Mechatronics最新文献

{"title":"Modular Maglev: Design and implementation of a modular magnetic levitation system to levitate a 2D Halbach array","authors":"Zhenchuan Xu,&nbsp;Chanuphon Trakarnchaiyo,&nbsp;Curtis Stewart,&nbsp;Mir Behrad Khamesee","doi":"10.1016/j.mechatronics.2024.103148","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103148","url":null,"abstract":"<div><p>A modular magnetic levitation system with static square coils and a moving 2D Halbach array is proposed in this paper. The mover achieves six degrees of freedom (DOF) motion with long stroke translational motion and yaw motion. A novel 2D lookup table is used to model the force and torque on the mover, including the edge effect. The 2D lookup table uses force decay ratio (FDR) and effective torque arms (ETA) to reduce the table dimension. At each levitation height, the proposed data-driven model reduces table size from 964,806 points to 791 points. This reduced-dimension table is validated to support the 6 DOF motion, including infinite yaw rotation. Then, a direct wrench and active coil selection method is used to decouple the force and torque and determine the coil currents. With the force and torque model and the active coil selection method, the mover can move across different sets of active coils for long stroke movement. Lastly, experimental validation results are presented. The motion range is <span><math><mo>±</mo></math></span>120 mm in the horizontal direction, with a maximum speed of 500 mm/s. The system is validated to have a full 360° range of yaw motion with a maximum speed of 75 °/s.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103148"},"PeriodicalIF":3.3,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000138/pdfft?md5=6ec0c850853ba1cedffad87b4d43dad0&pid=1-s2.0-S0957415824000138-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139725914","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":"Design of robotic finger using twisted string actuator with modular passive return rotational joints to achieve high grasping force: Application to wearable sixth finger","authors":"Bhivraj Suthar ,&nbsp;Mohammad I. Awad ,&nbsp;Lakmal Seneviratne ,&nbsp;Yahya Zweiri ,&nbsp;Irfan Hussain","doi":"10.1016/j.mechatronics.2024.103157","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103157","url":null,"abstract":"<div><p>In this paper, a new type of robotic finger is introduced that uses a twisted string actuator (TSA) and modular passive return rotational (PPR) joints. The design is intended to be simple, compact, lightweight, and energy-efficient while producing high grasping force with a relatively small motor. The PPR joints are based on the beam-buckling principle and are designed to match the non-linear TSA force profile, resulting in high grasping force throughout the finger’s full flexion motion and passive finger extension. To evaluate the performance of the robotic finger, we fabricated a prototype and conducted experiments to assess its object grasping cycle, passive finger extension, grasping force, stable grasping condition, shape adaptability, and energy consumption. The finger weighs 170 grams and achieved a high force throughout the flexion motion, producing a maximum grasping force of 43.3 N at full flexion using a stall torque of 32 mNm. The modularity of the PPR joint allows for scalability and adaptability to handle different objects. We also demonstrated the finger’s potential as a wearable sixth robotic finger (SRF), evaluating its object grasping competency, shape adaptability, and wearability. The finger was able to grasp various objects with a maximum payload of 1.0 kg and a hanging payload of up to 5 kg. Overall, the proposed robotic finger has the potential to be used as an SRF to compensate for arm disorders’ grasping capability.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103157"},"PeriodicalIF":3.3,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139733303","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":"Feasible spindle speed interval identification method for large aeronautical component robotic milling system","authors":"Zhanxi Wang ,&nbsp;Banghai Zhang ,&nbsp;Wei Gao ,&nbsp;Xiansheng Qin ,&nbsp;Yicha Zhang ,&nbsp;Chen Zheng","doi":"10.1016/j.mechatronics.2024.103143","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103143","url":null,"abstract":"<div><p>Robotic machining systems have been widely implemented in the assembly sites of large components of aircraft, such as wings, aircraft engine rooms, and wing boxes. Milling is the first step in aircraft assembly. It is considered one of the most significant processes because the quality of the subsequent drilling, broaching, and riveting steps depend strongly on the milling accuracy. However, the chatter phenomenon may occur during the milling process because of the low rigidity of the components of the robotic milling system (i.e., robots, shape-preserving holders, and rod parts). This may result in milling failure or even fracture of the robotic milling system. This paper presents a feasible spindle speed interval identification method for large aeronautical component milling systems to eliminate the chatter phenomenon. It