International Journal of Mechanical Engineering and Robotics Research最新文献_第3页

Design of Modular Underwater Vehicle Biomimetic Hull Towards Onboard Lab-On-a-Chip Devices 面向车载芯片实验室的模块化水下机器人仿生船体设计

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.324-331

Edisson A. Naula Duchi, Brian Ismael Chávez Viveros, Santiago Pérez Burciaga, Luis E. Garza-Castañón, J. Israel Martínez-López

{"title":"Design of Modular Underwater Vehicle Biomimetic Hull Towards Onboard Lab-On-a-Chip Devices","authors":"Edisson A. Naula Duchi, Brian Ismael Chávez Viveros, Santiago Pérez Burciaga, Luis E. Garza-Castañón, J. Israel Martínez-López","doi":"10.18178/ijmerr.12.5.324-331","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.324-331","url":null,"abstract":"—The conditions for the operation of Point-of-Care sensors on water bodies are complicated to meet. The limited energy resources and footprint onboard are additional limitations of remote sensing devices. To provide a platform to perform a sufficient number of samples, the customization of Underwater Vehicles involves an integral optimization of space distribution, operation of the sensing mechanisms, and navigation. In this paper, we showcase the design and manufacturing of an Underwater Vehicle towards integration of a microfluidic device platform with a biomimetic approach. To develop this design Fusion 360 was used to sketch the internal components, including the fluid handling unit of the Lab-On-a-Chip biosensor and the reagent reservoirs, hull, and the submarine propulsion system (propeller and dorsal and pectoral fins). Furthermore, we have compared the numerical performance of three different pectoral fins for a shark, devil fish, and a drag reduction evaluating the lift and drag forces using COMSOL Multiphysics for different angles of attacks, demonstrating that a design with more cross-sectional area has 5 times greater drag and up to 3 times greater lift than a balanced and slim design. the final design will depend on the maneuverability requirements of the vehicle. The modularized design was manufactured and integrated successfully using Fusion Deposition Modelling and Stereolithography.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136208448","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

Quadruped Robots Mechanism, Structural Design, Energy, Gait, Stability, and Actuators: A Review Study 四足机器人的机构，结构设计，能量，步态，稳定性和致动器:综述研究

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.6.385-395

Alarazah Hussein Abdulwahab, Ahmad Zhafran Ahmad Mazlan, Ahmad Faizul Hawary, Nabil Hassan Hadi

引用次数: 0

The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools 基于虚拟建模设计和人工智能工具的六自由度机器人协同任务逆运动学评估

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.2.121-130

Abderrahim Bahani, Moulay El houssine Ech-Chhibat, H. Samri, Hicham Ait Elattar

{"title":"The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools","authors":"Abderrahim Bahani, Moulay El houssine Ech-Chhibat, H. Samri, Hicham Ait Elattar","doi":"10.18178/ijmerr.12.2.121-130","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.121-130","url":null,"abstract":"—This work aims at evaluating the inverse kinematics of a two-robot cooperative system using Matlab/SimMechanics-based simulations and artificial intelligence tools, namely the Levenberg-Marquardt (LM) optimization method. The artificial neural networks (ANN) thus constructed will replace the controllers of the six degrees of freedom (6-DOF) cooperative robots. Therefore, the entire cooperative system was designed in SolidWorks, taking into account all the dimensions necessary for kinematic modeling, then converted into Matlab/SimMechanics, and thanks to the manipulation of the model in this software, we will be able to extract the articulatory and operational data of the cooperative system in its workspace. The kinematic database of the robotic system is built in Matlab in order to train the ANN and implement it in Matlab/SimMechanics. Lastly, a test is performed in a collaborative task to evaluate the intelligent control error. The results obtained can be applied to and tested for the kinematic control of two real ABB IRB 120 cooperative robots.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497616","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

Design and Synthesis of the Gravity Compensator with a Non-zero Length Spring 非零长度弹簧重力补偿器的设计与综合

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.131-136

Yang Zhang, V. Arakelian

{"title":"Design and Synthesis of the Gravity Compensator with a Non-zero Length Spring","authors":"Yang Zhang, V. Arakelian","doi":"10.18178/ijmerr.12.3.131-136","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.131-136","url":null,"abstract":"—It is well known that conventional linear spring directly jointed with a rotating link cannot ensure a complete gravity balancing. In this case, the application of zero length springs is suggested. The zero length spring corresponds to a spring with special coils ensuring zero elastic force for zero length of the spring. This type of spring is often used in theoretical solutions or in academic studies but rarely in real robotic structures. The use of traditional linear springs leads to inclusion of the auxiliary mechanism. The associated mechanisms are different and each of them requires its study and improvement. The applied methods for their study are various. They depend on the structure of the auxiliary mechanism and locations of balancing forces. This paper deals with design and synthesis of the gravity compensator including an auxiliary two-link dyad added to the rotating link. The balancing spring is installed vertically at the base. The choice of a vertical installation is due not only to constructive practicality but also to the fact that the mass of the spring system does not affect the balancing conditions of the rotating link. The aim of the study is to propose an analytically tractable solution permitting to synthesize such link lengths of the additional dyad that will provide a more optimal generation of the balancing moment. The efficiency of the suggested mechanism design is illustrated via numerical simulations. It is shown that by using a non-zero length spring a quasi-perfect balancing has been achieved.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497849","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 and Analysis of a Solar Operated Lawn Mower 太阳能割草机的设计与分析

