Actuators最新文献_第10页

Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons 康复下肢外骨骼平台相关性能综述与分析

3区工程技术

Actuators Pub Date : 2023-10-29 DOI: 10.3390/act12110406

Hossein Karami, Stefano Maludrottu, Christian Vassallo, Matteo Laffranchi, Lorenzo De Michieli

{"title":"Review and Analysis of Platform-Related Performance of Rehabilitation Lower Limb Exoskeletons","authors":"Hossein Karami, Stefano Maludrottu, Christian Vassallo, Matteo Laffranchi, Lorenzo De Michieli","doi":"10.3390/act12110406","DOIUrl":"https://doi.org/10.3390/act12110406","url":null,"abstract":"Powered Lower Limb Exoskeletons (PLLE) have attracted much interest due to their potential applications. They provide assistance for persons with disabilities to accomplish activities of daily living (ADL), and more importantly, assist them in achieving their rehabilitation goals. However, there is still uncertainty regarding the quality and benefits that PLLEs can offer to patients. This is due to limited usability and performance of current PLLEs, insufficient clinical use of PLLEs for different patients with high diversity in their disability type and impairment, and also the large gap between the technological state of the art and clinical expectations. In this study, we review and analyse various factors that can improve the effectiveness of PLLEs at yielding better assistance and rehabilitation training for patients with motor impairments. First, we define a set of criteria that characterize the majority of expectations for the rehabilitation and assistance domains and we use them for evaluating PLLEs depending on the context. Then, we include the effects of control strategies and combined approaches which include auxiliary devices such as functional electrical stimulation and smart crutches applied to PLLEs with regard to the criteria we defined.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136157362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High-Precision and Modular Decomposition Control for Large Hydraulic Manipulators 大型液压机械臂高精度模块化分解控制

3区工程技术

Actuators Pub Date : 2023-10-28 DOI: 10.3390/act12110405

Ruqi Ding, Zichen Liu, Gang Li, Zhikai Deng

{"title":"High-Precision and Modular Decomposition Control for Large Hydraulic Manipulators","authors":"Ruqi Ding, Zichen Liu, Gang Li, Zhikai Deng","doi":"10.3390/act12110405","DOIUrl":"https://doi.org/10.3390/act12110405","url":null,"abstract":"It is difficult to achieve a high-precision motion control in hydraulic manipulators due to their structural redundancy, strong coupling of closed-chain structures, and flow–pressure coupling. In this paper, a high-precision motion control method for hydraulic manipulators is proposed based on the traditional virtual decomposition control (VDC). The method proposed avoids an excessive virtual decomposition of the hydraulic manipulator and requires fewer model parameters than the traditional VDC. Further, the control precision improved by combining an adaptive real-time update of the inertial parameters. Compared with MBC, the proposed control method improved the motion accuracy of the hydraulic manipulator by more than 40% and 20% under elliptical and triangular trajectories. The simulation results showed that the proposed control method reduced the maximum position errors in Cartesian space by 90.4%, 86.8%, 23.6%, and 44.3% compared with PID and model-based control (MBC) in the absence of disturbances. The maximum position error in Cartesian space was reduced by 76.5% compared with that of MBC in a simulation with external disturbances. It can be seen from all the simulation results that with the proposed control method, the position error of the manipulator was less than 50 mm. The proposed control method effectively improved the motion precision of the examined hydraulic manipulator.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"299 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136232543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Survey on Autonomous Offline Path Generation for Robot-Assisted Spraying Applications 机器人辅助喷涂应用中自主离线路径生成研究进展

3区工程技术

Actuators Pub Date : 2023-10-28 DOI: 10.3390/act12110403

Alexander Miguel Weber, Ernesto Gambao, Alberto Brunete

{"title":"A Survey on Autonomous Offline Path Generation for Robot-Assisted Spraying Applications","authors":"Alexander Miguel Weber, Ernesto Gambao, Alberto Brunete","doi":"10.3390/act12110403","DOIUrl":"https://doi.org/10.3390/act12110403","url":null,"abstract":"Robot-assisted spraying is a widespread manufacturing process for coating a multitude of mechanical components in an efficient and cost-effective way. However, process preparation is very time-consuming and relies heavily on the expertise of the robot programmer for generating the appropriate robot trajectory. For this reason, industry and academia investigate the possibility of supporting the end-user in the process by the use of appropriate algorithms. Mostly partial concepts can be found in the literature instead of a solution that solves this task end-to-end. This survey paper provides a summary of previous research in this field, listing the frameworks developed with the intention of fully automating the coating processes. First, the main inputs required for the trajectory calculation are described. The path-generating algorithm and its subprocesses are then classified and compared with alternative approaches. Finally, the required information for the executable output program is described, as well as the validation tools to keep track of program performance. The paper comes to the conclusion that there is a demand for an autonomous robot-assisted spraying system, and with a call-for-action for the implementation of the holistic framework.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136232552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Suspension Flux Internal Model Control of Single-Winding Bearingless Flux-Switching Permanent Magnet Motor 单绕组无轴承磁通开关永磁电机悬架磁通内模控制

