Mechatronics最新文献

{"title":"Innovative Multi Vibrotactile-Skin Stretch (MuViSS) haptic device for sensory motor feedback from a robotic prosthetic hand","authors":"Andrea Campanelli ,&nbsp;Monica Tiboni ,&nbsp;Fabien Verité ,&nbsp;Charlélie Saudrais ,&nbsp;Sébastien Mick ,&nbsp;Nathanaël Jarrassé","doi":"10.1016/j.mechatronics.2024.103161","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103161","url":null,"abstract":"<div><p>In the field of upper limb prosthetics, the incorporation of sensory feedback is critical to cognitive processes and behavior. Studies have demonstrated that haptic feedback improves amputees’ control over their prostheses.</p><p>This study presents the development of the MuViSS (Multi Vibrotactile-Skin Stretch) haptic device, which is worn on the wrist and forearm and provides sensory-motor feedback from a robotic prosthetic hand. An innovative feedback strategy is presented that has not been explored in the existing literature. By combining two already established strategies – namely, stretching the skin in conjunction with proprioception and incorporating cues on contact – the research offers an unexplored approach to sensory feedback. Adaptations were made to a commercially available Taska prosthetic hand to integrate sensors and capture data for haptic feedback.</p><p>Two classes of tests performed on non-amputee subjects have shown promising efficacy and performance. A first class of tests, designed to assess the effectiveness of MuViSS feedback, was conducted with five participants, testing each feedback separately. In order to evaluate the effectiveness of the entire system, tests were also performed on nine subjects with MuViSS and the prosthetic hand being controlled. They allowed the comparison of the MuViSS feedback with the classical force feedback by vibration and with the condition without haptic feedback.</p><p>The results showed that the new feedback solution was able to provide size and stiffness information in the absence of vision. In addition, the feedback improved the performance of a motor task, specifically grasping a marble, with vision. The study demonstrates that the system has the potential to improve control, enhance performance, and positively impact the user’s overall experience when operating prosthetic devices.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103161"},"PeriodicalIF":3.3,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000266/pdfft?md5=453331ac4abf89fcb2d3d126207ae8a7&pid=1-s2.0-S0957415824000266-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139986196","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":"Identification of an overactuated deformable mirror system with unmeasured outputs","authors":"Paul Tacx ,&nbsp;Roel Habraken ,&nbsp;Gert Witvoet ,&nbsp;Marcel Heertjes ,&nbsp;Tom Oomen","doi":"10.1016/j.mechatronics.2024.103158","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103158","url":null,"abstract":"<div><p>Next-generation deformable mirrors are envisaged to exhibit low-frequency flexible dynamics and to contain a large number of spatially distributed actuators due to increasingly stringent performance requirements. The increasingly complex system characteristics necessitate identifying the flexible dynamic behavior for design validation and next-generation control. The aim of this paper is to develop a unified approach for the identification of mechanical systems with a large number of spatially distributed actuators and a limited number of sensors. A frequency domain-based approach using local modeling techniques is developed. The modal modeling framework is employed to analyze the design and create outputs that were not measured. The proposed approach is applied to an experimental deformable mirror case study that illustrates the effectiveness of the proposed approach.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103158"},"PeriodicalIF":3.3,"publicationDate":"2024-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000230/pdfft?md5=040035aa7207f492efc2c6f9394ea4e4&pid=1-s2.0-S0957415824000230-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139942622","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":"Multi-loop resonant control applied to linear permanent magnet synchronous motors for periodic position tracking","authors":"Ben Hur Bandeira Boff,&nbsp;Jeferson Vieira Flores,&nbsp;Paulo Roberto Eckert","doi":"10.1016/j.mechatronics.2024.103163","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103163","url":null,"abstract":"<div><p>This paper addresses the periodic position tracking and load force disturbance rejection in linear permanent magnet synchronous motors (LPMSM). Periodic position tracking is a challenge for LPMSMs, as there are electromagnetic forces that are not uniform along the actuator stroke due to end effects, which can lead to position variations. The proposed control structure combines a proportional–integral (PI) controller in the direct-axis control loop and a modified PI plus a multiple resonant controller (PI-RES) in the quadrature-axis control loop to ensure periodic reference tracking and disturbance rejection. The controller design is carried out by solving a convex optimization problem under linear matrix inequality (LMI) constraints, which guarantee closed-loop stability and transient performance. Simulations and experimental results are performed using a dual quasi-Halbach permanent magnet array linear tubular actuator with a coreless moving armature. The effectiveness of the proposed method is evaluated by applying position reference signals with different frequencies and harmonic compositions in conjunction with two types of load force disturbances. Experiments show the proposed controller results in precise reference tracking with negligible steady-state error.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103163"},"PeriodicalIF":3.3,"publicationDate":"2024-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139942641","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}