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.169-174

N. Ghareeb

{"title":"Design and Analysis of a Solar Operated Lawn Mower","authors":"N. Ghareeb","doi":"10.18178/ijmerr.12.3.169-174","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.169-174","url":null,"abstract":"—The majority of lawn mowers available in the market are either fuel or electrically operated. Both sources of energy demand high operational and maintenance costs, and they are not environmentally friendly. This paper proposes the design and fabrication of a simple solar operated lawn mower. Its blade cutting operation is based on the scotch yoke mechanism. All other components are also presented. In addition, the necessary calculations of converting solar energy into electrical energy are done, as well as the calculations on the battery capacity and time needed to charge. The 3D CAD prototype is created, and the structural analysis to check stresses and deflections at critical locations on frame and blades of the lawn mower is performed by using SolidWorks© software. Structural analysis results show that the maximum stress on the frame is 0.34 MPa, and on the blades it is 0.82 MPa, both which are less than the yielding stress. Furthermore, the deflection at critical location on frame is 0.108mm and on blades it is 1.33 mm respectively. Those results have been compared to analytical calculations and good agreement was found. As a conclusion, this design demonstrates that a simple, efficient and sustainable solar operated lawn mower can be produced at minor costs.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498015","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

Implementation of Robot Operating System in Raspberry Pi 4 for Autonomous Landing Quadrotor on ArUco Marker 机器人操作系统在树莓派4上的实现，用于四旋翼在ArUco标记上的自主着陆

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.4.210-215

Atcha Daspan, Anukoon Nimsongprasert, Prathan Srichai, Pijirawuch Wiengchanda

引用次数: 0

Identification of Kinematic Chains Isomorphism Based on the Distance between Non-binary Vertices 基于非二值点间距离的运动链同构辨识

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.297-305

Mohamed Aly Abdel Kader, Abdeslam Aannaque

引用次数: 0

Study on Chiller Fault Detection and Diagnosis Method Based on KNN Algorithm and ANOVA 基于KNN算法和方差分析的冷水机组故障检测与诊断方法研究

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.4.223-230

Le Minh Nhut, L. H. Quan

{"title":"Study on Chiller Fault Detection and Diagnosis Method Based on KNN Algorithm and ANOVA","authors":"Le Minh Nhut, L. H. Quan","doi":"10.18178/ijmerr.12.4.223-230","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.223-230","url":null,"abstract":"— As the economy, population, and industry have grown in recent years, more and more water chiller systems have been installed in many buildings throughout the world. However, faults can appear during operation, leading to a reduction in the life of a system and increased energy consumption. As a result, it is necessary to identify and overcome these faults. This paper proposes a chiller fault detection and diagnosis (FDD) method based on the K-nearest neighbors (KNN) algorithm and an analysis of variance (ANOVA) to reduce the number of sensors in a real system and to improve the performance of chiller FDD. A Python program based on the KNN and ANOVA models was developed to simulate and validate the chiller fault detection and diagnosis. The results showed that the correct rates (CRs) of stages 1 and 2 in Case 1 were 99.53% and 99.60%, respectively, whereas the CRs of stages 1 and 2 in Case 2 were 99.08% and 99.48%, respectively. The highest performance of the proposed chiller FDD method was achieved when compared to the CBA method, the EBD-DBN method, and the GDW-SVDD method for Case 2 with slight-severity levels 1 and 2. Furthermore, this method was validated using real data under normal operating conditions and the condenser fouling fault of a centrifugal water-cooled chiller from the Saigon Center building in Vietnam. The results showed that the overall performance of chiller FDD was 97.61%, and the hit rate of the condenser fouling fault was 93.46%. This demonstrated that chiller FDD based on KNN and ANOVA has high reliability and can be used in industry.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498362","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

Modal Analysis of Simply Supported Tapered Pipe Transporting Fluid with an Edge Crack Using Finite Element Method 带边缘裂纹的简支锥管输流体模态分析

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.4.231-238

Ibrahim M. Al-Adwan, Ahmad Awwad, Mohamed S. Gaith, F. Alfaqs, Z. Haddadin, Abdulah Wahbe, Mahmoud Hamam, Mahmoud Qunees, M. A. Khatib, Mohammad Bsaileh, Abdalla A. Jaber, Ahmad Aqra’a

{"title":"Modal Analysis of Simply Supported Tapered Pipe Transporting Fluid with an Edge Crack Using Finite Element Method","authors":"Ibrahim M. Al-Adwan, Ahmad Awwad, Mohamed S. Gaith, F. Alfaqs, Z. Haddadin, Abdulah Wahbe, Mahmoud Hamam, Mahmoud Qunees, M. A. Khatib, Mohammad Bsaileh, Abdalla A. Jaber, Ahmad Aqra’a","doi":"10.18178/ijmerr.12.4.231-238","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.231-238","url":null,"abstract":"—The crack is one of the most common types of failure in pipelines that convey fluid, and early detection of the crack may assist to avoid the piping system from experiencing catastrophic damage, which would otherwise be fatal. The influence of flow velocity and the presence of a crack on the performance of a tapered simply supported pipe containing moving fluid is explored using the finite element approach in this study. ANSYS software is used to simulate the pipe as Bernoulli's beam theory. In this paper, the fluctuation of natural frequencies and matching mode shapes for various scenarios owing to changes in fluid speed and the presence of damage is discussed in detail. The findings demonstrated that the presence of a fracture reduces the stiffness of the systems, resulting in a decrease in the basic natural frequencies. This loss is more pronounced when the fracture is further away from the nodal locations for each mode. Finally, it is demonstrated that increasing flow velocity reduces natural frequencies.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498376","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

Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator 单连杆柔性机械臂的动态稳定控制及逆动力学计算

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.4.200-209

N. Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thành, N. Quang

引用次数: 0