3区工程技术

Actuators Pub Date : 2023-10-28 DOI: 10.3390/act12110404

Yao Chen, Wanneng Yu, Rongfeng Yang, Bowen Cui

引用次数: 0

Extended State Observer-Based Sliding Mode Control Design of Two-DOF Lower Limb Exoskeleton 基于扩展状态观测器的二自由度下肢外骨骼滑模控制设计

3区工程技术

Actuators Pub Date : 2023-10-27 DOI: 10.3390/act12110402

Jiyu Zhang, Wei Gao, Qing Guo

引用次数: 1

A New Approach to Study the Effect of Complexity on an External Gear Pump Model to Generate Data Source for AI-Based Condition Monitoring Application 一种研究复杂性对外啮合齿轮泵模型影响的新方法，为人工智能状态监测应用生成数据源

3区工程技术

Actuators Pub Date : 2023-10-26 DOI: 10.3390/act12110401

Abid Abdul Azeez, Pietro Mazzei, Tatiana Minav, Emma Frosina, Adolfo Senatore

{"title":"A New Approach to Study the Effect of Complexity on an External Gear Pump Model to Generate Data Source for AI-Based Condition Monitoring Application","authors":"Abid Abdul Azeez, Pietro Mazzei, Tatiana Minav, Emma Frosina, Adolfo Senatore","doi":"10.3390/act12110401","DOIUrl":"https://doi.org/10.3390/act12110401","url":null,"abstract":"The external gear pump, like any other hydraulic component, is vulnerable to failure, which may lead to downtime as well as the failure of other components linked to it, thereby causing production loss. Therefore, establishing a condition monitoring system is crucial in identifying failure at an early stage. Traditional condition monitoring approaches rely on experimental data that are collected by means of sensors. However, the sensors utilized in the experiments may have calibration issues, which lead to inaccurate measurements. The availability of experimental data is also limited as it is difficult and expensive to create and detect a fault in a component. Hence, it is essential to develop a simulation model that mimics the performance of the actual system. The data generated from the model can be utilized to create the data source required for automated condition monitoring. A new methodology based on a detailed geometric model for simulating the External Gear Pump is described and compared to two models analyzed in the authors’ previous work, namely Schlosser’s loss model and simple geometric model. In this paper, the three models are compared with experimental data and the method utilized for fault injection. Schlosser’s loss model, as well as the detailed geometric model, are found to be suitable in terms of validation; however, the latter is a better candidate in terms of fault injection. Hence, the detailed geometric model can be implemented as a tool to generate the data source for condition monitoring applications.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"8 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134908018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Rate-Dependent Hysteresis Model of a Giant Magnetostrictive Actuator Based on an Improved Cuckoo Algorithm 基于改进Cuckoo算法的超磁致伸缩作动器磁滞率相关模型

3区工程技术

Actuators Pub Date : 2023-10-26 DOI: 10.3390/act12110400

Yang Liu, Jianjun Meng, Jingnian Cao

{"title":"Rate-Dependent Hysteresis Model of a Giant Magnetostrictive Actuator Based on an Improved Cuckoo Algorithm","authors":"Yang Liu, Jianjun Meng, Jingnian Cao","doi":"10.3390/act12110400","DOIUrl":"https://doi.org/10.3390/act12110400","url":null,"abstract":"A rate-dependent asymmetric Prandtl–Ishilinskii (RAPI) model was proposed to tackle the serious rate-dependent hysteresis nonlinearity of the giant magnetostrictive actuator(GMA) output. First, a polynomial function was introduced based on the PI model, and hysteresis factors were introduced to the Play operator, which accurately described the asymmetrical characteristic of the actuator output. On this basis, rate-dependent parameters were added to establish a rate-dependent RAPI model. Second, an improved cuckoo search (ICS) algorithm was proposed to solve the difficulty in the parameter identification of the RAPI model. For the ICS algorithm, the algorithm stability and optimization accuracy were improved using the adaptive step (AS) strategy and bird’s nest disturbance strategy. Then, the effectiveness of the ICS algorithm was tested by comparing it with other parameter identification algorithms. Finally, the rate-dependent RAPI model was verified by combining the output data of the giant magnetostrictive actuator under different frequencies. The results show that the rate-dependent RAPI model exhibits a higher accuracy than the PI model, thus verifying the effectiveness of the rate-dependent RAPI model.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136381591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on a Variable-Stiffness Joint and Its Application in Actuators 变刚度关节及其在执行机构中的应用研究

