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Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering最新文献

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Performance analysis of MRF-based flexible supporting of thin-walled part 基于mrf的薄壁件柔性支撑性能分析
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191505
Haibo Liu, Qi Luo, Jianxiong Wu, Te Li, Yongqing Wang
{"title":"Performance analysis of MRF-based flexible supporting of thin-walled part","authors":"Haibo Liu, Qi Luo, Jianxiong Wu, Te Li, Yongqing Wang","doi":"10.1145/3191477.3191505","DOIUrl":"https://doi.org/10.1145/3191477.3191505","url":null,"abstract":"A flexible supporting configuration based on magnetorheological (MR) effect for thin-walled part was designed. In this configuration, two crucial issues need to be concerned. One was the force needed to support the thin-wall part efficiently when the magnetorheological fluid (MRF) solidified in certain magnetic field, the other was the layout method of magnet array to arrange the magnetic field reasonably. Firstly, the relationship of MRF elastic modulus and the magnetic induction intensity was obtained experimentally. And then, the distribution of exciting magnetic field was analyzed numerically, which was aimed to optimize the NdFeB electric permanent magnet (EPM) array layout. From the analysis result, a reliable supporting status was designed for thin-walled part to resist machining force and reduce machining deformation by the proposed method.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"30 14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117165119","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: 2
Design of the Piezoelectric Transducer for the Round Window Drive Implantable Hearing Aids 圆形窗口驱动式植入式助听器的压电换能器设计
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191498
D. Shin, H. Mun, Jin-Ho Cho
{"title":"Design of the Piezoelectric Transducer for the Round Window Drive Implantable Hearing Aids","authors":"D. Shin, H. Mun, Jin-Ho Cho","doi":"10.1145/3191477.3191498","DOIUrl":"https://doi.org/10.1145/3191477.3191498","url":null,"abstract":"In this paper, we describe the design and implement of a piezoelectric transducer for round window drive implantable hearing aids. A proposed piezoelectric transducer is small enough to be easily implantable to RW niche and has excellent low-frequency output characteristics. It consists of a titanium case, a metal ring, a vibration membrane, a metal supporter, a piezoelectric material, a ceramic tip and a bellows. Considering the anatomical structure of the RW niche, the dimension of the designed piezoelectric transducer was a 1.75 mm diameter and 2.5 mm length. The structure of the vibration membrane that determines the frequency characteristics of the proposed transducer was derived through the mechanical vibration analysis. The piezoelectric transducer was fabricated based on the simulation results and the vibration characteristics was measured using the laser Doppler vibrometer.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"140 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121257185","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
The Development Of DCT Shift Mechanism Based On The Barrel Cam
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191486
YongJu Chu, B. Lee, Seung-Yop Lee, Kyusik Kim
{"title":"The Development Of DCT Shift Mechanism Based On The Barrel Cam","authors":"YongJu Chu, B. Lee, Seung-Yop Lee, Kyusik Kim","doi":"10.1145/3191477.3191486","DOIUrl":"https://doi.org/10.1145/3191477.3191486","url":null,"abstract":"A dual clutch transmission (DCT) can shift more quickly than cars equipped with manual transmissions or single-clutch automated-manual transmissions (AMTs). However, DCTs have complicated structures because two clutches are arranged concentrically. In this study, we develop a novel shift mechanism based on a barrel cam to enhance the shifting efficiency of DCTs. We have analyzed the multi-body dynamics of the shift mechanism including barrel cam, per-select synchronizer and fork for various cam-profiles such as cycloid, polynomial and modified sine curves. Simulation results show that the angular velocities of engagement and disengagement of the shift mechanism and contact force. In addition, the proposed shifting mechanism is shown to reduce the shift shock and response time during the shift process.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122389948","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
Estimation of Friction Coefficient for Exploring Robot around Rough-Terrain under Small-Slip or Less-Traction Condition 小滑移或低牵引力条件下粗糙地形探测机器人摩擦系数估算
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191490
Jiyong Kim, Younghwan Park, Hansol Lee, Jihong Lee
{"title":"Estimation of Friction Coefficient for Exploring Robot around Rough-Terrain under Small-Slip or Less-Traction Condition","authors":"Jiyong Kim, Younghwan Park, Hansol Lee, Jihong Lee","doi":"10.1145/3191477.3191490","DOIUrl":"https://doi.org/10.1145/3191477.3191490","url":null,"abstract":"One of the important factors for the exploration robot to travel in diverse environments is estimation of friction coefficient on the ground. Algorithm for estimating friction coefficient based on the Traction-Slip Curve developed in the previous research is a method for estimating friction coefficient when there is slip generated while the robot is driving. However, in many cases, sufficient slip does not occur in the real environment. In this paper, we divided into 4 cases according to the slip ratio and traction. In the case of low slip occurrence, we modified the algorithm to estimate the friction coefficient on the low slip area based on the previously estimated ground information. And we show the result of estimation of friction coefficient under the condition of low slip through the simulation based on the proposed method.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115250158","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
Secure Transition for Robotic Surgery With Elliptic Curve Diffie Hellman 椭圆曲线机器人手术的安全过渡
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3199061
W. Lei, Marwan Kadhim Mohammed Al-shammari, HuiMing Xiao
{"title":"Secure Transition for Robotic Surgery With Elliptic Curve Diffie Hellman","authors":"W. Lei, Marwan Kadhim Mohammed Al-shammari, HuiMing Xiao","doi":"10.1145/3191477.3199061","DOIUrl":"https://doi.org/10.1145/3191477.3199061","url":null,"abstract":"This study examines the secure transition for robotic surgery session. Surgeon sends set of instructions as data. The data is encapsulated with surgeon secure signature to conform surgeon identity. At the same time, patient information sends to the surgeon as a secure row of frames to estimate patient situation dependent on the real medical reports. Elliptic Curve Diffie-Hellman is use as an asymmetric encryption method. Here the session between surgeon console and interactive robot arm was achieved and supported with four secret keys. Two private keys are chosen on each side and two public keys are calculated from these private keys. These results indicate that the level of the security was improved by use asymmetric encryption rather than symmetric encryption. And by contributed four secret keys the patient information must be safer.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133503966","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
