International Journal of Mechanical Engineering and Robotics Research最新文献_第4页

Evaluation of Intelligent Solar Based Hand Gesture Controlled Lawn Robot 基于太阳能的智能手势控制草坪机器人评价

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.184-191

A. Adeodu, R. Maladzhi, M. G. K. Katumba

引用次数: 1

Possibility of Locking Compression Plate as the Treatment of External Fixation for Femoral Bone Based on Finite Element Method 基于有限元法的锁定加压钢板治疗股骨外固定的可能性

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.290-296

Kriengkrai Nabudda, Jarupol Suriyawanakul, Kiatfa Tangchaichit, Weerachai Kosuwon, Kamolsak Sukhonthamarn, Nattadon Pannucharoenwong

引用次数: 0

Design and Building of a Multi-finger Robotic Hand Prototype for Grip Control 多指机械手握持控制样机的设计与构建

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.264-274

Sergio A. Pertuz, Cesar A. Peña, Cristhian I. Riaño

{"title":"Design and Building of a Multi-finger Robotic Hand Prototype for Grip Control","authors":"Sergio A. Pertuz, Cesar A. Peña, Cristhian I. Riaño","doi":"10.18178/ijmerr.12.5.264-274","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.264-274","url":null,"abstract":"—This paper presents the design and construction of a multi-finger biometric robotic hand prototype that can be used as an end effector in processes that require dexterous grasping of objects. The research aims to obtain an optimized mechanism that manages to emulate the movements of a hand using a reduced number of joints and links. A rigid mechanism with actuators in the palm is mathematically modeled and kinematically verified through a functional grip application. A biologically inspired optimization algorithm is employed in the dimensional optimization of the mechanism to follow a trajectory profile that defines the type of grip. As a result, a robotic hand is obtained with a proportion that does not exceed 10% of the dimensions of a human hand, which integrates a mechanism with 7 Degrees of freedom (DOF) and 16 joints and a trajectory control that guarantees different types of grip. Different grips presented in this document show the dexterity of the hand, given by the kind of rigid mechanism and trajectory profile tracking. The adduction and abduction movements of the hand extend their usefulness to reproduce different types of grips.","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":"136208447","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

A Systematic Procedure for Design and Structural Mechanical Analysis: A Case Study for Construction of a Buggy 设计与结构力学分析的系统程序:以一辆小车的构造为例

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.6.362-377

Grover Zurita Villarroel, Ruben Vasquez Martinez, Juan Rene Clavijo Grandon, Sebastian Paniagua Gutiérrez

{"title":"A Systematic Procedure for Design and Structural Mechanical Analysis: A Case Study for Construction of a Buggy","authors":"Grover Zurita Villarroel, Ruben Vasquez Martinez, Juan Rene Clavijo Grandon, Sebastian Paniagua Gutiérrez","doi":"10.18178/ijmerr.12.6.362-377","DOIUrl":"https://doi.org/10.18178/ijmerr.12.6.362-377","url":null,"abstract":"—Our research aims to develop an efficient framework for machine design in response to the growing industry demand for optimization. We utilize Design Thinking (DT) combined with Shigley’s Methodology (SM) to address ill-defined problems and promote human-centric problem-solving. SM’s iterative process consisting of six phases facilitates effective planning and innovation. We conducted a case study focusing on the design and analysis of a buggy-type vehicle with specific dimensions. Various analyses, including static, fatigue, structure resonance, thermal, aerodynamic, and impact analysis, were performed using MATLAB and Solid-work’s software. The structural analysis indicated values below the yielding stress, with a safety factor of approximately 3. The aerodynamic and impact studies were crucial in understanding the effects of airflow and assessing the structure’s resistance to impacts at different speeds. The obtained results validated the design in terms of safety coefficient, structure resonance, heat dissipation, impact resistance, and aerodynamic performance. Additionally, the cost of the designed prototype was found to be 48% lower compared to a similar model.","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":"134888212","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

Robust Optimal Controller for Two-wheel Self-Balancing Vehicles Using Particle Swarm Optimization 基于粒子群算法的两轮自平衡车辆鲁棒最优控制器

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.1.16-22

Vũ Ngọc Kiên, Nguyễn Tiến Duy, Daojia Du, Nguyen Phuong Huy, N. Quang

{"title":"Robust Optimal Controller for Two-wheel Self-Balancing Vehicles Using Particle Swarm Optimization","authors":"Vũ Ngọc Kiên, Nguyễn Tiến Duy, Daojia Du, Nguyen Phuong Huy, N. Quang","doi":"10.18178/ijmerr.12.1.16-22","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.16-22","url":null,"abstract":"—Control of a self-balancing vehicle is a challenging but exciting research topic. The challenge of researching self-balancing bicycles is maintaining balance when the bike is stationary and when the bike is moving. This paper, through analysis and comparison of two-wheeled vehicle balancing methods, shows that the method that best meets the requirements of the two-wheeled vehicle balance control problem is the balancing method using a flywheel stabilizer. Compared with the gyroscopic flywheel stabilizer, the inverted pendulum flywheel stabilizer has the advantages of fast response speed and energy saving, so we choose the pendulum flywheel stabilizer to reverse to control the balance of the two-wheeler. By modeling and analyzing the two-wheel vehicle model, it shows that the vehicle model is subjected to uncertainties. Hence, the robust controller is an appropriate controller for balancing two-wheel vehicles. However, the controller designed according to the robust control algorithm RH ∞ is often high-order, affecting the actual control quality. We proposed using the particle swarm optimization (PSO) algorithm to find a low-order robust controller from the high-order robust controller. By comparing the efficiency of the low-order robust controller according to PSO with the high-order robust controller and other low-order robust controllers, we have proven the correctness of the low-order robust controller according to PSO. Simulation results show that a two-wheel vehicle using a low-order robust controller according to PSO can stabilize the vehicle and give good control quality.","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":"67497778","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