{"title":"Model-based health monitoring of rotate-vector reducers in robot manipulators","authors":"Huan Liu ,&nbsp;M. Reza Emami ,&nbsp;Yaguo Lei","doi":"10.1016/j.mechatronics.2024.103162","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103162","url":null,"abstract":"<div><p>Health monitoring of robot manipulators is crucial for their long-term reliable operation. Since the feedback data provided by the controller of robot manipulators are most often from the actuator’s side, health monitoring of rotate-vector (RV) reducers housed on the output of actuators is challenging. To avoid the increased cost and complexity of adding sensors to robot manipulators, this paper investigates the long-term health monitoring of RV reducers, using only feedback data from the controller. A generic model for RV reducers is first developed to characterize their nonlinear behaviours and performance degradation. The model is then extended to robot manipulators to analyse their dynamic response under the time-varying excitation generated by healthy and faulty RV reducers. Next, a new motor-torque-based residual together with an adaptive threshold is proposed for the health monitoring of RV reducers, taking payload, measurement noise and friction disturbance into account. The proposed threshold depends only on the variance of measurement noise, and is therefore easy to implement in practice. Extensive simulations and experiments are conducted on two robot manipulators to validate the proposed model, residual and threshold. The results show that the proposed model is able to account for the effects of faults and nonlinear behaviours of RV reducers on the motor performance. The proposed residual with an adaptive threshold is sensitive to faults in RV reducers and robust to friction disturbance and time-varying payload, and it outperforms conventional momentum-based residuals.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103162"},"PeriodicalIF":3.3,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139935873","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}

{"title":"Design, fabrication and characterization of a wind-isolated galloping energy harvester via an embedded piezoelectric transducer","authors":"Junwu Kan ,&nbsp;Shijie Lin ,&nbsp;Jin Wang ,&nbsp;Kai Wang ,&nbsp;Yiqun Gu ,&nbsp;Shuyun Wang ,&nbsp;Fanxu Meng ,&nbsp;Zhonghua Zhang","doi":"10.1016/j.mechatronics.2024.103147","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103147","url":null,"abstract":"<div><p>Harvesting energy from wind-induced vibration utilizing piezoelectric mechanism has attracted much attention for enabling energy-autonomous wireless sensor systems over the past decade. To offer a promising solution for low reliability, poor environmental adaptability and narrow operating bandwidth of existing piezoelectric wind energy harvesters, a wind-isolated galloping energy harvester with an embedded piezoelectric transducer (EPT-WGEH) is proposed in this paper. Unlike previous most directly-excited piezoelectric wind energy harvesters, the EPT-WGEH was characterized by an indirectly-excited shelter-structure, which isolates the embedded piezoelectric transducer (EPT) from the flow environment. Meanwhile, the horizontal swing of the hollow cylinder and the elastic pendulum beam is transformed into the vertical swing of the EPT mounted in the hollow cylinder under wind excitation. Therefore, this 2-DOF indirectly-excited EPT-WGEH could possess both high reliability and small volume. A CFD simulation model was established to analyze the influence of structural parameters on the vibration characteristics of EPT-WGEH. To verify the feasibility of the principle and design regarding the proposed EPT-WGEH, a prototype of the EPT-WGEH was fabricated and tested in terms of electrical output and operating bandwidth. The results showed that the length of elastic pendulum beam, proof mass, and wind speed brought significant effects on the electrical output, minimum working wind speed and operating bandwidth. The maximal output voltage increased with the decreasing length of elastic pendulum beam or the increasing proof mass. Meanwhile, there existed some optimal combinations of parameters to minimize the minimum working wind speed of EPT-WGEH. Besides, the optimal output power of EPT-WGEH could reach 2.4 mW at load resistance of 600 kΩ. The EPT-WGEH could light up 75 series-connection commercial blue LEDs simultaneously at the wind speed of 15 m/s and demonstrated its practical power supply capability by charging capacitors.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103147"},"PeriodicalIF":3.3,"publicationDate":"2024-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139915465","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}

