2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)最新文献_第10页

Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work 基于虚功原理的3-DOF 3-PUU并联机器人动力学分析

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222744

Song-jun Lu, Yangmin Li

{"title":"Dynamic analysis of a 3-DOF 3-PUU parallel manipulator based on the principle of virtual work","authors":"Song-jun Lu, Yangmin Li","doi":"10.1109/AIM.2015.7222744","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222744","url":null,"abstract":"This paper presents a straightforward and systematical methodology for conducting the inverse dynamic analysis of a 3-prismatic-universal-universal (PUU) parallel kinematic manipulator (PKM) through employing the principle of virtual work. The proposed 3-PUU PKM possesses three translational degree-of-freedom (DOF). The position, velocity and acceleration of joints are solved via the inverse kinematic analysis, the link Jacobian matrices which map the velocity of the moving platform into the velocity and angular velocity of struts are derived in the fixed coordinate system. Based on the d'Alembert's form of the principle of virtual work, the applied generalized forces of the whole mechanical system are divided into the applied forces of moving platform, struts, sliders, and motor-coupling-leadscrew, respectively. The joint actuated torques are obtained through eliminating the virtual displacement in the dynamic equations. Furthermore, the inertial term, centrifugal and Coriolis term, and gravitational term of the total joint torque are determined. Simulation for a conical spiral trajectory demonstrates that the total torque is dominated by the inertial term.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126385205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Silicone retractor with embedded force-sensing function for attachment to surgical suction pipes 硅胶牵开器，内置力感应功能，可连接到外科吸管

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222523

Toshio Koyama, T. Iwai, T. Yoneyama, H. Kagawa, Y. Hayashi, M. Nakada, Tetsuyou Watanabe

引用次数: 2

A heated needle micromanipulator with hybrid control for heat-caused denaturation in proteins 一种用于蛋白质热致变性的混合控制加热针显微操作器

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222510

Sungwan Boksuwan, T. Benjanarasuth, H. Aoyama

引用次数: 0

Immersive VR interface for informationally structured environment 信息结构化环境的沉浸式VR界面

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222802

YoonSeok Pyo, Tokuo Tsuji, Yuuka Hashiguchi, R. Kurazume

引用次数: 4

A novel magnetic orientation sensor for intubation procedures 一种用于插管程序的新型磁定向传感器

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222652

Wu Fang, Jiyun Jeon, Hungsun Son

{"title":"A novel magnetic orientation sensor for intubation procedures","authors":"Wu Fang, Jiyun Jeon, Hungsun Son","doi":"10.1109/AIM.2015.7222652","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222652","url":null,"abstract":"This paper presents the development of a novel magnetic orientation sensor of a flexible tube guidance using magnetic induction. A flexible tube has an important role as medical applications, for passing nutrients or fresh air, but inserting the tube has been largely dependent on experienced operators. Although X-ray have been applied to detecting the location of the tube, it is time consuming, high cost and they are bulky, which are not practical. On the contrary, a magnetic sensor has been studied for position/orientation detection due to compactness. In this study, a compact orientation sensor based on magnetic induction has been developed; both field generator and detector are designed along the flexible tube. Magnetic mutual inductance with design parameters are analyzed and optimized for an operational range of orientation angle along with magnetic field modelling method referred to Extended Distributed Multiple-Pole (eDMP) model. Performance of the sensors are numerically simulated and compared to experimental results. The comparisons show the accuracy in wide operational range and potentials in using many applications.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131364574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability analysis of limit cycle walking in traversing steps based on semianalytical solution of transition function of state error 基于状态误差转移函数半解析解的极限环遍历稳定性分析

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222698

F. Asano

引用次数: 1

Design of a sensing system for a spherical motor based on Hall Effect sensors and neural networks 基于霍尔效应传感器和神经网络的球形电机传感系统设计

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222738

Jinjun Guo, Chanbeom Bak, Hungsun Son

{"title":"Design of a sensing system for a spherical motor based on Hall Effect sensors and neural networks","authors":"Jinjun Guo, Chanbeom Bak, Hungsun Son","doi":"10.1109/AIM.2015.7222738","DOIUrl":"https://doi.org/10.1109/AIM.2015.7222738","url":null,"abstract":"This paper proposes a sensing system to measure 3 rotational angles of a spherical wheel motor (SWM). Unlike conventional motors capable of controlling a single DOF motion only, a SWM is able to provide 3-DOF rotational motions. However, it is challenging to measure the three highly-coupled rotational motions in real time. Unlike some previous sensing systems using optical encoders to measure rotation along each axis separately, a contact-less sensing system such as one composed of Hall Effect sensors is preferred, so as to avoid friction and additional moment inertia, which may damage dynamic performance. In this paper, a sensing system based on a combination of magnetic sensors is proposed, and neural networks are applied to compute rotational angles from measured magnetic field. The paper is organized as followings: distributed multi-pole model (DMP) to obtain the SWM magnetic field distribution (MFD) is demonstrated first; important factors affecting measuring accuracy is researched by simulation then; experimental investigations for a SWM rotor are presented; finally, possible methods to improve proposed sensing system are proposed.","PeriodicalId":199432,"journal":{"name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115831251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Analytical development of a minimum bearing reaction twin-motor for duplex machining 双相加工用最小轴承反力双电机的分析研制

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222746

Kun Bai, Kok-Meng Lee, Jun Cao, Bingjie Hao

引用次数: 3

Origami structure toward floating aerial robot 面向漂浮式空中机器人的折纸结构

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222765

Hoai Phuong Le, Zhongkui Wang, S. Hirai

引用次数: 11

Analysis for the power loss of electro hydrostatic actuator and hydraulic actuator 电液静压作动器和液压作动器功率损耗分析

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Pub Date : 2015-07-07 DOI: 10.1109/AIM.2015.7222604

Wu Hu, Lei Zhou, Yisong S. Tian, Z. Jiao, Yaoxing Shang, Zengning Song, Liang Yan

引用次数: 13