Actuators最新文献_第3页

Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation 基于 Cosserat Rod 的机器人辅助心脏消融混合动力软机器人动态建模

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-23 DOI: 10.3390/act13010008

Majid Roshanfar, Javad Dargahi, Amir Hooshiar

{"title":"Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation","authors":"Majid Roshanfar, Javad Dargahi, Amir Hooshiar","doi":"10.3390/act13010008","DOIUrl":"https://doi.org/10.3390/act13010008","url":null,"abstract":"Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate modeling of soft robots. In response, a hybrid-actuated soft robot employing both air pressure and tendons was proposed, modeled, and validated using the dynamic Cosserat rod theory. This approach comprehensively addresses various aspects of deformation, including bending, torsion, shear, and extension. The designed robot was intended for robot-assisted cardiac ablation, a minimally invasive procedure that is used to treat cardiac arrhythmias. Within the framework of the Cosserat model, dynamic equations were discretized over time, and ordinary differential equations (ODEs) were solved at each time step. These equations of motion facilitated the prediction of the robot’s response to different control inputs, such as the air pressure and tension applied to the tendons. Experimental studies were conducted on a physical prototype to examine the accuracy of the model. The experiments covered a tension range of 0 to 3 N for each tendon and an air pressure range of 0 to 40 kPa for the central chamber. The results confirmed the accuracy of the model, demonstrating that the dynamic equations successfully predicted the robot’s motion in response to diverse control inputs.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"39 1","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139162875","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

Reduced-Order Observer-Based Position Control of a Magnetic-Geared Servo Drive 基于降序观测器的磁齿轮伺服驱动器位置控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-22 DOI: 10.3390/act13010006

Nardi Verbanac, G. Jungmayr, E. Marth, N. Bulić

引用次数: 0

Design and Analysis of Variable-Stiffness Fast-Steering Mirror 可变刚度快速转向镜的设计与分析

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-22 DOI: 10.3390/act13010005

Jin Luo, Yao Mao, Wang Dai, Feixiang Yang, Luyao Zhang, Li Miao

引用次数: 0

Minimal Bio-Inspired Crawling Robots with Motion Control Capabilities 具有运动控制能力的微型生物启发式爬行机器人

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-22 DOI: 10.3390/act13010004

Jintian Wu, Mingyi Liu, D. Padovani

引用次数: 0

Fixed-Time Stabilization of a Class of Stochastic Nonlinear Systems 一类随机非线性系统的固定时间稳定性

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-22 DOI: 10.3390/act13010003

Zhenzhen Long, Wen Zhou, Liandi Fang, Daohong Zhu

引用次数: 0

Lateral Trajectory Tracking of Self-Driving Vehicles Based on Sliding Mode and Fractional-Order Proportional-Integral-Derivative Control 基于滑动模式和分数阶比例-积分-微分控制的自动驾驶汽车横向轨迹跟踪

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-22 DOI: 10.3390/act13010007

Xiqing Zhang, Jin Li, Zhiguang Ma, Dianmin Chen, Xiaoxu Zhou

{"title":"Lateral Trajectory Tracking of Self-Driving Vehicles Based on Sliding Mode and Fractional-Order Proportional-Integral-Derivative Control","authors":"Xiqing Zhang, Jin Li, Zhiguang Ma, Dianmin Chen, Xiaoxu Zhou","doi":"10.3390/act13010007","DOIUrl":"https://doi.org/10.3390/act13010007","url":null,"abstract":"The tracking accuracy and vehicle stability of self-driving trajectory tracking are particularly important. Due to the influence of high-frequency oscillation near the sliding mode surface and the modeling error of the single-point preview model itself when using sliding mode control (SMC) for the trajectory tracking lateral control of self-driving vehicles, the desired tracking effect of self-driving vehicles cannot be achieved. To address this problem, a combination of sliding mode control and fractional-order proportional-integral-derivative control (FOPID) is proposed for the application of a trajectory tracking lateral controller. In addition, in order to compare with the trajectory tracking controller built using the single-point preview model, 12 real drivers with different levels of proficiency were selected for operational data collection and comparison. The simulation results and hardware-in-the-loop results show that the designed SMC + FOPID controller has high tracking accuracy based on vehicle stability. The trajectory accuracy based on SMC + FOPID outperforms the real driver data, SMC controller, PID controller, and model prediction controller.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"6 4","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138947814","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

Observer-Based Nonlinear Proportional–Integral–Integral Speed Control for Servo Drive Applications via Order Reduction Technique 通过阶次减少技术实现伺服驱动器应用中基于观测器的非线性比例-积分-积分速度控制

