Mechatronics最新文献_第3页

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

Lars A.L. Janssen , Rob H.B. Fey , Bart Besselink , Nathan van de Wouw

{"title":"Modular redesign of mechatronic systems: Formulation of module specifications guaranteeing system dynamics specifications","authors":"Lars A.L. Janssen , Rob H.B. Fey , Bart Besselink , Nathan van de Wouw","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":"103 ","pages":"Article 103236"},"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

Alberto Giammarino, Juan M. Gandarias, Pietro Balatti, Mattia Leonori, Marta Lorenzini, Arash Ajoudani

{"title":"SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions","authors":"Alberto Giammarino, Juan M. Gandarias, Pietro Balatti, Mattia Leonori, Marta Lorenzini, Arash Ajoudani","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":"103 ","pages":"Article 103240"},"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

Hoonmin Park , Reza Langari , Hak Yi

{"title":"Design and testing of double-wishbone suspension for enhanced outdoor maneuver stability of a six-wheeled mobile robot","authors":"Hoonmin Park , Reza Langari , Hak Yi","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":"103 ","pages":"Article 103237"},"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

Nam-Jin Park, Ki-Hyeon Kim, Jeong-Min Ma, Jin-Hee Son, Hyo-Sung Ahn

引用次数: 0

An inflatable soft wearable knee rehabilitation device: Design, fabrication, control and preliminary evaluation 可充气的软性可穿戴膝关节康复装置：设计、制造、控制和初步评估

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-08-01 DOI: 10.1016/j.mechatronics.2024.103233

Parsa Kabir , Mohammad Zareinejad , Heidar Ali Talebi , Manijeh Soleimanifar

{"title":"An inflatable soft wearable knee rehabilitation device: Design, fabrication, control and preliminary evaluation","authors":"Parsa Kabir , Mohammad Zareinejad , Heidar Ali Talebi , Manijeh Soleimanifar","doi":"10.1016/j.mechatronics.2024.103233","DOIUrl":"10.1016/j.mechatronics.2024.103233","url":null,"abstract":"<div><p>Multiple diseases and injuries can cause knee joint stiffness. Typically, therapists manually move a patient’s lower limb to assist them in regaining range of motion. There are also devices that can be used to aid in the rehabilitation process; however, the majority of them require lengthy rehabilitation sessions or have a fixed axis of rotation that cannot always be aligned with the knee’s moving center of rotation. This work presents the design, fabrication, and evaluation of a soft, inflatable, wearable device without rigid mechanisms that aims to replicate the behavior of the therapist and address the mentioned deficiencies. Two control strategies, passive and assist-as-needed, are defined for the device’s operation. The objective of the passive strategy is to relocate the patient’s knee to the designated position within the specified time. The assist-as-needed strategy, on the other hand, does not interfere if the patient is able to move ahead of the trajectory that the device is following, and only begins to assist when the patient’s limb stops moving. The device underwent experimental testing, and the outcomes were assessed.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103233"},"PeriodicalIF":3.1,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141935387","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

In-field gyroscope autocalibration with iterative attitude estimation 利用迭代姿态估计进行场内陀螺仪自动校准

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-07-29 DOI: 10.1016/j.mechatronics.2024.103232

Li Wang , Rob Duffield , Deborah Fox , Athena Hammond , Andrew J. Zhang , Wei Xing Zheng , Steven W. Su

{"title":"In-field gyroscope autocalibration with iterative attitude estimation","authors":"Li Wang , Rob Duffield , Deborah Fox , Athena Hammond , Andrew J. Zhang , Wei Xing Zheng , Steven W. Su","doi":"10.1016/j.mechatronics.2024.103232","DOIUrl":"10.1016/j.mechatronics.2024.103232","url":null,"abstract":"<div><p>This paper presents an efficient in-field calibration method tailored for low-cost triaxial MEMS gyroscopes often used in healthcare applications. Traditional calibration techniques are challenging to implement in clinical settings due to the unavailability of high-precision equipment. Unlike the auto-calibration approaches used for triaxial MEMS accelerometers, which rely on local gravity, gyroscopes lack a reliable reference since the Earth’s self-rotation speed is insufficient for accurate calibration. To address this limitation, we propose a novel method that uses manual rotation of the MEMS gyroscope to a specific angle (360°) as the calibration reference. This approach iteratively estimates the sensor’s attitude without requiring any external equipment. Numerical simulations and empirical tests validate that the calibration error is low and that parameter estimation is unbiased. The method can be implemented in real-time on a low-energy microcontroller and completed in under 30 seconds. Comparative results demonstrate that the proposed technique outperforms existing state-of-the-art methods, achieving scale factor and bias errors of less than <span><math><mrow><mn>2</mn><mo>.</mo><mn>5</mn><mo>×</mo><mn>1</mn><msup><mrow><mn>0</mn></mrow><mrow><mo>−</mo><mn>2</mn></mrow></msup></mrow></math></span> for LSM9DS1 and less than <span><math><mrow><mn>1</mn><mo>×</mo><mn>1</mn><msup><mrow><mn>0</mn></mrow><mrow><mo>−</mo><mn>2</mn></mrow></msup></mrow></math></span> for ICM20948.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103232"},"PeriodicalIF":3.1,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000977/pdfft?md5=b50d909bab44d8fbee0535ef2bb315e3&pid=1-s2.0-S0957415824000977-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141935388","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

Twisted String Actuator mechanism with adjustable offset of strings for continuous variable transmission system 用于无级变速系统的可调节弦偏移的扭绳传动机构

