Mechatronics最新文献

Mechatronic design of a 3 degrees of freedom parallel kinematics manipulator with integrated force plate for human balance evaluation and rehabilitation✰ 用于人体平衡评估和康复的集成受力板的 3 自由度平行运动学机械手的机电一体化设计✰

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-25 DOI: 10.1016/j.mechatronics.2024.103278

Francisco J. Campa, Mikel Diez, Javier Corral, Erik Macho, Saioa Herrero, Charles Pinto

{"title":"Mechatronic design of a 3 degrees of freedom parallel kinematics manipulator with integrated force plate for human balance evaluation and rehabilitation✰","authors":"Francisco J. Campa, Mikel Diez, Javier Corral, Erik Macho, Saioa Herrero, Charles Pinto","doi":"10.1016/j.mechatronics.2024.103278","DOIUrl":"10.1016/j.mechatronics.2024.103278","url":null,"abstract":"<div><div>One of the main sequelae of stroke is hemiparesis or partial hemiplegia. This condition causes patients to undergo lengthy rehabilitation processes to recover balance and gait. Thus, it is required to have tools to systematize rehabilitation tasks while monitoring the evolution of the patient over time. This paper presents a new prototype based on a 3PRS parallel kinematic manipulator with a force plate in the end effector to rehabilitate and evaluate balance by measuring the Center of Pressure of the patient, a widely studied parameter in the field of posturography. The prototype has been designed to be able to measure in a reliable and repeatable way and, as it is a medical device, it includes design considerations related to ease of use, visual feedback and safety. The paper describes the kinematics, dynamics, mechatronic modelling and mechanical design of the parallel kinematics machine, as well as the design of the force plate in charge of determining the location of the Center of Pressure. Also, a formulation is proposed to correct the influence of the inertial and gravitatory forces on the top plate during the motion of the platform on the measurement. Finally, the prototype has been evaluated experimentally to compare the motion with the developed models and to determine the precision and robustness against noise and motion related effects.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"105 ","pages":"Article 103278"},"PeriodicalIF":3.1,"publicationDate":"2024-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142705509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Spatio-temporal modeling for overactuated motion control 过动运动控制的时空建模

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-20 DOI: 10.1016/j.mechatronics.2024.103270

Paul Tacx , Matthijs van de Vosse , Robbert Voorhoeve , Gert Witvoet , Marcel Heertjes , Tom Oomen

引用次数: 0

FPAA-based control of a high-speed flexure-guided AFM nanopositioner 基于 FPAA 的高速挠性制导 AFM 纳米定位器控制技术

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-16 DOI: 10.1016/j.mechatronics.2024.103268

Erfan Khodabakhshi, S.O. Reza Moheimani

{"title":"FPAA-based control of a high-speed flexure-guided AFM nanopositioner","authors":"Erfan Khodabakhshi, S.O. Reza Moheimani","doi":"10.1016/j.mechatronics.2024.103268","DOIUrl":"10.1016/j.mechatronics.2024.103268","url":null,"abstract":"<div><div>This paper presents the design, characterization, and control of a novel flexure-guided piezoelectrically actuated atomic force microscope (AFM) nanopositioner. The planar scanner achieves a scan range of <span><math><mrow><mn>5</mn><mo>.</mo><mn>8</mn><mo>,</mo><mi>μ</mi><mi>m</mi></mrow></math></span> in both X- and Y-directions with a first resonance frequency above <span><math><mrow><mn>15</mn><mspace></mspace><mi>kHz</mi></mrow></math></span>. Lateral displacements are measured using an interferometer sensor. A signal-transformation-based control technique and a signal pre-shaping method are explored to enhance raster scanning. An integral resonant controller (IRC) increases closed-loop bandwidth by damping the scanner’s fast axis dominant mode. Since the high-bandwidth system requires a high sampling rate, the IRC scheme is implemented using a field-programmable analog array (FPAA). The tracking performance is improved by a double integrator. The effectiveness of the signal transformation approach (STA) with the pre-shaping method in the closed-loop system is investigated. Tracking errors at frequencies from <span><math><mrow><mn>10</mn><mspace></mspace><mi>Hz</mi></mrow></math></span> to <span><math><mrow><mn>300</mn><mspace></mspace><mi>Hz</mi></mrow></math></span> maintained RMS values below <span><math><mrow><mn>50</mn><mspace></mspace><mi>nm</mi></mrow></math></span>. Results demonstrate the technique’s success, achieving rapid time-lapse AFM imaging at 10 frames per second over a <span><math><mrow><mn>2</mn><mspace></mspace><mi>μ</mi><mi>m</mi><mo>×</mo><mn>2</mn><mspace></mspace><mi>μ</mi><mi>m</mi></mrow></math></span> scan area.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103268"},"PeriodicalIF":3.1,"publicationDate":"2024-11-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression 基于双气门并联和自适应偏心扭矩抑制的多气缸调平控制系统