3区工程技术

Actuators Pub Date : 2023-10-25 DOI: 10.3390/act12110397

Qi Wang, Xiaolong Lu, Peng Jiang, Chang Guo, Yalin Sun

{"title":"Research on a Variable-Stiffness Joint and Its Application in Actuators","authors":"Qi Wang, Xiaolong Lu, Peng Jiang, Chang Guo, Yalin Sun","doi":"10.3390/act12110397","DOIUrl":"https://doi.org/10.3390/act12110397","url":null,"abstract":"Variable-stiffness actuators can flexibly adjust the overall or local stiffness of a structure, thus enabling reconstruction, adaptation, and locking capabilities that can meet a wide range of task requirements. However, the programmable design and manufacture of three-dimensional (3D) variable-stiffness actuators has become a challenge. In this paper, we present a method to develop the 3D structure of variable-stiffness actuators that combines variable-stiffness joints with 3D printing technology. The variable-stiffness joints were obtained by arranging steel needles wrapped with enameled copper wire inside the grooves of a polylactic acid (PLA) structure and bonding the three components with silicone glue. First, a variable-stiffness joint was used as a variable-stiffness node and subjected to 3D printing to realize multiple 3D variable-stiffness designs and manufacture a programmable structure. Then, using the repulsive force between paired magnets, we developed a driving actuator for the 3D variable-stiffness structure, enabling the expansion and deployment functions of the structure. In addition, an electromagnetically driven mechanical gripper was designed based on variable-stiffness joints to effectively decrease the driving energy in applications where objects are held for extended periods using variable-stiffness control. Our study provides practical solutions and guidance for the development of 3D variable-stiffness actuators, contributing to the achievement of more innovative and practical actuators.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135112266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads 低摩擦路面自动驾驶汽车路径跟踪与车辆稳定性协调控制比较研究

3区工程技术

Actuators Pub Date : 2023-10-25 DOI: 10.3390/act12110398

Manbok Park, Seongjin Yim

{"title":"Comparative Study on Coordinated Control of Path Tracking and Vehicle Stability for Autonomous Vehicles on Low-Friction Roads","authors":"Manbok Park, Seongjin Yim","doi":"10.3390/act12110398","DOIUrl":"https://doi.org/10.3390/act12110398","url":null,"abstract":"This paper presents a comparative study on coordinated control of path tracking and vehicle stability for autonomous vehicles on low-friction roads. Generally, a path-tracking controller designed on high-friction roads cannot provide good performance under low-friction conditions. To cope with the problem, a coordinated control between path tracking and vehicle stability has been proposed to date. In this paper, three types of coordinated controllers are classified according to the controller structure. As an actuator, front-wheel steering, four-wheel steering, and four-wheel independent braking and driving are adopted. A common feature of these types of controllers is that front steering and yaw moment control are adopted as control inputs. To convert the yaw moment control into tire forces generated by combinations of multiple actuators, a control allocation method is applied. For each type, a controller is designed and simulated using vehicle simulation software. From the simulation results, a performance comparison among those controller types is carried out. Through comparison, it is shown that there are small differences among those types of controllers in terms of path tracking.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"33 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135112269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Two-Degrees-of-Freedom PID Control with Kalman Filter for Engraving Machine System 刻版机系统的卡尔曼滤波二自由度PID控制

3区工程技术

Actuators Pub Date : 2023-10-25 DOI: 10.3390/act12110399

Shijian Dong, Leilei Hao, Yiqin Shao, Jun Liu, Lixin Han

{"title":"Two-Degrees-of-Freedom PID Control with Kalman Filter for Engraving Machine System","authors":"Shijian Dong, Leilei Hao, Yiqin Shao, Jun Liu, Lixin Han","doi":"10.3390/act12110399","DOIUrl":"https://doi.org/10.3390/act12110399","url":null,"abstract":"For an engraving machine system with input dynamic disturbance and output random measurement noise, a two-degrees-of-freedom proportional integral derivative (2-DOF PID) control method based on the Kalman filter is firstly proposed in this paper, which can effectively reject the input disturbance and ensure the set point tracking performance of the controller. The 2-DOF controller consists of a disturbance rejection controller and a set point tracking controller. The disturbance rejection controller is composed of a PID controller based on a disturbance observer and expectation model. The parameters of the set point tracking controller are tuned using a differential evolution algorithm (DE), and the cumulative absolute error value (IAE) is used as the fitness function of the DE algorithm, which can improve the rationality of intelligent parameter tuning. In addition, the Kalman filter is also applied to deal with the output noise to suppress the influence of the output measurement uncertainty. Finally, compared with existing algorithms, the feasibility and superiority of the proposed algorithm are verified using numerical simulation and an experimental test.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"10 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135216043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0