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-21 DOI: 10.3390/act13010002

Yonghun Kim, Hyunho Ye, Sun Lim, Seok‐Kyoon Kim

引用次数: 0

Effects of Macro-Pitting Fault on Dynamic Characteristics of Planetary Gear Train Considering Surface Roughness 考虑表面粗糙度的宏观点蚀故障对行星齿轮系动态特性的影响

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-19 DOI: 10.3390/act13010001

Ronghui Li, Xin Xiong, Jun Ma, Mengting Zou

{"title":"Effects of Macro-Pitting Fault on Dynamic Characteristics of Planetary Gear Train Considering Surface Roughness","authors":"Ronghui Li, Xin Xiong, Jun Ma, Mengting Zou","doi":"10.3390/act13010001","DOIUrl":"https://doi.org/10.3390/act13010001","url":null,"abstract":"The planetary gearbox plays a vital role in a wide range of mechanical power transmission systems, including high-speed trains, wind turbines, vehicles, and aircraft. At the same time, the planetary gear train inside the gearbox is regarded as the most susceptible to failure in the entire transmission system. To analyze the influence of surface roughness on the dynamic characteristics of the planetary gear train, a dynamic modeling method based on fractal theory is proposed. Firstly, the tooth surface contact model was established based on the W-M fractal function, and the time-varying mesh stiffness (TVMS) of the planetary gear train was calculated under healthy and tooth macro-pitting. Then, the lumped-parameter method is introduced to construct a planetary gear train translation-torsion dynamic model that comprehensively considers TVMS and tooth backlash. The vibration acceleration signals of the planetary gear train under different macro-pitting states and surface roughness are simulated and calculated, allowing a quantificative analysis of the influence of surface roughness on system vibration response. Finally, the correctness of the model for the planetary gear train is verified by experiments. The results show that compared with the planetary gear train modeling method based on Hertz contact theory, the root mean squared error of the vibration signal of this work under a macro-pitting fault state is reduced by 8.7%, further improving the reliability of the model.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":" 74","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138961113","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 the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines 高压输电线路双臂轮式巡检机器人的防摆动控制方法研究

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-18 DOI: 10.3390/act12120472

Zhiyong Yang, Kai Yan, Ziyu Zhang, Hua Duan, Xing Liu, Yi Li, Daode Zhang, Yu Yan, Shaosheng Fan

{"title":"Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines","authors":"Zhiyong Yang, Kai Yan, Ziyu Zhang, Hua Duan, Xing Liu, Yi Li, Daode Zhang, Yu Yan, Shaosheng Fan","doi":"10.3390/act12120472","DOIUrl":"https://doi.org/10.3390/act12120472","url":null,"abstract":"This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"69 ","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139176075","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

Vibration Suppression of a Flexible Beam Structure Coupled with Liquid Sloshing via ADP Control Based on FBG Strain Measurement 通过基于 FBG 应变测量的 ADP 控制抑制与液体滑动耦合的柔性梁结构的振动

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-17 DOI: 10.3390/act12120471

Chunyang Kong, Dangjun Zhao, Buge Liang

{"title":"Vibration Suppression of a Flexible Beam Structure Coupled with Liquid Sloshing via ADP Control Based on FBG Strain Measurement","authors":"Chunyang Kong, Dangjun Zhao, Buge Liang","doi":"10.3390/act12120471","DOIUrl":"https://doi.org/10.3390/act12120471","url":null,"abstract":"In this study, an adaptive dynamic programming (ADP) control strategy based on the strain measurement of a fiber Bragg grating (FGB) sensor array is proposed for the vibration suppression of a complicated flexible-sloshing coupled system, which usually exists in aerospace engineering, such as launch vehicles with a large amount of liquid propellant as well as a flexible beam structure. To simplify the flexible-sloshing coupled dynamics model, the equivalent spring-mass-damper (SMD) model of liquid sloshing is employed, and a finite-element method (FEM) dynamic model for the beam structure coupled with the liquid sloshing is mathematically established. Then, a strain-based vibration dynamic model is derived by employing a transformation matrix based on the relationship between displacement and strain of the beam structure. To facilitate the design of a strain-based control, a tracking differentiator is designed to provide the strains’ derivative signals as partial states’ estimations. Feeding the system with the strain measurements and their derivatives’ estimations, an ADP controller with an action-dependent heuristic dynamic programming structure is proposed to suppress the vibration of the flexible-sloshing coupled system, and the corresponding Lyapunov stability of the closed-loop system is theoretically guaranteed. Numerical results show the proposed method can effectively suppress coupled vibration depending on limited strain measurements irrespective of external disturbances.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"16 4","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138966256","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