Mechatronics最新文献

Magnetic equivalent circuit modeling of a permanent magnet linear synchronous motor composed of curved segments 由曲线段组成的永磁直线同步电机的磁等效电路建模

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-09-30 DOI: 10.1016/j.mechatronics.2024.103256

引用次数: 0

Understanding friction and superelasticity in tendon-driven continuum robots 了解肌腱驱动连续机器人中的摩擦和超弹性

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-09-05 DOI: 10.1016/j.mechatronics.2024.103241

{"title":"Understanding friction and superelasticity in tendon-driven continuum robots","authors":"","doi":"10.1016/j.mechatronics.2024.103241","DOIUrl":"10.1016/j.mechatronics.2024.103241","url":null,"abstract":"<div><p>Tendon-driven continuum robots are conventionally modeled with either discrete or differential representations of their shapes, which neglect the physical design of the robot itself. As each segment of these robotic systems is usually realized by alternating compliant elements and rigid disks for tendon routing, these discontinuities cause non-negligible position and orientation errors. Although the factors that cause these curvature errors have often been identified in the mechanical behavior of the compliant element (usually made of superelastic alloys), tendon routing, and friction, no study available in the open literature gives a satisfactory explanation of these phenomena. In this article, a Finite Element (FE) model is proposed in conjunction with a bottom-up approach to study the physical behavior of this class of robots and ultimately to quantify the impact of these factors on the shape of a tendon-driven continuum robot. The model proved capable of approximating the experimental data with good accuracy, showing an average percentage error of 0.80% and a peak percentage error at the maximum curvature of the continuum robot of 1.30%, significantly smaller than the average error of 4.1% and peak error of 13.86% obtained with a conventional model.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824001065/pdfft?md5=7183d1ac1de5f156425285c5e712bf58&pid=1-s2.0-S0957415824001065-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151828","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

FalconScan: A hybrid UAV-crawler system for NDT inspection of elevated pipes in industrial plants FalconScan：用于工业厂房高架管道无损检测的无人机-爬虫混合系统

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-30 DOI: 10.1016/j.mechatronics.2024.103239

引用次数: 0

A robust design of time-varying internal model principle-based control for ultra-precision tracking in a direct-drive servo stage 基于时变内部模型原理的稳健控制设计，用于直接驱动伺服平台的超精确跟踪

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-28 DOI: 10.1016/j.mechatronics.2024.103249

{"title":"A robust design of time-varying internal model principle-based control for ultra-precision tracking in a direct-drive servo stage","authors":"","doi":"10.1016/j.mechatronics.2024.103249","DOIUrl":"10.1016/j.mechatronics.2024.103249","url":null,"abstract":"<div><p>This paper proposes a robust design of the time-varying internal model principle-based control (TV-IMPC) for tracking sophisticated references generated by linear time-varying (LTV) autonomous systems. The existing TV-IMPC design usually requires a complete knowledge of the plant I/O (input/output) model, leading to the lack of structural robustness. To tackle this issue, we, in this paper, design a gray-box extended state observer (ESO) to estimate and compensate unknown model uncertainties and external disturbances. By means of the ESO feedback, the plant model is kept as nominal, and hence the structural robustness is achieved for the time-varying internal model. It is shown that the proposed design has bounded ESO estimation errors, which can be further adjusted by modifying the corresponding control gains. To stabilize the ESO-based TV-IMPC, a time-varying stabilizer is developed by employing Linear Matrix Inequalities (LMIs). Extensive simulation and experimental studies are conducted on a direct-drive servo stage to validate the proposed robust TV-IMPC with ultra-precision tracking performance (<span><math><mrow><mo>∼</mo><mn>60</mn><mspace></mspace><mi>nm</mi></mrow></math></span> RMSE out of <span><math><mrow><mo>±</mo><mn>80</mn><mspace></mspace><mi>mm</mi></mrow></math></span> stroke).</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142088297","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

An active SLAM with multi-sensor fusion for snake robots based on deep reinforcement learning 基于深度强化学习的蛇形机器人多传感器融合主动式 SLAM

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-23 DOI: 10.1016/j.mechatronics.2024.103248

{"title":"An active SLAM with multi-sensor fusion for snake robots based on deep reinforcement learning","authors":"","doi":"10.1016/j.mechatronics.2024.103248","DOIUrl":"10.1016/j.mechatronics.2024.103248","url":null,"abstract":"<div><p>Snake-like robots can imitate the movement patterns of animals in nature and enter the space that traditional robots cannot enter, which adapt to environments that humans cannot reach, and expand the field of human exploration. However, it is often challenging to realize autonomous navigation and simultaneously avoid obstacles under an unknown environment, that is, active SLAM (Simultaneous Localization and Mapping). This paper proposes an autonomous obstacle avoidance method combined with SLAM based on deep reinforcement learning for a wheeled snake robot by using a multi-sensor. Firstly, we design a modular wheeled snake robot structure with lightweight materials based on orthogonal joints and build a three-dimensional model of a snake robot in Gazebo. Secondly, the SLAM based on two-dimensional LiDAR and IMU is used to realize autonomous navigation under an unknown environment and detect obstacles. At the same time, a Deep Q-Learning-based path planning method of the snake robot is proposed to realize obstacles avoidance during navigation. Finally, simulation studies and experiments show that the designed snake-like robot can realize effective path planning and environmental mapping in environments with obstacles. The proposed active SLAM algorithm improves the success rate of snake-like robot path planning, has better obstacle avoidance ability for obstacles, and reduces the number of collisions compared with the traditional A* and the sampling-based RRT* algorithms.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142050119","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