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-07-26 DOI: 10.1016/j.mechatronics.2024.103227

Dongcheol Shin , Brian Byunghyun Kang , Wansoo Kim

{"title":"Twisted String Actuator mechanism with adjustable offset of strings for continuous variable transmission system","authors":"Dongcheol Shin , Brian Byunghyun Kang , Wansoo Kim","doi":"10.1016/j.mechatronics.2024.103227","DOIUrl":"10.1016/j.mechatronics.2024.103227","url":null,"abstract":"<div><p>This paper presents a novel TSA mechanism with an adjustable offset between strings, which enables a variable transmission system. TSA is designed to be used in a variety of applications, including exoskeletons, and robotics. The fixed contraction range of TSAs limits their ability to provide comprehensive support. The proposed mechanism overcomes this limitation by adjusting the offset between strings. The mechanism consists of six parts with two motors. Each motor in the mechanism operates to adjust offset with only one motor and operates simultaneously to twist the strings. This enables the contraction range of TSA to be varied a wide range. Furthermore, an analytical model is also introduced for controlling the contraction range of TSA. In the experiment, the proposed mechanism shows the contraction range of TSA to be increased by up to 20%. Additionally, it showed that it is possible to vary the maximum force of TSA by up to 47%. Moreover, the analytical model has a low error. These findings suggest the promising potential for the developed TSA mechanism in a variety of applications.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103227"},"PeriodicalIF":3.1,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141953705","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

VARISA - A VARIable Stiffness soft robotics Arm based on inverse pneumatic actuators and differential drive fiber jamming VARISA - 基于反向气动致动器和差分驱动纤维干扰的可变刚度软机械臂

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-07-23 DOI: 10.1016/j.mechatronics.2024.103230

Luca Arleo, Matteo Cianchetti

{"title":"VARISA - A VARIable Stiffness soft robotics Arm based on inverse pneumatic actuators and differential drive fiber jamming","authors":"Luca Arleo, Matteo Cianchetti","doi":"10.1016/j.mechatronics.2024.103230","DOIUrl":"10.1016/j.mechatronics.2024.103230","url":null,"abstract":"<div><p>Variable stiffness technologies are promising to fill the existing gap between the capabilities of robots based on soft materials and real-case applications, which may require high stiffness in specific working phases or conditions. Among these technologies, jamming transition emerged as a suitable option for devices that are intended to experience large deformations. Building upon the first version of the already introduced variable stiffness linear actuator (based on the combination of inverse pneumatic artificial muscles, fiber jamming, and positive pressure jamming), here we present the design of the VARISA, a novel multidirectional modular soft arm with tuneable stiffness. A tailored fabrication process, considered also in the design choices, is reported. Both the single module, made of three actuators, and the arm, which consists of two modules connected in series, were tested to assess deformability and variable stiffness capabilities. VARISA is 45 mm in diameter and 285 mm in length and it reached 100 mm of elongation and 82 degrees of maximum bending angle, covering a 300 mm wide workspace. Moreover, it achieved a stiffness variation close to one order of magnitude (a maximum stiffness ratio of 9.57) and, in particular, the possibility to tune the absolute stiffness between 0.06 and 0.52 N/mm in bent configuration.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":"Article 103230"},"PeriodicalIF":3.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000953/pdfft?md5=2bf8927bbad5c9a0b434a8c1d78e5d5c&pid=1-s2.0-S0957415824000953-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141949927","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

Simultaneous compensation of geometric and compliance errors for robotics with consideration of variable payload effects 同时补偿机器人的几何误差和顺应误差，并考虑可变有效载荷效应

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-07-20 DOI: 10.1016/j.mechatronics.2024.103228

Hung-Ming Li , Chien-Kuan Liu , Yong-Chun Yang , Meng-Shiun Tsai

{"title":"Simultaneous compensation of geometric and compliance errors for robotics with consideration of variable payload effects","authors":"Hung-Ming Li , Chien-Kuan Liu , Yong-Chun Yang , Meng-Shiun Tsai","doi":"10.1016/j.mechatronics.2024.103228","DOIUrl":"10.1016/j.mechatronics.2024.103228","url":null,"abstract":"<div><p>In order to satisfy the high accuracy requirements of robotic applications, it is necessary to consider not only the geometric errors but also the compliance errors which are caused by the self-gravity of the link and the external payloads. A general error model is developed based on the modified Denavit-Hartenberg (DH) model. For the parameters in the error model, there is a coupling between the compliance coefficients and the link parameters, making it difficult to use only the compliance coefficients to compute the compliance errors due to external payloads. As the external payload for the robot manipulator varies, the parameter identification of the model should be conducted again. In this paper, a novel algorithm using a variable payload method is proposed to first identify the compliance coefficients using different payloads and end effector position information. Second, the kinematic parameter errors and link parameters are identified with the given compliance coefficients. Then, the algorithm generates a modified trajectory using the calibrated DH tables for the precision compensation. Simulation and experimental results demonstrate that the positioning accuracy can be improved by 80 % to 90 % even under different payloads. The root mean square, mean, maximum, and standard deviation of the residual errors by using the proposed algorithm could outperform the conventional kinematic algorithm.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"102 ","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141729315","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

Hardware-in-the-Loop pantograph tests with general overhead contact line geometry 一般架空接触线几何形状的硬件在环受电弓测试

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-07-19 DOI: 10.1016/j.mechatronics.2024.103231

M. Tur , S. Gregori , A. Correcher , J. Gil , A. Pedrosa , F.J. Fuenmayor

引用次数: 0