{"title":"Development of a bionic multi-chamber hydraulic cylinder for improving energy efficiency","authors":"Jianwei Wang ,&nbsp;Junhong Yang ,&nbsp;Delei Fang ,&nbsp;Guoheng Wu ,&nbsp;Yong Xue ,&nbsp;Ming Yang","doi":"10.1016/j.mechatronics.2024.103149","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103149","url":null,"abstract":"<div><p>Most hydraulic drive systems for robots are configured with one single pump and multiple cylinders, which suffers from low energy efficiency in the case of driving the variable loads. To solve the problem, this paper presents a multi-chamber hydraulic cylinder based on the bionic muscle drive mechanism. Firstly, the mechanical structure is designed, the mathematical models are derived, the mechanism of high energy efficiency is analyzed. Then, the simulation of load matching control is carried out, which shows the high energy efficiency improvement and the good position tracking. Finally, the multi-chamber hydraulic cylinder prototype is developed for experimental study, and output forces, output displacement, energy consumption, and friction characteristics are researched. The theoretical analysis and experimental research show that the bionic multi-chamber hydraulic cylinder can realize the power matching between the single power source and the variable loads in the hydraulic system, which provide a novel idea for the energy efficient hydraulic equipment.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103149"},"PeriodicalIF":3.3,"publicationDate":"2024-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139748685","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}

{"title":"Sample-tracking vibration isolation with rigid negative stiffness for broad bandwidth","authors":"Kazuki Takahashi ,&nbsp;Ryuto Makino ,&nbsp;Shingo Ito","doi":"10.1016/j.mechatronics.2024.103159","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103159","url":null,"abstract":"<div><p>Sample-tracking vibration isolators position their mover such that the distance to a targeted sample is constant to provide a vibration-free environment, for example, for inline metrology with high resolution. To achieve high vibration isolation and rejection especially at low frequencies, this paper proposes a sample-tracking vibration isolator that integrates a flexure-guided hybrid reluctance actuator (HRA) with a negative stiffness for quasi-zero stiffness (QZS). The negative stiffness cancels the flexure stiffness for QZS, by which vibrations transmitted from the actuator’s stator can be significantly reduced. Unlike conventional QZS systems, the negative stiffness is magnetically realized with rigid components such as a permanent magnet and ferromagnetic cores. Consequently, the proposed vibration isolator has mechanical resonant frequencies of around 2.5<!--> <!-->kHz and higher. This hardware design with a feedback controller realizes a motion with nanometer resolution and a high closed-loop control bandwidth of 991<!--> <!-->Hz for further vibration isolation and sample tracking. To evaluate the performances of the proposed vibration isolator, the negative stiffness is tuned to cancel a flexure stiffness at experiments. Experimental results show that the fine tuning decreases transmissibility from <span><math><mrow><mo>−</mo><mn>30</mn></mrow></math></span> <!--> <!-->dB to <span><math><mrow><mo>−</mo><mn>62</mn></mrow></math></span> <!--> <!-->dB by a factor of 40 at a low frequency of 10<!--> <!-->Hz. Furthermore, the tracking error of the mover position is measured for a demonstration of the vibration rejection performance in the time domain. The results also show that the stiffness cancellation decreases the tracking error with feedback control from 2.7 nm (rms) to 1.3 nm (rms) by 52% at a steady state. The proposed sample-tracking vibration isolator successfully demonstrates high vibration isolation performance by utilizing the rigid negative stiffness of the HRA.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103159"},"PeriodicalIF":3.3,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139748684","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}