DBSCAN and Yolov5 based 3D object detection and its adaptation to a mobile platform 基于 DBSCAN 和 Yolov5 的 3D 物体检测及其与移动平台的适配

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-15 DOI: 10.1016/j.mechatronics.2024.103238

引用次数: 0

Modular redesign of mechatronic systems: Formulation of module specifications guaranteeing system dynamics specifications 机电一体化系统的模块化再设计：制定模块规格，保证系统动态规格

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-12 DOI: 10.1016/j.mechatronics.2024.103236

{"title":"Modular redesign of mechatronic systems: Formulation of module specifications guaranteeing system dynamics specifications","authors":"","doi":"10.1016/j.mechatronics.2024.103236","DOIUrl":"10.1016/j.mechatronics.2024.103236","url":null,"abstract":"<div><p>Complex mechatronic systems are typically composed of interconnected modules, often developed by independent teams. This development process challenges the verification of system specifications before all modules are integrated. To address this challenge, a modular redesign framework is proposed in this paper. Herein, first, allowed changes in the dynamics (represented by frequency response functions (FRFs)) of the redesigned system are defined with respect to the original system model, which already satisfies system specifications. Second, these allowed changes in the overall system dynamics (or system redesign specifications) are automatically translated to dynamics (FRF) specifications on module level that, when satisfied, guarantee overall system dynamics (FRF) specifications. This modularity in specification management supports local analysis and verification of module design changes, enabling design teams to work in parallel without the need to iteratively rebuild the system model to check fulfilment of system FRF specifications. A modular redesign process results that shortens time-to-market and decreases redesign costs. The framework’s effectiveness is demonstrated through three examples of increasing complexity, highlighting its potential to enable modular mechatronic system (re)design.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824001016/pdfft?md5=a0a9e9fccc121d8202126ea20ee38a87&pid=1-s2.0-S0957415824001016-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141964572","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

SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions 超人：在胡曼-机器人联合行动中提供物理辅助的超数机器人机构

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-12 DOI: 10.1016/j.mechatronics.2024.103240

{"title":"SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions","authors":"","doi":"10.1016/j.mechatronics.2024.103240","DOIUrl":"10.1016/j.mechatronics.2024.103240","url":null,"abstract":"<div><p>This paper presents a mobile supernumerary robotic approach to physical assistance in human–robot conjoined actions. The study starts with the description of the SUPER-MAN concept. The idea is to develop and utilize mobile collaborative systems that can follow human loco-manipulation commands to perform industrial tasks through three main components: (i) an admittance-type interface, (ii) a human–robot interaction controller and (iii) a supernumerary robotic body. Next, we present two possible implementations within the framework — from theoretical and hardware perspectives. The first system is called MOCA-MAN, and is composed of a redundant torque-controlled robotic arm and an omni-directional mobile platform. The second one is called Kairos-MAN, formed by a high-payload 6-DoF velocity-controlled robotic arm and an omni-directional mobile platform. The systems share the same admittance interface, through which user wrenches are translated to loco-manipulation commands, generated by whole-body controllers of each system. Besides, a thorough user-study with multiple and cross-gender subjects is presented to reveal the quantitative performance of the two systems in effort demanding and dexterous tasks. Moreover, we provide qualitative results from the NASA-TLX questionnaire to demonstrate the SUPER-MAN approach’s potential and its acceptability from the users’ viewpoint.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141964571","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

Design and testing of double-wishbone suspension for enhanced outdoor maneuver stability of a six-wheeled mobile robot 设计和测试双叉臂悬架，增强六轮移动机器人的户外机动稳定性

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-12 DOI: 10.1016/j.mechatronics.2024.103237

{"title":"Design and testing of double-wishbone suspension for enhanced outdoor maneuver stability of a six-wheeled mobile robot","authors":"","doi":"10.1016/j.mechatronics.2024.103237","DOIUrl":"10.1016/j.mechatronics.2024.103237","url":null,"abstract":"<div><p>Ensuring driving stability in wheeled mobile robots (WMRs) within dynamic environments is crucial for reliable navigation. This study presents the design and testing of a double-wishbone suspension (DWS), which is specifically tailored for a highly maneuverable six-WMR configuration, to address stability challenges in unstructured terrains. During the suspension design phase, critical factors such as the link length, position of shock absorber, spring and damping coefficients, and roll center location were optimized using the non-dominated sorting genetic algorithm (NSGA). The proposed DWS module ensures robust and stable driving performance for medium-sized WMRs. It effectively reduces rollovers and external shocks on uneven terrains while maintaining consistent traction across all wheels. Unlike current applications of the DWS in robotics, all the optimized parameters of the DWS with the NSGA algorithm are tailored for high-speed travel and are proficient at absorbing impacts that are encountered during outdoor driving. For practical implementation, a fabricated platform with optimal design parameters was subjected to field tests to evaluate its driving performance, both in prolonged driving on a circular route and in outdoor settings, with bumpy obstacles. The study presents a comprehensive stability analysis of the DWS and the proposed mobile robot, with a specific emphasis on rollover scenarios. The experimental results unequivocally demonstrated that the six-WMR equipped with the proposed DWS outperforms its counterpart without the DWS. This study highlights the reliability of the proposed DWS in the six-WMR configuration for efficient outdoor operations in unstructured terrains.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.1,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141964544","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

Implementation of a multi-drone system for UWB-based onboard localization with free structural anchors 利用自由结构锚实施基于 UWB 的机载定位多无人机系统

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-08 DOI: 10.1016/j.mechatronics.2024.103234

引用次数: 0