is based on the chatter stability model and the analysis results of natural frequency and harmonic response. Firstly, the natural frequencies and harmonics of the main components of the robot milling system are analyzed, and the spindle speed that the milling system needs to avoid is obtained. Then, a flutter stability model considering the instantaneous cutting thickness is established, from which the critical cutting depth corresponding to the spindle speed can be obtained. Finally, the spindle speed interval of the robotic milling system could be optimized based on the results obtained from the chatter stability model and the analysis result of the natural frequency and harmonic response of the milling system. The effectiveness of the proposed spindle speed interval identification method is validated through time-domain simulation and experimental results of the large aeronautical component milling system.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103143"},"PeriodicalIF":3.3,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139714323","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":"Optimal vehicle position estimation using adaptive unscented Kalman filter based on sensor fusion","authors":"Giseo Park","doi":"10.1016/j.mechatronics.2024.103144","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103144","url":null,"abstract":"<div><p>Precise position recognition systems are actively used in various automotive technology fields such as autonomous vehicles, intelligent transportation systems, and vehicle driving safety systems. In line with this demand, this paper proposes a new vehicle position estimation algorithm based on sensor fusion between low-cost standalone global positioning system (GPS) and inertial measurement unit (IMU) sensors. In order to estimate accurate vehicle position information using two complementary sensor types, adaptive unscented Kalman filter (AUKF), an optimal state estimation algorithm, is applied to the vehicle kinematic model. Since this AUKF includes an adaptive covariance matrix whose value changes under GPS outage conditions, it has high estimation robustness even if the accuracy of the GPS measurement signal is low. Through comparison of estimation errors with both extended Kalman filter (EKF) and UKF, which are widely used state estimation algorithms, it can be confirmed how improved the estimation performance of the proposed AUKF algorithm in real-vehicle experiments is. The given test course includes roads of various shapes as well as GPS outage sections, so it is suitable for evaluating vehicle position estimation performance.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103144"},"PeriodicalIF":3.3,"publicationDate":"2024-02-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139714324","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":"Real-time observer designs for elastic-joint industrial robots: Experimental comparison and new strategies","authors":"Moien Reyhani ,&nbsp;Lukas Marko ,&nbsp;Georg Janisch ,&nbsp;Andreas Kugi","doi":"10.1016/j.mechatronics.2024.103140","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103140","url":null,"abstract":"<div><p>Due to unavoidable compliance in the drive trains of the individual links, all industrial robots exhibit some elasticity in their respective joints. This elasticity causes a discrepancy between the measured motor position and the actual link position of the robot. For highly dynamic movements of the robot, or in the case of heavy payloads, this can lead to significant deviations between the desired and actual end-effector pose of the robot. One approach to mitigate the resulting task performance degradation is using suitable state estimation strategies for elastic-joint robots. While critical for task performance, the link positions are typically not separately measured for industrial robots. Instead, standard robot control systems rely on the measured motor positions. To this end, this work studies the state estimation problem of elastic-joint industrial robots and compares the performance of different observers. The comparison is performed on an industrial robot with six degrees of freedom (6-DOF) using a laser tracker measurement of the end-effector movement as a ground truth. Four observer concepts are state-of-the-art strategies from the literature, which are briefly summarized first. Subsequently, two novel estimation strategies are proposed. The first exploits encoder and angular velocity measurements, and the second is an estimator that combines encoder, acceleration, and angular velocity measurements. To the best of the authors’ knowledge, this is the first work that compares the performance of real-time observers for elastic-joints industrial robots with 6-DOF in an experimental setup. The properties of all observers are discussed in terms of estimation accuracy, sensor configuration, computational complexity, and required knowledge of model parameters. The experiments show that the novel estimation strategies improve the position estimation accuracy of the end-effector by up to 72<!--> <!-->%.