{"title":"An adaptive internal model control approach for unmanned surface vehicle based on bidirectional long short-term memory neural network: Implementation and field testing","authors":"Yuhang Meng ,&nbsp;Hui Ye ,&nbsp;Zhengrong Xiang ,&nbsp;Xiaofei Yang ,&nbsp;Hao Zhang","doi":"10.1016/j.mechatronics.2024.103145","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103145","url":null,"abstract":"<div><p>This paper investigates a practical adaptive internal model control (IMC) for an unmanned surface vehicle (USV) with unknown time-varying nonlinear model parameters and environmental disturbances. Firstly, an internal model of the USV is presented using the Bidirectional Long Short-Term Memory (BiLSTM) neural network. Then, an adaptive neural IMC controller is designed for the trajectory tracking of USV by using the IMC method. The internal model and the controller are updated by an error threshold algorithm. The proposed control scheme comprises of a trajectory guidance module via the Line-of-Sight (LOS) guidance method and a tracking control module designed by IMC theory. Under the proposed control scheme, the development processes of the vehicle platform and the control algorithms are described, and accurate tracking control can be achieved. Finally, the results of simulation and field experiments are presented and discussed to validate the effectiveness of the proposed control scheme.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103145"},"PeriodicalIF":3.3,"publicationDate":"2024-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139743399","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}

{"title":"Control-oriented modeling of wet clutch friction considering thermal dynamics","authors":"Seungin Shin ,&nbsp;Seibum B. Choi","doi":"10.1016/j.mechatronics.2024.103146","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103146","url":null,"abstract":"<div><p>The paper presents a control-oriented modeling method for wet clutch friction, considering thermal dynamics, with a focus on paper-based friction linings. Abrupt engagements of such clutches may lead to discomfort and reduce the overall lifespan. The limitations of feedback control, attributed to restricted sensors and modeling inaccuracies, underscore the effectiveness of model-based control employing precise and invertible models. The study extensively explores the largest model uncertainty in slip control—clutch friction. The proposed model integrates the Coulomb friction coefficient, incorporating variables such as pressing force, friction speed, and the temperature of the friction surface. The proposed torque model enables model inversion, allowing the determination of desired oil pressure from torque requirements. Experimental data, comprising 184 sets, validate the model accuracy, with a focus on temperature effects. The Coulomb friction coefficient model exhibits exponential and linear components, capturing the Stribeck effect and temperature variations. Model verification through experiments demonstrates good agreement, supporting its efficacy for wet clutch control performance. The study contributes insights into wet clutch friction models for model-based control.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103146"},"PeriodicalIF":3.3,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139727040","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}

{"title":"Design and control of the mechanical-hydraulic hybrid transmission system in wind turbines","authors":"Yonggang Lin ,&nbsp;Fuquan Dai ,&nbsp;Hongwei Liu ,&nbsp;Yajing Gu ,&nbsp;Wenting Chen ,&nbsp;Jiajun Song","doi":"10.1016/j.mechatronics.2024.103137","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103137","url":null,"abstract":"<div><p>As wind turbines become larger and move into deeper sea, their operating environment worsen. The torque fluctuation inside the drive chain is aggravated, which leads to the premature failure of the wind turbines. To improve the transmission stability of wind turbines, the mechanical-hydraulic hybrid transmission system (MHHTS) has been applied. However, existing research has issues with structure and hydraulic control. An MHHTS structure was proposed to meet the requirements of structural simplicity and high efficiency, corresponding to the design principles summarized in the article. Based on this structure, we have selected a hydraulic control mode, the constant displacement pump variable displacement motor (CPVM), that satisfies the reasonable utilization of displacement and the stability of control. This mode was chosen by comparing the displacement and pressure variation rules of three hydraulic control modes that meet the maximum power point tracking (MPPT) control principle of the wind turbine. In this study a co-simulation model of a 10 MW MHHTS wind turbine was built using Simulink and AMEsim. The correctness of the structural and control mode ware verified by co-simulation with a uniformly varying wind. Moreover, a method that can suppress fluctuations in output power by controlling the motor displacement was proposed. Different-step winds response analyses were conducted to explore the relationship between the displacement response speed and the output power fluctuations. The non-linear relationship between the displacement and the wind speed can also have an impact on the previous relationship. Finally, the feasibility of the control method was verified through simulation of an actual turbulent wind. These achievements should guarantee the future application of the novel transmission system in wind turbines.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103137"},"PeriodicalIF":3.3,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139727090","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}