Mechatronics最新文献

{"title":"Performance analysis of a double butterfly piezoelectric actuator in different motion modes","authors":"Tianwei Liang ,&nbsp;Jingshi Dong ,&nbsp;Hu Huang ,&nbsp;Jiru Wang ,&nbsp;Hongwei Zhao","doi":"10.1016/j.mechatronics.2023.103092","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103092","url":null,"abstract":"<div><p>In this article, a novel double-butterfly piezoelectric actuator in view of the stick-slip principle is purposed. By applying sawtooth waves with different periods and phases, the two motion modes of double-butterfly synchronous motion and alternating stepping motion can be realized. Further, the overall architecture design was carried out, the static characteristics of the butterfly stator and the modal analysis of the whole machine were studied by the finite element method, a prototype was made, a performance test system was built and a range of experiments were carried out. The test results show that the theoretical analysis and the experimental test are basically consistent. In the stepping motion mode, the working voltage is set to 100 V, when the frequency is 800 Hz, the prototype reaches a maximum speed of 6642 μm/s without load; when the initial preload is 3.5 N, the maximum output force of the prototype under 100 V is 0.5 N; a minimum step size of about 0.47 μm can be achieved at 40 V, 10 Hz and initial preload. The synchronous motion mode driver has a maximum speed of 5864 μm/s and a maximum output force of 1.3 N under no load, when the voltage is 60 V, the frequency is 10 Hz, the locking force is 3.5 N, and the minimum step size is about 1.36 μm. The developed drive device can enable the equipment to achieve high-speed, high-precision, high-load motion under different motion modes, and has high application value in aerospace, precision drive and other fields.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001484/pdfft?md5=a12c2e82669362981e8a8142c6d9b37c&pid=1-s2.0-S0957415823001484-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138558986","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}

{"title":"Fault diagnosis and fault tolerant control for distributed drive electric vehicles through integration of active front steering and direct yaw moment control","authors":"Yu Zhang ,&nbsp;Pak Kin Wong ,&nbsp;Wenfeng Li ,&nbsp;Yucong Cao ,&nbsp;Zhengchao Xie ,&nbsp;Jing Zhao","doi":"10.1016/j.mechatronics.2023.103116","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103116","url":null,"abstract":"<div><p>For the purpose of improving the lateral stability in the path following process for the distributed drive electric vehicles subject to multiple actuator/sensor faults, a new fault diagnosis and fault tolerant control method is proposed in this paper through the integration of the active front steering (AFS) and direct yaw-moment control (DYC). Firstly, considering the actuator/sensor faults and parameter uncertainties together, a Takagi–Sugeno fuzzy model is established to describe the integrated AFS/DYC system with nonlinear dynamics. Secondly, because the fault information plays a key role in the fault tolerant control, a fuzzy estimation observer is presented to diagnose actuator/sensor faults online. Thirdly, considering the high cost of the measurement sensors for lateral speed, it is hard to measure the complete state of the vehicle. Thus, in the frame of dynamic output feedback structure, a fuzzy fault tolerant control method is proposed to improve the path following performance and guarantee the dynamic stability. Finally, the hardware-in-the-loop experimental results of two typical driving maneuvers show that the proposed control method has a superior performance in the improvement of the driving stability and active safety.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-12-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001721/pdfft?md5=24773da4ff3967b4649bbf0e2ea9f4b2&pid=1-s2.0-S0957415823001721-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138549714","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}