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-09 DOI: 10.1016/j.mechatronics.2024.103269

Heng Du , Ye Wu , Zhizhong Zhang , Qigang Wang , Jiahe Luo , Jinghui Fang

{"title":"Multi-cylinder leveling control systems based on dual-valve parallel and adaptive eccentric torque suppression","authors":"Heng Du , Ye Wu , Zhizhong Zhang , Qigang Wang , Jiahe Luo , Jinghui Fang","doi":"10.1016/j.mechatronics.2024.103269","DOIUrl":"10.1016/j.mechatronics.2024.103269","url":null,"abstract":"<div><div>In the composite material hydraulic press, the mismatched velocities between the movable beam and the multiple leveling cylinders produce disturbing superfluous forces, and the eccentric torque causes the movable beam to tilt when pressed. They severely damage the leveling displacement accuracy and limit the implementation of muti-cylinder system in higher precision field. A dual-loop leveling control strategy is proposed, comprising a dual-valve parallel pressure inner loop and an adaptive control displacement outer loop. Firstly, a dual-valve parallel scheme is proposed in the pressure inner loop, where a compensation valve is added in parallel with the original single-valve. A variable compensation valve spool algorithm is designed, considering both velocity and displacement to mitigate the effects of superfluous forces and achieve precise and smooth leveling. Secondly, a control strategy for the adaptive displacement outer loop is designed to estimate and compensate for eccentric torque. An innovative torque decoupling algorithm is formulated to overcome the challenge of indeterminate coupling relations between inner and outer loops caused by the adaptive incorporation of dual-loop control. Then, eccentric load compensation torque is decoupled to the multiple leveling cylinders and derives the desired pressure for the inner loop. The inner loop suppresses the disturbance of eccentric torque to enhance robust leveling precision. Finally, the effectiveness of the proposed strategy was validated through experimentation on the constructed hydraulic press leveling system test bench. The control strategy presented in this paper provides a reference for achieving smooth and precise control in multi-cylinder systems.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103269"},"PeriodicalIF":3.1,"publicationDate":"2024-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142650765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active safety control for distributed drive electric vehicle with unilateral motor fault based on mechanical redundancy 基于机械冗余的分布式驱动电动汽车单侧电机故障主动安全控制系统

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-06 DOI: 10.1016/j.mechatronics.2024.103266

Changan Ren , Lipeng Zhang , Minghan Chen , Yang Zhang , Minghui Zhao

{"title":"Active safety control for distributed drive electric vehicle with unilateral motor fault based on mechanical redundancy","authors":"Changan Ren , Lipeng Zhang , Minghan Chen , Yang Zhang , Minghui Zhao","doi":"10.1016/j.mechatronics.2024.103266","DOIUrl":"10.1016/j.mechatronics.2024.103266","url":null,"abstract":"<div><div>Distributed drive can significantly improve the dynamics performance of electric vehicles. However, once the drive motor fails, it will cause harm to passengers and the surrounding environment. To solve the above problems, an active safety control method is proposed based on the mechanical redundancy of a centralized and distributed coupling transmission, which can switch the vehicle drive mode from two motors distributed drive to one motor centralized drive. Regarding fault diagnosis, a motor torque observer is established based on the coupling relationship between the steering system and the drive system to address motor communication faults. To reduce the risk of misdiagnosis, a combined fault diagnosis strategy that considers both torque difference and torque change rate is proposed. The effectiveness of the method is proved by simulation and real vehicle tests. In the aspect of safety control, a fast mode switching method from the distributed drive to the centralized drive is proposed. The test results show that the shift time of the fast mode switching method is reduced by 13 % compared with the traditional switching method, which can reduce the time of power interruption and quickly restore the driving force to ensure the vehicle safety.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103266"},"PeriodicalIF":3.1,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142594141","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Recursive terminal sliding mode control for the 3D overhead crane systems with motion planning 带运动规划的三维桥式起重机系统的递归终端滑模控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-11-05 DOI: 10.1016/j.mechatronics.2024.103267

Shourui Wang, Wuyin Jin

{"title":"Recursive terminal sliding mode control for the 3D overhead crane systems with motion planning","authors":"Shourui Wang, Wuyin Jin","doi":"10.1016/j.mechatronics.2024.103267","DOIUrl":"10.1016/j.mechatronics.2024.103267","url":null,"abstract":"<div><div>In practical scenarios, the unexpected payload swinging of a 3D overhead crane can significantly diminish transportation efficiency and safety. To enhance transportation efficiency and address payload oscillation challenges inherent in 3D overhead crane systems, a novel recursive terminal sliding mode control strategy integrated with motion planning is presented in this work. Specifically, to reconcile the dual objectives of optimizing operational efficiency while mitigating payload swing, a novel smooth S-shaped reference trajectory is introduced, and a recursive terminal sliding mode controller is devised to trace this trajectory, incorporating the construction of a recursive sliding mode surface that combines swing angle and displacement deviation. Finally, the proposed method is validated through a series of numerical simulations and experimental trials. The outcomes highlight the robustness of the proposed controller, facilitating swift tracking of reference trajectory even in the presence of nonzero initial conditions or external disturbances. Notably, by significantly reducing payload swing angles, the proposed approach enhances transportation safety.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103267"},"PeriodicalIF":3.1,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142594140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation 具有交互阻抗适应性的弹性致动器刚性容错控制策略

