International Journal of Mechanical Engineering and Robotics Research最新文献_第8页

Optimal Design of Kinematics Parallel Manipulator Considering Workspace and Control Effort 考虑工作空间和控制力的运动学并联机器人优化设计

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.4.234-240

Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, Sebastian Gonzalez

{"title":"Optimal Design of Kinematics Parallel Manipulator Considering Workspace and Control Effort","authors":"Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, Sebastian Gonzalez","doi":"10.18178/ijmerr.11.4.234-240","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.234-240","url":null,"abstract":"Several studies have reported the design of kinematics parallel mechanisms based on behavioral features; however, the design of this kind of system with six degrees of freedom considering parallelly volumetric behavior together with control effort remains to be accomplished. This work addresses the design of one type of these mechanisms based on two aspects: workspace and control effort. All aspects are considering and optimizing simultaneously through a multiobjective optimization technique based on a bio-inspired algorithm named Elitist Non-Dominated Sorting Differential Evolution Algorithm, which brings about a Pareto front. The workspace is determined using the inverse kinematics constrained boundaries analysis and a mono-objective optimization method. On the other hand, control effort is resolved by calculating the Euclidian norm of each torque signal of the system, which is controlled by a hybrid technique consisting of sliding modes and differential flatness. Finally, relations between the two studied aspects are depicted and analyzed.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496790","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

Effect of Multilayer Processing of Semi-finished Leather Products 皮革半成品多层加工的效果

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.4.248-254

A. Amanov, G. Bahadirov, Gerasim N. Tsoy, Ayder Nabiev

{"title":"Effect of Multilayer Processing of Semi-finished Leather Products","authors":"A. Amanov, G. Bahadirov, Gerasim N. Tsoy, Ayder Nabiev","doi":"10.18178/ijmerr.11.4.248-254","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.248-254","url":null,"abstract":"An experimental study was carried out to substantiate the simultaneous removal of excess moisture from two layers of wet leather semi-finished products. For the experiment, a multilayer package was compiled, consisting of two layers of wet leather semi-finished products and two layers of permeable cloth, laid between them. The selection of samples of semi-finished leather products for the experiment were selected from chromeplated bovine hide of medium weight, double. The excess moisture content from the wet leather semi-finished products was squeezed out by means of a vertical chain transmission on the base plate under pressure between the rotating shafts. The working shafts are covered with a permeable cloth. The experiment used the second-order Doptimal planning method. On the basis of the obtained experimental results, mathematical equations were obtained expressing the amount of moisture removed from the first and second layers of leather semi-finished products, depending on different feed rates and clamping forces of the working shafts. The main parameters of the technological process of two-layer processing of wet leather semi-finished products with their vertical feeding on the base plate between the shafts are experimentally substantiated. The parameters of the feed rate, the pressing force of the working shafts and the values of the residual moisture of the processed wet leather semi-finished products have been determined. In the future, the results obtained will serve to determine the maximum (permissible) number of layers of wet capillary-porous materials during their simultaneous processing, taking into account the provision of the necessary residual moisture in each of them.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496860","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: 5

Fatigue Testing of the Small Wind Turbine Blade 小型风力发电机叶片疲劳试验

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.4.269-274

K. Zawadzki, Anna Baszczyńska, Angela Fliszewska, Szymon Molenda, J. Bobrowski, M. Sikorski

引用次数: 1

A Study of Converting a Conventional Vehicle into an Electric Vehicle 传统汽车转换为电动汽车的研究

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.8.569-574

Pham Quoc Thai, V. Tai, Huynh Duc Tri, Vo Trong Nam

引用次数: 2

LabVIEW Implementation of Tuning PID Controller Using Advanced Control Optimization Techniques for Micro-robotics System 基于先进控制优化技术的微机器人系统PID控制器整定LabVIEW实现

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.9.653-661

E. S. Ghith, F. A. Tolba

{"title":"LabVIEW Implementation of Tuning PID Controller Using Advanced Control Optimization Techniques for Micro-robotics System","authors":"E. S. Ghith, F. A. Tolba","doi":"10.18178/ijmerr.11.9.653-661","DOIUrl":"https://doi.org/10.18178/ijmerr.11.9.653-661","url":null,"abstract":"—Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between eight meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), Multi-Verse Optimizer (MVO) Grey Wolf Optimization (GWO), Sine-Cosine Algorithm (SCA), and Whale Optimization Algorithm (WOA). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error ( (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. . It is observed that the GWO technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497535","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