{"title":"Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance","authors":"Sainan Zhang ,&nbsp;Junxi Zhu ,&nbsp;Tzu-Hao Huang ,&nbsp;Shuangyue Yu ,&nbsp;Jin Sen Huang ,&nbsp;Ivan Lopez-Sanchez ,&nbsp;Taylor Devine ,&nbsp;Mohamed Abdelhady ,&nbsp;Minghui Zheng ,&nbsp;Thomas C. Bulea ,&nbsp;Hao Su","doi":"10.1016/j.mechatronics.2023.103109","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103109","url":null,"abstract":"<div><p>Lightweight and smart exoskeletons offer the potential to improve mobility in children. State-of-the-art pediatric exoskeletons are typically clinic-based since they are either tethered or portable but cumbersome and their design is often not optimized across a range of environments and users. To facilitate pediatric exoskeleton in community settings, we first proposed an actuator optimization framework that identified the optimal design parameters for both motor and transmission while minimizing the actuator mass and satisfying the output torque, speed, bandwidth, and resistance torque requirements. Guided by the optimization results, we customized a simple, lightweight actuator that met all mechatronic constraints for our portable exoskeleton (1.78 kg unilateral). Secondly, we adopted deep learning (Long Short Term Memory) based on gait phase estimation to facilitate stable control for community use. The models accurately estimated the gait phase on irregular walking patterns (accuracy 94.60%) without explicit training in children (typically developing and with cerebral palsy). The controller results demonstrated an elevated ability to adapt to the irregular gait patterns of the child with cerebral palsy. The experimental results in the child with typical development and four healthy adults demonstrated accurate assistive torque tracking performance (accuracy 97.00%) at different walking speeds (i.e., under uncertain torque to wearers). This work presented a holistic solution that includes both hardware innovation (actuator optimization framework) and software innovation (deep learning-based control) towards the paradigm shift of pediatric exoskeletons from clinic to community setting.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001654/pdfft?md5=8819fc00a5dcd095ac480c8a1f71ff03&pid=1-s2.0-S0957415823001654-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138500900","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}

{"title":"Active disturbance rejection control for unmanned tracked vehicles in leader–follower scenarios: Discrete-time implementation and field test validation","authors":"Salem-Bilal Amokrane ,&nbsp;Mohammed Zouaoui Laidouni ,&nbsp;Touati Adli ,&nbsp;Rafal Madonski ,&nbsp;Momir Stanković","doi":"10.1016/j.mechatronics.2023.103114","DOIUrl":"10.1016/j.mechatronics.2023.103114","url":null,"abstract":"<div><p>This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal channels of the UTV based on control errors in the cross-track and the along-track directions. Through simulations, the proposed ADRC approach is first shown to outperform the conventional PI/PID controllers in scenarios involving sudden changes in the leader motion dynamics, slippage disturbances, and measurement noise. Then, a comprehensive experimental validation of the proposed leader–follower control is performed using a laboratory UTV equipped with a camera and laser sensors (to enable the calculation of error signals). In order to provide more effective interaction between the human (leader) and the UTV (follower) during the leader–follower task, a camera-based subsystem for human pose recognition is developed and deployed. Finally, the experimental results obtained outdoors demonstrate that the proposed ADRC-based leader–follower UTV control system achieves high tracking capabilities, robustness against slippage disturbances, and adaptability to changing environmental conditions.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001708/pdfft?md5=bf78488b55412df922cb77d32da20fff&pid=1-s2.0-S0957415823001708-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138520433","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}

{"title":"Feedback control system design for force-sensing concentric tube-based surgical robot: Kinematics using Bernstein polynomials","authors":"Binxiang Xu ,&nbsp;Seong Young Ko","doi":"10.1016/j.mechatronics.2023.103106","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103106","url":null,"abstract":"<div><p>A novel force sensing module integrated into a concentric tube robot (CTR) was proposed for vitreoretinal surgery in our previous work, and this robot was able to provide tip force information to the operating surgeon. However, when the force-sensing module was integrated, the property of the tube changed, and the conventional modeling-based control algorithm proved to be unsuitable for the force-sensing concentric tube robot (FSCTR). In this work, we have proposed a shape optimization algorithm for the FSCTR to prevent snapping issue while providing an adequate workspace. A corollary actuation system was used to control the FSCTR. The forward kinematics of the FSCTR consisted of rigid body motion and shape variation, where the shape variation was determined using Bernstein polynomials. Inverse kinematics was derived using the Newton–Raphson method. A feedback controller was designed to compensate for the error caused by rigid body motion. Several experiments were conducted to evaluate the performance of the proposed control system. The experimental accuracy of the proposed forward kinematics was 0.15 ± 0.16 mm, and this result was superior to that of the torsionally compliant model. The accuracy of the inverse kinematics was 0.55 ± 0.24 mm, and the accuracy of point targeting under feedback control was 0.12 ± 0.05 mm. Overall, the results of this study indicate that the proposed motion control system satisfies the standards required for vitreoretinal surgery.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001629/pdfft?md5=96d66de912b491622d92b7a1aa50b5ba&pid=1-s2.0-S0957415823001629-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138474641","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}