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-10-28 DOI: 10.1016/j.mechatronics.2024.103265

Rodrigo J. Velasco-Guillen , Raphaël Furnémont , Tom Verstraten , Bram Vanderborght , Josep M. Font-Llagunes , Philipp Beckerle

{"title":"Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation","authors":"Rodrigo J. Velasco-Guillen , Raphaël Furnémont , Tom Verstraten , Bram Vanderborght , Josep M. Font-Llagunes , Philipp Beckerle","doi":"10.1016/j.mechatronics.2024.103265","DOIUrl":"10.1016/j.mechatronics.2024.103265","url":null,"abstract":"<div><div>Elastic actuators have the potential to enable safe interaction and energy efficient mobility, making them suitable for physical human–robot interaction. However, their increased complexity makes technical faults and their prevention a relevant research topic, particularly considering faults in elastic and kinematic elements. In this article we investigate a stiffness-fault-tolerant control strategy for elastic actuators, based on impedance control, which compensates for internal faults and adapts to a desired interaction impedance behavior. We analyze the control strategy regarding its stability, and adapt it to the dynamic characteristics of two systems: a mechanically adjustable compliance actuator (MACCEPA) and a series–parallel elastic actuator (+SPEA), highlighting the strategy’s general applicability to multiple actuator designs, considering nonlinear and redundant characteristics. Experimental validation with these systems shows that the control strategy is capable of accurately tracking reference output trajectories and adapting interaction characteristics, under fault and disturbance conditions, showcasing the versatile applicability of the strategy while achieving fault-tolerance.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103265"},"PeriodicalIF":3.1,"publicationDate":"2024-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142534170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Wavelet-packet-transform-based identification of motor systems 基于小波包变换的电机系统识别

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-10-24 DOI: 10.1016/j.mechatronics.2024.103264

Zhengfeng Huang , Beili Gong

引用次数: 0

A joint acceleration planning method for inverse kinematics of manipulator based on second-order system with variable impedance 基于二阶可变阻抗系统的机械手逆运动学关节加速度规划方法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-10-21 DOI: 10.1016/j.mechatronics.2024.103263

Mingda Ge , Hongzhe Jin , Hui Zhang , Jizhuang Fan , Jie Zhao

引用次数: 0

CRTF-MoeICP: A robust coarse-to-fine reflector-based LiDAR indoor positioning algorithm CRTF-MoeICP：基于反射器的鲁棒粗到细激光雷达室内定位算法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-10-19 DOI: 10.1016/j.mechatronics.2024.103259

Ming Yao , Zhufeng Shao , Yunzhou Su , Dehao Wei , Fumin Zhang , Liping Wang

{"title":"CRTF-MoeICP: A robust coarse-to-fine reflector-based LiDAR indoor positioning algorithm","authors":"Ming Yao , Zhufeng Shao , Yunzhou Su , Dehao Wei , Fumin Zhang , Liping Wang","doi":"10.1016/j.mechatronics.2024.103259","DOIUrl":"10.1016/j.mechatronics.2024.103259","url":null,"abstract":"<div><div>The reflector-based Light Detection and Ranging (LiDAR) positioning method is susceptible to environmental interferences, resulting in instability. This instability not only reduces movement accuracy but also poses safety hazards. To solve the above problems in the application of LiDAR sensors in the field of indoor positioning, we propose a <u>C</u>oarse <u>R</u>egistration algorithm based on the <u>T</u>riangular <u>F</u>eature (CRTF) and a fine registration algorithm based on <u>M</u>ulti-level <u>o</u>utlier <u>e</u>limination and <u>I</u>terative <u>C</u>losest <u>P</u>oint (MoeICP) for the reflector-based LiDAR positioning. The proposed coarse-to-fine positioning algorithm CRTF-MoeICP addresses the issue of reflector-based LiDAR positioning failure arising from the improper selection of the initial transformation matrix and outlier interference in indoor structured industrial environments. The experiment results show that the CRTF-MoeICP algorithm can ensure the stable registration of the LiDAR point cloud and the reflector map by completely removing all outliers, greatly improving the indoor positioning stability of LiDAR sensors. Besides, the proposed algorithm can be realized by LiDARs with different performance, and improve the static positioning repeatability to ±3 mm. The high precision and stable positioning results improve the motion accuracy, ensuring that the Automatic Guided Vehicle (AGV) can accurately and stably complete the handling task.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"104 ","pages":"Article 103259"},"PeriodicalIF":3.1,"publicationDate":"2024-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142534167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0