Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators

2015 ◽  
Author(s):  
Prashant Rao ◽  
Taylor D. Niehues ◽  
Ashish D. Deshpande
Keyword(s):  
Joint Stiffness ◽  
Combined Effects ◽  
Robotic Hands ◽  
Subsequent Increase ◽  
Grasping And Manipulation ◽  
In Series ◽  
Series Compliance ◽  
Robotic Joints ◽  
And Performance ◽  
The Stability

Compliance is a key requirement for safe interactions with the environment for any robot. It has been well established that the human body exploits various arrangements of compliance such as series compliance (musculo-tendon units) and parallel compliance (joint capsules and ligament complex) to achieve robust and graceful interaction with the environment. Mechanical compliance can be similarly arranged in robotic joints in series or parallel to actuators. The effects of such arrangements on the closed loop properties of robotic joints such as stability, disturbance rejection and tracking performance have been analyzed separately, but their combined effects have not been studied. We present a detailed analysis on the combined effects of series and parallel arrangements of compliance on low inertia robotic joints. Our analysis shows the stability limitations of achievable joint stiffness due to series compliance and the subsequent increase in the stable upper limit of achievable joint stiffness by addition of parallel compliance. We provide guidelines towards designing compliance to improve the stability and performance of low-inertia robotic joints, which can be applied to the improvement of robotic hands performing grasping and manipulation tasks. We validate our analysis by means of an experimental platform and discuss the various characteristics and the effects of both arrangements of compliance on robotic hands.

scholarly journals On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis

Robotica ◽  
2019 ◽  
Vol 38 (7) ◽  
pp. 1191-1204 ◽  
Author(s):  
Michael Ruderman
Keyword(s):  
Position Control ◽  
Joint Stiffness ◽  
Control Loop ◽  
Positioning Control ◽  
Robotic Joints ◽  
Error Dynamics ◽  
The Stability ◽  
Hardware Costs ◽  
Joint Load ◽  
Nonlinear Joint

SUMMARYThe aim of the virtual torsion sensor (VTS) is to observe the nonlinear deflection in the flexible joints of robotic manipulators and, by its use, improve positioning control of the joint load. This model-based approach utilizes the motor-side sensing only and, therefore, replaces the load-side encoders at nearly zero hardware costs. For being applied in the closed control loop, the stability and robustness of VTS are most crucial. This work extends the previous analysis by a general case of nonlinear joint stiffness with hysteresis and provides straightforward conditions with respect to the system dynamics. The dissipativity and passivity of the torsion-torque hysteresis map are analyzed and discussed in detail. The absolute stability of VTS inclusion into position control loop is shown based on the equivalent loop transformations and Popov criteria, including the sector conditions. Illustrative numerical examples of the control error dynamics and its convergence are provided.

scholarly journals A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2838
Author(s):  
Xiaoxing Zhang ◽  
Haoyuan Yi ◽  
Junjun Liu ◽  
Qi Li ◽  
Xin Luo
Keyword(s):  
Harmonic Oscillation ◽  
Ground Surface ◽  
Legged Locomotion ◽  
Soft Ground ◽  
Quadruped Robots ◽  
In Series ◽  
Reaction Forces ◽  
Implementation Method ◽  
The Stability ◽  
Natural Dynamics

There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

scholarly journals Analytical Modeling and Design of Novel Conical Halbach Permanent Magnet Couplings for Underwater Propulsion

2021 ◽  
Vol 9 (3) ◽  
pp. 290
Author(s):  
Yukai Li ◽  
Yuli Hu ◽  
Youguang Guo ◽  
Baowei Song ◽  
Zhaoyong Mao
Keyword(s):  
Permanent Magnet ◽  
Analytical Calculation ◽  
Underwater Propulsion ◽  
Conical Structure ◽  
Torque Analysis ◽  
Dynamic Seal ◽  
And Performance ◽  
The Stability ◽  
Propulsion Unit ◽  
Force Calculation

Permanent magnet couplings can convert a dynamic seal into a static seal, thereby greatly improving the stability of the underwater propulsion unit. In order to make full use of the tail space and improve the transmitted torque capability, a conical Halbach permanent magnet coupling (C-HPMC) is proposed in this paper. The C-HPMC combines multiple cylindrical HPMCs with different sizes into an approximately conical structure. Compared with the conical permanent magnet couplings in our previous work, the novel C-HPMC has better torque performance and is easy to process. The analytical calculation method of transmitted torque of C-HPMC is proposed on the basis of torque calculation of the three common types of HPMCs. The accuracy of the torque calculation of the three HPMCs is verified, and the torque performance of the three HPMCSs of different sizes is compared and discussed. The “optimal type selection” method is proposed and applied in the design of C-HPMC. Finally, on the basis of torque analysis calculation and axial force calculation, a complete flowchart of the design and performance analysis of C-HPMC is described.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

Nondestructive Test on Typical Roadway Supports of a Mine via Drilling Core and Ground Penetrating Radar

2011 ◽  
Vol 368-373 ◽  
pp. 2411-2416
Author(s):  
Jian Ping Han ◽  
Hai Peng Liu
Keyword(s):  
Ground Penetrating Radar ◽  
Geological Structure ◽  
Surrounding Rock ◽  
Potential Threat ◽  
Real Performance ◽  
Design Requirements ◽  
And Performance ◽  
The Stability ◽  
Ground Penetrating ◽  
Drilling Core