{"title":"Compensating torque ripples in a coarse pointing mechanism for free-space optical communication: A Gaussian process repetitive control approach","authors":"Noud Mooren ,&nbsp;Max van Meer ,&nbsp;Gert Witvoet ,&nbsp;Tom Oomen","doi":"10.1016/j.mechatronics.2023.103107","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103107","url":null,"abstract":"<div><p>Actuators that require commutation algorithms, such as the switched reluctance motor (SRM) considered in this paper and employed in the coarse pointing assembly (CPA) for free-space optical communication, often have torque-ripple disturbances that are periodic in the commutation-angle domain that deteriorate the positioning performance. The aim of this paper is to model the torque ripple as a Gaussian Process (GP) in the commutation-angle domain and consequently compensate for it at arbitrary velocity. The approach employs repetitive control (RC) at a constant velocity. A spatial GP with a periodic kernel is trained using data that is obtained from the RC step resulting in a static non-linear function for compensation at arbitrary velocity. Stability conditions are provided for both steps. The approach is successfully applied to a CPA prototype to improve the tracking performance for laser communication, where the torque ripple is compensated at arbitrary velocity.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001630/pdfft?md5=4ade6c48c1fd401ecf6e6dea4a6227cc&pid=1-s2.0-S0957415823001630-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138466516","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}

{"title":"A novel robotic system enabling multiple bilateral upper limb rehabilitation training via an admittance controller and force field","authors":"Ran Jiao ,&nbsp;Wenjie Liu ,&nbsp;Ramy Rashad ,&nbsp;Jianfeng Li ,&nbsp;Mingjie Dong ,&nbsp;Stefano Stramigioli","doi":"10.1016/j.mechatronics.2023.103112","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103112","url":null,"abstract":"<div><p>Patients with hemiplegia are usually restricted to performing general bilateral activities of daily life (gbADLs). Bilateral training has been verified to contribute to the rehabilitation of physical functions. Although robotic systems are gradually being employed in the field of rehabilitation, few studies have performed simulations with regards to gbADLs for training. Therefore, a novel end-effector bilateral rehabilitation robotic system (EBReRS) for the upper limb is developed in this article for the task rendering of gbADLs, in which the gbADL-corresponding workspace is obtained via modularly designed bilateral parallelogram mechanisms. In addition, the interaction rendering of multiple bimanual modes (uncoupled, trans-soft-coupled, trans-semi-coupled, and rotation-coupled) is achieved by implementing the admittance model, the inner force field between robotic end-effectors, and the outer force field distributed around. Experiments of the proposed four rehabilitation training modes were carried out on the healthy subject, with the results showing a feasible method of the EBReRS in the simulation of multiple bimanual coordinated rehabilitation training tasks. In the future, the constructed EBReRS is expected to be exploited for home rehabilitation as a coordinated training device.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582300168X/pdfft?md5=c3d47e55affbf78824929adf77260b8b&pid=1-s2.0-S095741582300168X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138439538","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}

