Actuators最新文献_第3页

Mechanism and Experimental Investigation of Vibration Reduction for Container Cranes Based on Particle Damping Technology 基于颗粒阻尼技术的集装箱起重机减振机理与实验研究

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-28 DOI: 10.3390/act13010011

Fangping Ye, Xinyi Xue, Weijie Jiang, Xiyan Yin

{"title":"Mechanism and Experimental Investigation of Vibration Reduction for Container Cranes Based on Particle Damping Technology","authors":"Fangping Ye, Xinyi Xue, Weijie Jiang, Xiyan Yin","doi":"10.3390/act13010011","DOIUrl":"https://doi.org/10.3390/act13010011","url":null,"abstract":"Container cranes have been widely used for port operation. However, the structure of the port container crane is large, which always leads to crane damage under vibration and strong wind. Therefore, a method for vibration reduction of container crane structure based on particle damping technology is proposed. In this investigation, the scale 1:80 crane model is built, and the equivalent mechanical model is also established to preliminarily verify the effect of vibration suppression. Furthermore, the dependence of vibration suppression effect on the key parameters of the damper, i.e., filling material, filling rate, particle size, and installation position of dampers are analyzed through experiments. The results indicate that the vibration peak of the crane structure displayed in the Simulink oscilloscope is weakened and lags behind, the installation of the damper brings the effect of vibration suppression for the crane, and the vibration suppression effect reaches 25%; the crane mode obtains the best vibration suppression effect under the condition that the material filled in the damper has a large density and elastic modulus, sufficient collision space and high collision frequency, and the dampers are installed far away from the crane center of gravity. The optimum parameters of the damper obtained from experiments were 12 mm lead beads, a filling rate of 60%, installed in the distal ends within the strength range of the forearm of the crane. It is thus concluded that particle damping technology has provided an effective way of wind and vibration reduction for container cranes.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"31 7","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139151544","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

Man-Power-Amplifying Exoskeleton with Pneumatic Actuator 带气动执行器的人力放大外骨骼

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-28 DOI: 10.3390/act13010012

F. Durante, T. Raparelli, P. Beomonte Zobel

{"title":"Man-Power-Amplifying Exoskeleton with Pneumatic Actuator","authors":"F. Durante, T. Raparelli, P. Beomonte Zobel","doi":"10.3390/act13010012","DOIUrl":"https://doi.org/10.3390/act13010012","url":null,"abstract":"This study describes the activity of developing a force amplifier exoskeleton with one degree of freedom. The system was developed as a research prototype to conduct control system studies. The device consists of an arm with a pneumatic cylinder actuator controlled by a pressure regulator. As for the human–machine interface, the system has a force sensor. The idea is to verify the possibility of developing a simple system from the sensor system’s point of view and the control system’s architecture while simultaneously obtaining an effective, economical, and reliable device. The idea developed in this project is to use the user’s available ability to control movements in unknown environments. The user constitutes the central part of the entire control system: he defines the references for the speeds and forces to be applied to the environment and observes the rates of the controlled robotic system through his own sight and proprioceptive system. On the other hand, the machine produces and controls the forces applied to the environment by the actuator. In this way, the device shows an increased admittance. A mathematical system model was created to verify the idea’s feasibility. Following the results of the simulations, a prototype was built on which experimental tests were carried out. As stated above, it was possible to obtain the described behavior with the use of a force sensor, one-axis type, interposed between the machine and the user, to constitute the human–machine interface; using a pressure regulator, it was possible to avoid the sensors for the force feedback by the environment. The result is a simple architecture for the sensors and the control algorithm. Specific test protocols were proposed to test the performance of the human–machine “system”, and a test bench was developed that allows the tracking of variable signals represented on a monitor, which the user must follow. The system is intuitive to use, with a rapid learning curve, and the user can handle high loads according to the different signals to be followed with good precision, even at high speeds.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"298 7","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139152501","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 Damping and Noise Reduction of a New Non-Newtonian Fluid Damper in a Washing Machine 新型非牛顿流体阻尼器在洗衣机中的减振降噪效果

IF 2.6 3区工程技术

Actuators Pub Date : 2023-12-23 DOI: 10.3390/act13010009

Yuanjin Song, Zhuang Zhong, Xianping Wang, Qianfeng Fang, Zhijun Cheng, Tao Zhang

{"title":"Vibration Damping and Noise Reduction of a New Non-Newtonian Fluid Damper in a Washing Machine","authors":"Yuanjin Song, Zhuang Zhong, Xianping Wang, Qianfeng Fang, Zhijun Cheng, Tao Zhang","doi":"10.3390/act13010009","DOIUrl":"https://doi.org/10.3390/act13010009","url":null,"abstract":"Due to friction vibration dampers’ inability to effectively dampen low loads during high-frequency dewatering, drum washing machines vibrated intensively. In order to address this problem, in this paper, a novel type of low-cost non-Newtonian fluid damper is proposed and investigated based on the non-Newtonian fluid shear thinning properties’ effect on vibration suppression during the high-frequency dewatering process of the washing machine. In contrast to other commonly used dampers, the homemade non-Newtonian fluid damper significantly suppresses the growth trend of the apparent elastic coefficient at high frequencies. A systematic investigation of damper structural parameters reveals that smaller gap height, higher piston head number, and more viscous fluid viscosity are adequate for vibration suppression and noise reduction. These results demonstrate that the non-Newtonian fluid damper can produce an excellent vibration-damping effect for the entire washing process of the washing machine, especially for the high-frequency dewatering process. The acceleration attenuation ratio can reach up to 83.49%, the energy attenuation is up to 98.44%, and the noise reduction is up to 10.38 dB.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":"6 8","pages":""},"PeriodicalIF":2.6,"publicationDate":"2023-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139161465","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

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