Genetic Algorithms for Stable Robot Grasping 机器人稳定抓取的遗传算法

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.7.507-512

B. Hichri, Francesco Giovannini, Sławomir Kędziora

引用次数: 2

Analysis and Optimisation Strategy on Influence of Knot Vector to NURBS Curve 结矢量对NURBS曲线影响的分析与优化策略

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.7.549-555

Zheng Shuai

引用次数: 2

A Review on Wheeled Type In-Pipe Inspection Robot 轮式管道内检测机器人研究进展

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.10.745-754

R. Sugin Elankavi, D. Dinakaran, R. Chetty, M. M. Ramya, D. Samuel

引用次数: 1

Fabrication and Testing of Modified Magnetorheological Damper Fitted with External Permanent Magnet Assembly 外置永磁组件改进型磁流变阻尼器的制造与测试

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.4.215-226

Y. Khedkar, S. Bhat, H. Adarsha

{"title":"Fabrication and Testing of Modified Magnetorheological Damper Fitted with External Permanent Magnet Assembly","authors":"Y. Khedkar, S. Bhat, H. Adarsha","doi":"10.18178/ijmerr.11.4.215-226","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.215-226","url":null,"abstract":"Many vehicle systems and industrial equipment face the issue of vibrations. As such, vibration control devices like classical hydraulic dampers are utilized to minimize vibrations. In this context, magenetorheological fluid is introduced as a damper fluid to improve the damper's vibration reduction capability. This damper is known as the MR damper in which the magnetic field required to activate MR fluid is produced by using an electromagnet over the piston inside the damper cylinder. However, some severe problems are observed due to internal electromagnetic piston configuration in the conventional MR damper. Therefore, modification is suggested in the damper in the form of an external permanent magnet assembly's fitment.The proposed model consists of a damper cylinder filled with MR fluid and an external assembly of permanent magnets positioned near the cylinder. The conventional and modified MR dampers have been tested on a test rig by changing the MR fluid configuration, excitation frequency of exciter, and excitation current. The MR effect on velocity and damping force in conventional and modified dampers has been recorded and compared. The results convincingly indicate that the modified MR damper delivers good performance by generating sufficient damping capacity that can be utilized for necessary applications. Importantly, it resolves the problems associated with conventional MR dampers like electric current unavailability at field, clumping, hard cake formation, remanence phenomenon, and excessive heat formation.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496199","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

Fractional Order Sliding Mode Control for Planar Flexible-Joint Robot 2-DOF Considering Parametric Uncertainty and External Disturbance 考虑参数不确定性和外部干扰的平面柔性关节机器人分数阶滑模控制

International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI: 10.18178/ijmerr.11.12.915-922

N. Hiền, Dang Danh Hoang, Tran Xuan Minh

{"title":"Fractional Order Sliding Mode Control for Planar Flexible-Joint Robot 2-DOF Considering Parametric Uncertainty and External Disturbance","authors":"N. Hiền, Dang Danh Hoang, Tran Xuan Minh","doi":"10.18178/ijmerr.11.12.915-922","DOIUrl":"https://doi.org/10.18178/ijmerr.11.12.915-922","url":null,"abstract":"—This paper presents modelling and control for planar flexible-joint 2-DOF, an underactuated system. Thus designing to obtain stability of actuated joints and underactuated is a challenge for a control system. In the conventional sliding mode control method, the sliding surface is normally expressed based on the integer-order differentiation of the state variables. In the study, fractional order sliding mode control (FOSMC) algorithm is given, and then the sliding surface is designed by the fractional-order calculus,i.e, using fractional-order differentiation of the state variables. Thus, the fractional dimension accelerating the change rate of angle deviation is contained in the control output, which means that the control output of the FOSMC is sensitive to the change rate of angle deviation and provides a prompt control output for the system. From which, FOSMC based on Lyapunov theory and fractional calculus is proposed for the robot to achieve the global stability of two joints. The effectiveness and feasibility of the proposed method are demonstrated by MATLAB/SIMULINK simulation that the robot model considers parametric uncertainty and external disturbance.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496519","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