International Journal of Mechanical Engineering and Robotics Research最新文献_第5页

Sensor Fusion Algorithm Selection for an Autonomous Wheelchair Based on EKF/UKF Comparison 基于EKF/UKF比较的自主轮椅传感器融合算法选择

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.1.1-7

Bibiana Fariña, J. Toledo, L. Acosta

引用次数: 4

A Novel ANSMC Algorithm for Tracking Control of 3-DOF Planar Parallel Manipulators 一种新的三自由度平面并联机器人ANSMC跟踪控制算法

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.1.32-39

Thanh Nguyen Truong, A. Vo, Hee-Jun Kang

{"title":"A Novel ANSMC Algorithm for Tracking Control of 3-DOF Planar Parallel Manipulators","authors":"Thanh Nguyen Truong, A. Vo, Hee-Jun Kang","doi":"10.18178/ijmerr.12.1.32-39","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.32-39","url":null,"abstract":"— Our article mainly focuses on dealing with several limitations of conventional sliding mode control (SMC), proportional-integral-derivative SMC (PID-SMC), and integral SMC (ISMC) for 3-DOF robotic manipulators at the same time. The paper focuses on three main points: improving the control accuracy, reducing chattering phenomena, and the convergence speed of the system states. Therefore, we develop a novel adaptive neural sliding mode control (ANSMC) algorithm for 3-DOF parallel robotic manipulators which has a complicated dynamic model, including modeling uncertainties, frictional uncertainties, and external disturbances. The control method is designed from three main control techniques, including ISMC, Radial Basis Function Neural Network (RBFNN), and the adaptive technique. First, a new integral terminal sliding mode (ITSM) surface is proposed to enhance the response rate and convergence rate. Second, RBFNN is employed to address disturbances and uncertainties. Besides, RBFNN also plays the role in reducing chattering behavior. While the adaptive technique is integrated into the reaching control law to remove the need for the upper bound values. Consequently, the proposed control system provides a high tracking accuracy and fast convergence rate. The chattering phenomena are significantly diminished in control signals. Simulation results on a 3-DOF parallel manipulator have confirmed the effectiveness of the proposed control method.","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":"67497866","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

Cascaded PID Trajectory Tracking Control for Quadruped Robotic Leg 四足机器人腿的级联PID轨迹跟踪控制

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.1.40-47

Ahmed M. El-Dalatony, Tamer Attia, H. Ragheb, A. M. Sharaf

引用次数: 6

Design of Robust Adaptive Controller for Industrial Robot Based on Sliding Mode Control and Neural Network 基于滑模控制和神经网络的工业机器人鲁棒自适应控制器设计

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.145-150

T. D. Chuyen, Hoa Van Doan, P. Minh, Vu Viet Thong

引用次数: 1

Cutting Force Coefficient for 5 Axis Rough Machining Process on PEEK Material PEEK材料五轴粗加工的切削力系数

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.1.57-63

H. H. Sutrisno, Triyono

引用次数: 0

Effects of the Butterfly Forewing Flap-and-twist Motion on the Generation of Thrust and Lift 蝴蝶前翼扑扭运动对推力和升力产生的影响

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.175-183

K. Tangudomkit, P. Smithmaitrie

{"title":"Effects of the Butterfly Forewing Flap-and-twist Motion on the Generation of Thrust and Lift","authors":"K. Tangudomkit, P. Smithmaitrie","doi":"10.18178/ijmerr.12.3.175-183","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.175-183","url":null,"abstract":"—A butterfly is a unique flying insect that can fly at a low flapping frequency of 10-15 Hz. Therefore, it consumes little energy while flying. However, the mechanism of low-frequency wing beat has not been thoroughly explained. In this work, it was found that the synchronized flap-and-twist motion enhances the positive lift during both upstroke and downstroke. Models of butterfly forewings were made and tested to investigate the effects of flapping and twisting motions on the generation of thrust and lift. The active flapping and passive twisting mechanisms are proposed. Different ranges of flapping and twisting angles of the wings were investigated. The experimental result shows that the large symmetric twist angle [-75°, 75°] has a unique 3-cycle repetition of flapping force, which generates positive lift in a range of 0-0.06 N most of the time, with strong thrust fluctuations in a range of ±0.10 N. This synchronized flapping and twisting motion with positive lift generation is one explanation for butterfly flight in nature and reveals how butterflies can lift themselves with such a low flapping frequency.","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":"67498027","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