Autonomous Grasping Using Novel Distance Estimator 基于新型距离估计器的自主抓取

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.2.64-77

M. Skaldebø, B. A. Haugaløkken, I. Schjølberg

{"title":"Autonomous Grasping Using Novel Distance Estimator","authors":"M. Skaldebø, B. A. Haugaløkken, I. Schjølberg","doi":"10.18178/ijmerr.12.2.64-77","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.64-77","url":null,"abstract":"—This paper introduces a novel distance estimator using monocular vision for autonomous underwater grasping. The presented method is also applicable to topside grasping operations. The estimator is developed for robot manipulators with a monocular camera placed near the gripper. The fact that the camera is attached near the gripper makes it possible to design a method for capturing images from different positions, as the relative position change can be measured. The presented system can estimate relative distance to an object of unknown size with good precision. The manipulator applied in the presented work is the SeaArm-2, a fully electric underwater small modular manipulator. The manipulator is unique in its integrated monocular camera in the end-effector module, and its design facilitates the use of different end-effector tools. The camera is used for supervision, object detection, and tracking. The distance estimator was validated in a laboratory setting through autonomous grasping experiments. The manipulator was able to search for and find, estimate the relative distance of, grasp, and retrieve the relevant object in 12 out of 12 trials.","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":"67497678","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

Measuring the Movement Force of a CoBot to Evaluate Hand Guiding Operation 测量协作机器人的运动力以评估手部引导操作

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.2.91-98

Yun-Ju Chuang, Yin-Tung Sun, H. Chang, T. Tsung

引用次数: 1

Design and Performance of the New Ankle Joint Exoskeleton 新型踝关节外骨骼的设计与性能

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.151-158

Nursultan Zhetenbayev, G. Balbayev, Algazy Zhauyt, B. Shingissov

{"title":"Design and Performance of the New Ankle Joint Exoskeleton","authors":"Nursultan Zhetenbayev, G. Balbayev, Algazy Zhauyt, B. Shingissov","doi":"10.18178/ijmerr.12.3.151-158","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.151-158","url":null,"abstract":"—As one of the most injured joints of the human body, the ankle is often prone to sprains or fractures that require help in movement to restore mobility. While physical therapists typically perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in recent years. However, their design is usually bulky and requires the patient to sit or stand in a static position. This paper presents devotes to a new design of a device as an exoskeleton for the ankle joint that promotes movement of a person with disability. The proposed design is characterized by a lightweight and inexpensive design for various users with easy-to-wear functions and simple operation. The exoskeleton is supported by four linear electric actuators to enable ankle movements in three directions. A CAD model is developed for proposed design parts and simulations, the results of which provide data on the feasibility of the design and its main performance characteristics. 3D modeling and simulation calculations were performed in a virtual environment using Solidworks Simulation software and motion simulation. Solidworks Simulation provides an electric linear actuator that generates ankle movement. The proposed design of the mechanism using kinematic and static models is analyzed, a scheme of the control structure is developed.","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":"67497942","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

Multi-response Optimization and Analysis Wear Mechanism of CBN Inserts in the Tungsten Carbide Hard Turning Process 碳化钨硬车削CBN刀具多响应优化及磨损机理分析

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.306-312

Minh Tuan Ngo, Quoc Tuan Nguyen

引用次数: 0

On the Aerodynamics of Rear of Vehicle Model with Active Control by Blowing: Computational and Experimental Analysis 主动吹气控制汽车尾部空气动力学模型:计算与实验分析

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.2.84-90

R. Tarakka, N. Salam, A. A. Mochtar, W. Rauf, M. Ihsan

{"title":"On the Aerodynamics of Rear of Vehicle Model with Active Control by Blowing: Computational and Experimental Analysis","authors":"R. Tarakka, N. Salam, A. A. Mochtar, W. Rauf, M. Ihsan","doi":"10.18178/ijmerr.12.2.84-90","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.84-90","url":null,"abstract":"—Aerodynamics related to the generation of drag due to flow separations that occurs at rear parts of vehicles is an important consideration in vehicle design. It includes flow separation, wake formation, and pressures, which, in this paper, are focused on the ones exerted on the model’s rear wall. The pressure reductions could differ significantly between vehicles’ front and rear walls. This pressure difference can generate a phenomenon of backward pull and an increase in drags. The effort to minimize backflow as well as to cater increasing pressure on vehicles’ rear wall can be achieved by applying active control, including attached blowing apparatus. The paper presents the analysis of the effect on the application of blowing active control on the aerodynamics on rear part of vehicles, which is represented by a modified Ahmed body, reversed in flow direction and altered dimensions. The research was conducted using a validated numerical simulation method with laboratory experiments at an upstream air speed of 16.7 m/s and blowing velocities of 0.5 m/s, 1.0 m/s, and 1.5 m/s. The results showed that the application of blowing active control was capable to reduce aerodynamic drag, with the highest decrease achieved in the model with a ratio of velocity UBL3/U0=0.09 of 12.187% for the computational method and 11.556% for the experimental one.","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":"67497736","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