the literature.

scholarly journals Hybrid Partition-Based Patrolling Scheme for Maritime Area Patrol with Multiple Cooperative Unmanned Surface Vehicles

2020 ◽  
Vol 8 (11) ◽  
pp. 936
Author(s):  
Jiajia Xie ◽  
Rui Zhou ◽  
Jun Luo ◽  
Yan Peng ◽  
Yuan Liu ◽  
...  
Keyword(s):  
Forest Fires ◽  
Low Cost ◽  
Search And Rescue ◽  
Unmanned Surface Vehicles ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Path Planning Algorithm ◽  
The Given ◽  
Maritime Environment ◽  
Multi Robot

Multi-robot cooperative patrolling systems have been extensively employed in the civilian and military fields, including monitoring forest fires, marine search-and-rescue, and area patrol. Multi-robot area patrol problems refer to the activity that a team of robots works cooperatively and regularly to visit the key targets in the given area for security. Following consideration of the low cost and high safety of unmanned surface vehicles (USV), a team of USVs is organized to perform area patrol in a sophisticated maritime environment. In this paper, we establish a mathematical model considering the characteristics of the cooperative patrol task and the limited conditions of USVs. A hybrid partition-based patrolling scheme is proposed for a multi-USV system to visit targets with different importance levels in a maritime area. Firstly, a centralized area partition algorithm is utilized to partition the patrolling area according to the number of USVs. Secondly, a distributed path planning algorithm is applied to planning the patrolling path for each USV to visit the targets in a maritime environment to minimize the length of the patrolling path for the USV team. Finally, comparative experiments between the proposed scheme and other methods are carried out to validate the performance of the hybrid partition-based patrolling scheme. Simulation results and experimental analysis show the efficiency of the proposed hybrid partition-based patrolling scheme compared to several previous patrolling algorithms.

Design and simulation of flexible jute antenna with performance validation on bending and soaking conditions

2020 ◽  
Vol 91 (1-2) ◽  
pp. 219-231
Author(s):  
M Pandimadevi ◽  
R Tamilselvi ◽  
M Parisa Beham
Keyword(s):  
Reflection Coefficient ◽  
Standing Wave ◽  
Patch Antenna ◽  
Low Cost ◽  
Search And Rescue ◽  
Network Analyzer ◽  
Abrupt Increase ◽  
Simulation Results ◽  
Performance Validation ◽  
Radio Location

Recently, there has been an abrupt increase in the integration of community antenna to flexible, textile and wearable applications. The proposed work introduces the design of a flexible wearable patch antenna using a jute fiber substrate for better performance. The antenna has been designed and simulated with jute substrate at the operating frequency of 3.23 GHz. The antenna has been fabricated and tested under normal, wet, on-hand and bending conditions using a vector network analyzer. The various parameters such as reflection coefficient parameter and voltage standing wave ratio of the fabricated antenna are measured and compared with the simulation results. The tested results show that the performance of the antenna under normal, wet, on-hand and bending conditions is almost approximately equal. Due to better performance in soaking and bending conditions as well as low cost and adequate availability of jute material, the proposed antenna can be used in various applications such as biomedical, military, radio location, ground radar, search and rescue applications, and more.

Study and design of dual stator permanent magnet machine with spoke-type configurations using phase-group concentrated-coil windings

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1381-1389
Author(s):  
Dezhi Chen ◽  
Chengwu Diao ◽  
Zhiyu Feng ◽  
Shichong Zhang ◽  
Wenliang Zhao
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnets ◽  
Low Cost ◽  
Dynamic Performance ◽  
Torque Ripple ◽  
Permanent Magnet Machine ◽  
Torque Density ◽  
Phase Group ◽  
High Torque ◽  
Simulation Results

In this paper, a novel dual-stator permanent magnet machine (DsPmSynM) with low cost and high torque density is designed. The winding part of the DsPmSynM adopts phase-group concentrated-coil windings, and the permanent magnets are arranged by spoke-type. Firstly, the winding structure reduces the amount of copper at the end of the winding. Secondly, the electromagnetic torque ripple of DsPmSynM is suppressed by reducing the cogging torque. Furthermore, the dynamic performance of DsPmSynM is studied. Finally, the experimental results are compared with the simulation results.

Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft

2016 ◽  
Vol 842 ◽  
pp. 251-258 ◽  
Author(s):  
Muhammad Rafi Hadytama ◽  
Rianto A. Sasongko
Keyword(s):  
Dynamic Response ◽  
Equations Of Motion ◽  
Flight Dynamics ◽  
Dynamics Simulation ◽  
Tilt Rotor ◽  
Vertical Takeoff And Landing ◽  
Improved Stability ◽  
Simulation Results ◽  
Vtol Aircraft ◽  
Vertical Takeoff

This paper presents the flight dynamics simulation and analysis of a tilt-rotor vertical takeoff and landing (VTOL) aircraft on transition phase, that is conversion from vertical or hover to horizontal or level flight and vice versa. The model of the aircraft is derived from simplified equations of motion comprising the forces and moments working on the aircraft in the airplane's longitudinal plane of motion. This study focuses on the problem of the airplane's dynamic response during conversion phase, which gives an understanding about the flight characteristics of the vehicle. The understanding about the flight dynamics characteristics is important for the control system design phase. Some simulation results are given to provide better visualization about the behaviour of the tilt-rotor. The simulation results show that both transition phases are quite stable, although an improved stability can give better manoeuver and attitude handling. Improvement on the simulation model is also required to provide more accurate and realistic dynamic response of the vehicle.

An Analysis on the Forming Load of AA 2024 Aluminium Alloy in Combined and Sequence Operation Process

2006 ◽  
Vol 519-521 ◽  
pp. 949-954 ◽  
Author(s):  
Beong Bok Hwang ◽  
J.H. Shim ◽  
Jung Min Seo ◽  
H.S. Koo ◽  
J.H. Ok ◽  
...  
Keyword(s):  
Finite Element ◽  
Load Capacity ◽  
Low Cost ◽  
Forming Load ◽  
Mechanical Press ◽  
Combined Operation ◽  
Aa 2024 ◽  
Load Characteristics ◽  
Simulation Results ◽  
Selection Of

This paper is concerned with the analysis of the forming load characteristics of a forward-backward can extrusion in both combined and sequence operation. A commercially available finite element program, which is coded in the rigid-plastic finite element method, has been employed to investigate the forming load characteristics. AA 2024 aluminum alloy is selected as a model material. The analysis in the present study is extended to the selection of press frame capacity for producing efficiently final product at low cost. The possible extrusion processes to shape a forward-backward can component with different outer diameters are categorized to estimate quantitatively the force requirement for forming forward-backward can part, forming energy, and maximum pressure exerted on the die-material interfaces, respectively. The categorized processes are composed of combined and/or some basic extrusion processes such as sequence operation. Based on the simulation results about forming load characteristics, the frame capacity of a mechanical press of crank-drive type suitable for a selected process could be determined along with securing the load capacity and with considering productivity. In addition, it is suggested that different load capacities be selected for different dimensions of a part such as wall thickness in forward direction and etc. It is concluded quantitatively from the simulation results that the combined operation is superior to sequence operation in terms of relatively low forming load and thus it leads to low cost for forming equipments. However, it is also known from the simulation results that the precise control of dimensional accuracy is not so easy in combined operation. The results in this paper could be a good reference for analysis of forming process for complex parts and selection of proper frame capacity of a mechanical press to achieve low production cost and thus high productivity.