Temporary or permanent supports are necessary in underground construction for maintaining the stability and limiting the damage of surrounding rock. Due to the uncertainty of geological structure, the specificity of the underground environment as well as other factors, the quality and performance of supporting structure are often difficult to satisfy the design requirements, which not only seriously affects the normal construction and operation of mines but also has the potential threat to the safety of underground production. In order to investigate the influence of the unfavorable geologic environment on supporting concrete and evaluate the real performance of roadway supports of a mine, 17 typical projects were chosen and the strength of supporting concrete was detected by nondestructive drilling core method. The result shows that the strength is widely less than the design value. Furthermore, 4 projects of them were investigated by the ground penetrating radar (GPR) in order to evaluate the feasibility of GPR in the performance investigation of the roadway supports of a mine. The results indicate that ground penetrating radar is capable of measuring the thickness of the support, the distribution of rebars and the defects of the surrounding rock.

scholarly journals Dual 2-Hydroxypropyl-β-Cyclodextrin and 5,10,15,20-Tetrakis (4-Hydroxyphenyl) Porphyrin System as a Novel Chiral-Achiral Selector Complex for Enantioseparation of Aminoalkanol Derivatives with Anticancer Activity in Capillary Electrophoresis

Molecules ◽  
2021 ◽  
Vol 26 (4) ◽  
pp. 993
Author(s):  
Błażej Grodner ◽  
Mariola Napiórkowska
Keyword(s):  
Capillary Electrophoresis ◽  
Anticancer Agents ◽  
Chiral Discrimination ◽  
Combined Effects ◽  
Pilot Studies ◽  
Repeatability And Reproducibility ◽  
The Stability ◽  
Short Time ◽  
High Separation

In this study, a complex consisting of 2-hydroxypropyl-β-cyclodextrin and 5,10,15,20-tetrakis (4-hydroxyphenyl) porphyrin, (named dual chiral-achiral selector complex) was used for the determination of two novel potential anticancer agents of (I) and (II) aminoalkanol derivatives. This work aimed at developing an effective method that can be utilized for the determination of I (S), I (R), and II (S) and II (R) enantiomers of (I) and (II) compounds through the use of a dual chiral-achiral selector complex consisting of hydroxypropyl-β-cyclodextrin and 5,10,15,20-tetrakis (4-hydroxyphenyl) porphyrin system by applying capillary electrophoresis. This combination proved to be beneficial in achieving high separation selectivity due to the combined effects of different modes of chiral discrimination. The enantiomers of (I) and (II) compounds were separated within a very short time of 3.6–7.2 min, in pH 2.5 phosphate buffer containing 2-hydroxypropyl-β-cyclodextrin and 5,10,15,20-tetrakis (4-hydroxyphenyl) porphyrin system at a concentration of 5 and 10 mM, respectively, at 25 °C and +10 kV. The detection wavelength of the detector was set at 200 nm. The LOD for I (S), I (R), II (S), and II (R) was 65.2, 65.6, 65.1, and 65.7 ng/mL, respectively. LOQ for I (S), I (R), II (S), and II (R) was 216.5, 217.8, 217.1, and 218.1 ng/mL, respectively. Recovery was 94.9–99.9%. The repeatability and reproducibility of the method based on the values of the migration time, and the area under the peak was 0.3–2.9% RSD. The stability of the method was determined at 0.1–4.9% RSD. The developed method was used in the pilot studies for determining the enantiomers I (S), I (R), II (S), and II (R) in the blood serum.

Development of an Adaptive Human-Machine-Interface to Minimize Driver Distraction and Workload

2013 ◽  
Author(s):  
Matthew Westin ◽  
Ronald Dougherty ◽  
Christopher Depcik ◽  
Austin Hausmann ◽  
Charles Sprouse
Keyword(s):  
Performance Metrics ◽  
Sensory Information ◽  
Driver Distraction ◽  
Test Drive ◽  
Workload Management ◽  
City Street ◽  
Proximity Detection ◽  
Test Platform ◽  
In Series ◽  
And Performance

The original use of the vehicle dashboard was to provide enough sensory information to inform the driver of the current engine and vehicle status and performance. Over time, it has evolved into an entertainment system that includes person-to-person communication, global positioning information, and the Internet, just to name a few. Each of these new features adds to the amount of information that drivers must absorb, leading to potential distraction and possible increases in the number and types of accidents. In order to provide an overview of these issues, this paper summarizes previous work on driver distraction and workload, demonstrating the importance of addressing those issues that compete for driver attention and action. In addition, a test platform vehicle is introduced which has the capability of assessing modified dashboards and consoles, as well as the ability to acquire relevant driving performance data. Future efforts with this test platform will be directed toward helping to resolve the critical tug-of-war between providing more information and entertainment while keeping drivers and their passengers safe. The long-term goal of this research is to evaluate the various technological innovations available for inclusion in the driving environment and determining how to optimize driver information delivery without excessive distraction and workload. The information presented herein is the first step in that effort of developing an adaptive distraction/workload management system that monitors performance metrics and provides selected feedback to drivers. The test platform (1973 VW Beetle converted to a plug-in series hybrid) can provide speed, location (GPS), 3-D acceleration, and rear proximity detection. The test drive route was a 2 km × 3 km city street circuit which took approximately 25 minutes to complete. Data is provided herein to demonstrate these capabilities. In addition, the platform has driver selectable layouts for the instrument cluster and console (LCD screens). The test platform is planned for use to determine driver preferences (e.g., dashboard/console configurations) and attention performance in addition to identifying optimal real-time feedback for drivers with different demographics.

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