Comprehensive Performances Test and Evaluation Based on Entropy Weight and Membership Degree Theory for Machine Tools 基于熵权和隶属度理论的机床综合性能测试与评价
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191503
Kuo Liu, Yongqing Wang, Jiakun Wu, Yue Ma
{"title":"Comprehensive Performances Test and Evaluation Based on Entropy Weight and Membership Degree Theory for Machine Tools","authors":"Kuo Liu, Yongqing Wang, Jiakun Wu, Yue Ma","doi":"10.1145/3191477.3191503","DOIUrl":"https://doi.org/10.1145/3191477.3191503","url":null,"abstract":"On the base of analyzing the disadvantages of evaluating machine tools' performances by actual machining method, a kind of comprehensive performances test and evaluation method for machining center is proposed. Comprehensive performances test is done on a VMC-type machining center and the test items include accuracy, reliability, static/dynamic characteristic and efficiency. Suggestions for the improvement of performances are proposed for the tested machining center based on the test results. The evaluation index matrix is established and standardized by TOPSIS (Technique for Order Preference by Similarity to an Ideal Solution) method. The evaluation grades of indexes are established based on expert knowledge, the comprehensive weights of indexes are calculated based on entropy weights and expert knowledge, and the single-factor evaluation sets of machine's performances are calculated by membership degree method. Finally, the comprehensive evaluation result of machining center's performances is got based on comprehensive weights and single-factor evaluation sets. The proposed test and evaluation method can also be used for other kinds of machine tools.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123976874","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
Control Design for A Class of Nonlinear Systems Based on External Disturbance Observer 一类基于外部干扰观测器的非线性系统控制设计
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191482
Dao Phuong Nam, Dongkui Tan, Bui Minh Thang, N. T. Thanh
{"title":"Control Design for A Class of Nonlinear Systems Based on External Disturbance Observer","authors":"Dao Phuong Nam, Dongkui Tan, Bui Minh Thang, N. T. Thanh","doi":"10.1145/3191477.3191482","DOIUrl":"https://doi.org/10.1145/3191477.3191482","url":null,"abstract":"This paper presents some analysis about the essential role of finite time convergence in sliding mode control and effects of selected parameters on control performance. The main technique of this paper based on properties of differential equation. Moreover, several exploration in depending of parameters are given out. Simulation results pointed out the good behaviour of the proposed methods for flexible joint manipulator systems.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121846172","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
Kinematic Features of Operational Equipment Linkage in Single-bucket Excavators 单斗挖掘机作业设备连杆机构的运动学特征
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-02-07 DOI: 10.1145/3191477.3191502
A. Komissarov, O. Lukashuk, K. Letnev
{"title":"Kinematic Features of Operational Equipment Linkage in Single-bucket Excavators","authors":"A. Komissarov, O. Lukashuk, K. Letnev","doi":"10.1145/3191477.3191502","DOIUrl":"https://doi.org/10.1145/3191477.3191502","url":null,"abstract":"The paper provides formulas for determining basic parameters which would characterize kinematic properties of two-crank operational equipment linkage via hoisting and thrusting transfer functions of the mechanism. It is known that the type of relations determining hoisting transfer functions--functional relation between velocities of output and input links of a mechanism--changes when a certain correlation between angular coordinates of the links is reached. A computing experiment was carried out, which focused on calculating operation parameters of the actuating mechanisms (velocities and forces of hoisting and thrusting) used in EKG-20A excavators made by JSC \"Uralmashplant\". Required correlations between velocities of working motions were determined, which are based on the condition of realizing a specified law of bucket motion (cutting edge motion). A form of graphical representation depicting working motion velocities as hodographs is proposed.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129574673","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
Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot 半自动化爬楼梯康复机器人的设计、分析与原型制作
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 2018-01-10 DOI: 10.1145/3191477.3191487
S. Jha, Himanshu Chaudhary, Swapnil Satardey, Piyush Kumar, Ankush Roy, Aditya Deshmukh, Gopabandhu Hota, Dishank Bansal, Saurabh Mirani
{"title":"Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot","authors":"S. Jha, Himanshu Chaudhary, Swapnil Satardey, Piyush Kumar, Ankush Roy, Aditya Deshmukh, Gopabandhu Hota, Dishank Bansal, Saurabh Mirani","doi":"10.1145/3191477.3191487","DOIUrl":"https://doi.org/10.1145/3191477.3191487","url":null,"abstract":"In this paper, we describe the mechanical design, system overview, integration and control techniques associated with SKALA, a unique large-sized robot for carrying a person with physical disabilities, up and down staircases. As a regular wheelchair is unable to perform such a maneuver, the system functions as a non-conventional wheelchair with several intelligent features. We describe the unique mechanical design and the design choices associated with it. We showcase the embedded control architecture that allows for several different modes of teleoperation, all of which have been described in detail. We further investigate the architecture associated with the autonomous operation of the system.","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125936707","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: 1
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering 2018第四届机电一体化与机器人工程国际会议论文集
Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering Pub Date : 1900-01-01 DOI: 10.1145/3191477
{"title":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","authors":"","doi":"10.1145/3191477","DOIUrl":"https://doi.org/10.1145/3191477","url":null,"abstract":"","PeriodicalId":256405,"journal":{"name":"Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116236951","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: 1
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