{"title":"Fault detection for LTI systems using data-driven dissipativity analysis","authors":"Tábitha E. Rosa ,&nbsp;Leonardo de Paula Carvalho ,&nbsp;Gabriel A. Gleizer ,&nbsp;Bayu Jayawardhana","doi":"10.1016/j.mechatronics.2023.103111","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103111","url":null,"abstract":"<div><p>Motivated by the physical exchange of energy and its dissipation in electro-mechanical systems, we propose a new fault detection method based on data-driven dissipativity analysis. We first identify a dissipativity inequality using one or multiple shots of data obtained from a linear time-invariant system. This dissipativity inequality’s storage and supply rate functions assume generic quadratic difference forms encompassing all LTI systems. By analysing the norm of the identified dissipative inequality as the residual function, we can detect the occurrence of faults in real-time without the need to model each fault the system is subjected to. Through academic examples, we demonstrate how we can identify supply rate and storage functions from persistently exciting data shots. We present a practical example of detecting faults on a two-degree-of-freedom planar manipulator with zero missed fault detection rate, which is compared to a standard PCA-based fault detection algorithm.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001678/pdfft?md5=e681f15796b942782b1c37c2f04a2bfb&pid=1-s2.0-S0957415823001678-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138439185","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}

{"title":"Cooperative antagonistic mechanism driven by bidirectional pneumatic artificial muscles for soft robotic joints","authors":"Jae Hyeong Park,&nbsp;Kihyeon Kim,&nbsp;Young Jin Gong,&nbsp;Sang Yul Yang,&nbsp;Seong Taek Hwang,&nbsp;Ho Sang Jung,&nbsp;Hyungpil Moon,&nbsp;Ja Choon Koo,&nbsp;Hugo Rodrigue,&nbsp;Hyouk Ryeol Choi","doi":"10.1016/j.mechatronics.2023.103099","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103099","url":null,"abstract":"<div><p>Actuators and mechanisms are the most important components of soft robots. In this study, we introduce a novel actuator capable of bidirectional force transmission, and an antagonistic structural pair mechanism that can cooperate with actuators. A tendon that runs through the interior of the actuator allows bidirectional force transmission. Each contraction and expansion can produce 124.46 N and 122.80 N of force, and maximum contraction and expansion ratios of 75.1% and 402.1%, respectively. However, a cooperative antagonistic mechanism that can transmit force in the pushing direction using a soft frame and a closed-loop tendon has also been developed. Remarkably, it exhibits 2.58 times the lumped torque density compared to a traditional antagonistic mechanism. When integrated into a robotic arm, this mechanism enables the arm to lift a 2 kg object by 117° on a 30 cm moment arm. The robotic arm itself is efficiently designed, with a 340 mm upper arm and a 300 mm forearm, maintaining a lightweight structure at just 380 g.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415823001551/pdfft?md5=7f0d1a15e9504a1bad5962d67e49489a&pid=1-s2.0-S0957415823001551-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138412852","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}

{"title":"Variable admittance control for safe physical human–robot interaction considering intuitive human intention","authors":"Liang Han ,&nbsp;Longfei Zhao ,&nbsp;Yunzhi Huang ,&nbsp;Wenfu Xu","doi":"10.1016/j.mechatronics.2023.103098","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2023.103098","url":null,"abstract":"<div><p>The trajectory planning of the arm is greatly facilitated by the physical direct teaching technology. Variable admittance control is a promising technology when a robot is interacting with a variable environment, such as a human whose stiffness might change during the interaction. Nevertheless, a canonical admittance controller with imperfect parameters may lead to robot oscillation, which brings more challenges to a variable admittance controller. In this paper, we propose an energy-based variable admittance controller with intrinsic oscillation suppression property. During the physical human–robot interaction (pHRI), the human intention is predicted based on the robot’s state and interaction force. The admittance parameters are tuned automatically to conform the robot’s motion to human intention. When the oscillation is detected online by the proposed wavelet module, our variable admittance model reveals oscillation suppression ability because of dissipating the energy generated by high-frequency oscillation. We compared the proposed variable admittance controller with other admittance controller approaches in both simulation and actual robot experiments. The proposed method shows significant improvement in oscillation suppression and human energy conservation in the human–robot interaction application.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":null,"pages":null},"PeriodicalIF":3.3,"publicationDate":"2023-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S095741582300154X/pdfft?md5=e42c1747a17ce21167ee9b18ca34e90a&pid=1-s2.0-S095741582300154X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138412853","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}