Modeling and Designing Hierarchical Sliding Mode Controller for a 4-DOF Solar Autonomous Underwater Vehicles 四自由度太阳能自主水下航行器的分层滑模控制器建模与设计

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.5.275-283

Tuan Nguyen Van, Phong Dinh Van, Tan Nguyen Cong, Hung Nguyen Chi

{"title":"Modeling and Designing Hierarchical Sliding Mode Controller for a 4-DOF Solar Autonomous Underwater Vehicles","authors":"Tuan Nguyen Van, Phong Dinh Van, Tan Nguyen Cong, Hung Nguyen Chi","doi":"10.18178/ijmerr.12.5.275-283","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.275-283","url":null,"abstract":"—Autonomous Underwater Vehicles (AUV) are automatic equipment that can move in 6 degrees of freedom according to the motion in the water. Modeling accurately AUV is very difficult because of the influence of factors such as hydrodynamic forces, time error, and environmental noise, etc. It is important that the controller designing needs to meet the requirements of stability and suitability to specific diving equipment models. The hydrodynamic equations are established with the assumed conditions. Controlling self-propelled diving equipment is a major challenge for researchers because of the complex, and nonlinear correlation between diving and operating environments. Therefore, high-quality control systems for the AUV should exhibit the ability to update the variability of the device's hydrodynamic coefficients to achieve the desired control quality. In this study, the authors focus on building a Hierarchical Sliding Mode Controller (HSMC) for Solar Autonomous Underwater Vehicles (S-AUV), the kinematics and dynamics of the underactuated attitude control adjusting system are analyzed. More precisely, the controller is designed based on the hydrodynamic model of the S-AUV. By employing the propulsion speed, the position of the steering blades as design variables, the dive of the S-AUV is stably controlled in location, velocity, and depth. For a given set of operating parameters, the simulation result shows that the developed controller exhibits errors within the allowed range of values.","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":"136208222","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

Dimensional Synthesis of a Six-bar Shaper Mechanism with the Genetic Algorithm Optimization Approach 基于遗传算法优化的六杆成形机构尺寸综合

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.2.113-120

A. Yazdani, Soroush Abyaneh

{"title":"Dimensional Synthesis of a Six-bar Shaper Mechanism with the Genetic Algorithm Optimization Approach","authors":"A. Yazdani, Soroush Abyaneh","doi":"10.18178/ijmerr.12.2.113-120","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.113-120","url":null,"abstract":"—This paper provides an approach based on the genetic algorithm for the dimensional synthesis of a six-bar mechanism for a shaper machine. The main purpose of the optimization algorithm is to maintain the velocity of the mechanism’s slider constant within a specified range of the rotational motion of the input link. Therefore, first, an objective function is defined for the slider. Then, the velocity function of the slider is calculated using a set of mathematical relationships and the mechanism’s kinematic constraints. In order for this function to reach the objective function, a cost function is defined. This cost function is minimized, and the output approaches the objective function by selecting the appropriate parameters for the mechanism. To this end, four accuracy points are selected within a specific range of motion of the input link. Subsequently, the distances between the points on the velocity function of the slider and the predetermined function are calculated at these four points. The goal is to minimize these four distances. Hence, a cost function is defined in the form of the squares of the sums of these distances and is minimized using the genetic algorithm. Therefore, this cost function is used to minimize the error between the desired points and the points generated by the mechanism and can be affected by factors such as the lengths of the links, the transmission angles, the Grashof condition, and the mechanism type. In the genetic algorithm, the population, crossover, or mutation determines the accuracy of the results. The purpose of this research is to find the optimal dimensions of the links in order to minimize the error between the ideal and actual slider velocity functions. Ultimately, a numerical example is provided where the optimal dimensions are suggested by the optimization algorithm.","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":"67497562","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

Estimation of CNC Machining Parameter Levels for Brass Union Using an Adaptive Constrained Response Surface Optimization Model 基于自适应约束响应面优化模型的黄铜接头数控加工参数水平估计

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.137-144

P. Luangpaiboon, Napatchya Kantaputra, Natchira Chongsawad, P. Aungkulanon, L. Ruekkasaem, W. Atthirawong

引用次数: 0

Using Rows and Columns of Distance Matrix to Identify Isomorphisms in Kinematic Chains 用距离矩阵的行和列识别运动链中的同构

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2023-01-01 DOI: 10.18178/ijmerr.12.3.159-168

Mohamed Aly Abdel Kader, A. Aannaque

引用次数: 0