A novel PID control parameters tuning approach for robot manipulators mounted on oscillatory bases

Robotica ◽  
2007 ◽  
Vol 25 (4) ◽  
pp. 467-477 ◽  
Author(s):  
J. Lin ◽  
Z.-Z. Huang
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Low Cost ◽  
Equations Of Motion ◽  
Grey Theory ◽  
Control Parameters ◽  
State Variables ◽  
Relational Analysis ◽  
Parameters Tuning ◽  
Grey Relational

SUMMARYThis research focuses on the issue of dynamic modeling and controlling a robotic manipulator attached to a compliant base. Such a system is known under the name macro–micro system, characterized by the number of control actuators being less than the number of state variables. The equations of motion for a two-link planar elbow arm mounted on an oscillatory base has been presented in this investigation. In order to study the sensitivity of tuning the PID parameters to achieve the desired performance, the Grey relational analysis has first been proposed. Therefore, the aim of this work is to apply Grey theory to optimize parameters for partial states feedback of a PID controller for such a structure. The experimental results of the proposed methodology also show that it is technically and economically feasible to develop a low-cost, reliable, automatic, less time-consuming controller for robotics mounted on oscillatory bases.

scholarly journals Advanced Electron Beam (EB) Wastewater Treatment System with Low Background X-ray Intensity Generation

2021 ◽  
Vol 11 (23) ◽  
pp. 11194
Author(s):  
Urszula Gryczka ◽  
Zbigniew Zimek ◽  
Marta Walo ◽  
Dagmara Chmielewska-Śmietanko ◽  
Sylwester Bułka
Keyword(s):  
Wastewater Treatment ◽  
Electron Beam ◽  
Textile Industry ◽  
Low Cost ◽  
Treatment Facility ◽  
Protection Measures ◽  
X Ray ◽  
Confined Spaces ◽  
Microbiological Pollutants ◽  
Stream Formation

Electron beam wastewater treatment is a very effective method for the destruction of organic and microbiological pollutants. The technology was implemented for municipal and textile industry wastewater treatment. Availability of electron accelerators characterized with different operation parameters make the technology applicable for different end-users and also for installation in confined spaces. In such a case, the design of wastewater irradiation room has to take into account the limited space available for shielding construction, which must restrict X-ray emission. Considering construction of an irradiation room for water treatment facility, it is important to focus not only on a stream formation for irradiation to achieve the desired electron penetration, but also on the reduction in x-ray generation. In the presented work, the X-ray field was tested, using modelling and experimental methods. The final results gave an advanced solution, which can be used in the installation of wastewater treatment, ballast and other types of origin, providing low cost shield and good radiation protection measures.

scholarly journals Ultrasound detection using optical interferometry

2021 ◽  
Author(s):  
Nusrat Jahan Surovy
Keyword(s):  
Thin Film ◽  
Ultrasound Imaging ◽  
Detection System ◽  
Incidence Angle ◽  
Low Cost ◽  
3D Ultrasound ◽  
Attractive Alternative ◽  
Simulation Results ◽  
Exerted Pressure ◽  
Piezoelectric Devices

Ultrasound imaging is a widely used noninvasive imaging technique for biomedical and other applications. Piezoelectric devices are commonly used for the generation and detection of ultrasound in these applications. However, implementation of two-dimensional arrays of piezoelectric transducers for 3D ultrasound imaging is complex and expensive. Optical Fabry-Perot interferometry is an attractive alternative to the piezoelectric devices for detection of ultrasound. In this method a thin film etalon is constructed and used. Light reflected from the two surfaces of this thin film produces an intensity which depends on the film thickness. When ultrasound is incident on the film, it changes the thickness of the film and consequently modulates the light intensity on the film. In our work, we made two types of etalon (Finesse 2) for our experiment. We detected lower frequency ultrasound (0.5 MHz or 1 MHz) using the build etalon. We determined a linear relationship between the strength of the optical signals and the exerted pressure on a film by the ultrasound. The dependence of the etalon performance on the light wavelength was demonstrated indirectly by measuring the signal at various light incidence angle. Simulation results are also presented. Lastly, we proposed the optimum design of this detection system based on the simulation results. This method of ultrasound detection can be a potential low-cost approach for 3D ultrasound imaging.

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