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103140"},"PeriodicalIF":3.3,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000059/pdfft?md5=71e74a4d3c9621c110ebb8c39e0d188d&pid=1-s2.0-S0957415824000059-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139699736","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":"USLIP dynamics emerges in underwater legged robot with foot kinematics of punting crabs","authors":"Mrudul Chellapurath ,&nbsp;Anna Astolfi ,&nbsp;Yuki Yokoyama ,&nbsp;Shingo Maeda ,&nbsp;Marcello Calisti","doi":"10.1016/j.mechatronics.2024.103142","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103142","url":null,"abstract":"<div><p>This article investigates bioinspired solutions for achieving stable dynamic gaits in legged robots through leg coordination and foot trajectories. In this study, we recorded the kinematics of underwater running of the crab, <em>Pachygrapsus marmoratus</em>, and implemented the parameterized foot trajectories and inter-leg coordination on an underwater legged robot, SILVER 2.0. The robot’s design parameters like legs’ stiffness, leg length, and body mass are based on the Underwater Spring Loaded Inverted Pendulum (USLIP), a model that describes underwater running in animals. With this implementation, we observed the spontaneous emergence of USLIP dynamics in 20% of the strides in the robot. This approach allowed SILVER 2.0 to leverage the advantages of stable dynamic gaits while optimizing the foot trajectory and inter-leg coordination, resulting in improved locomotion performances. The robot achieved a forward velocity of 0.16 m/s, twice the value obtained in previous gaits. Our study presents a promising approach for improving the locomotion performance of legged robots, enabling their effective use in various field applications, and further confirms a broad embedding of controllers generating template dynamics.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"99 ","pages":"Article 103142"},"PeriodicalIF":3.3,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000072/pdfft?md5=9c3615fcc7b2164a1ab236dce7eb2c8f&pid=1-s2.0-S0957415824000072-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139654167","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":"MGlove-TS: A modular soft glove based on twisted string actuators and flexible structures","authors":"M. Dragusanu ,&nbsp;D. Troisi ,&nbsp;B. Suthar ,&nbsp;I. Hussain ,&nbsp;D. Prattichizzo ,&nbsp;M. Malvezzi","doi":"10.1016/j.mechatronics.2024.103141","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103141","url":null,"abstract":"<div><p>Advances in technology, design, and manufacturing processes are leading to noticeable improvements in rehabilitation management. In this paper, we introduce MGlove-TS, an actuated soft glove based on twisted string actuators (TSAs) developed to assist and support individuals with hand impairments limiting active movements and grasping force in their rehabilitation process and in daily living. The glove is designed to be lightweight, portable, easy to wear and use, comfortable for prolonged periods, with a little encumbrance, flexible and adaptable, and highly modular. The paper presents the main features of the proposed glove and a prototype actuating the thumb and index finger in flexion/extension and adduction/abduction movements. The actuated glove prototype has been evaluated through a series of tests, whose results showed its potential usefulness.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"98 ","pages":"Article 103141"},"PeriodicalIF":3.3,"publicationDate":"2024-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000060/pdfft?md5=987f030ef54037bfefc4dd3c7aa2ce17&pid=1-s2.0-S0957415824000060-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139653137","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":"Experimental validation of a constrained control architecture for a multi-robot bricklayer system","authors":"Michele Ambrosino ,&nbsp;Fabian Boucher ,&nbsp;Pierre Mengeot ,&nbsp;Emanuele Garone","doi":"10.1016/j.mechatronics.2024.103139","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103139","url":null,"abstract":"<div><p><span>Robotics in construction is an emerging field that aims to automate various construction activities. Among the various innovative technologies for the construction sector, in this paper we focus on robotic solutions for the bricklaying task. In particular, we describe and explain in detail the implementation of a control framework for a recently introduced multi-robot bricklaying concept, specifically designed for laying activities with large and heavy blocks. The multi-robot system subject of this work is based on the collaboration of a robotic manipulator and a crane. The control architecture proposed to perform the construction task belongs to the Explicit Reference Governor (ERG) formalism. The ERG is a constrained control structure that enforces the constraints of the system and ensures that the </span>robotic system<span> operates correctly and safely. The efficiency of the proposed solution is confirmed by experimental validation on a custom-made crane and a KUKA LBR IIWA14R820 robotic arm.</span></p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"98 ","pages":"Article 103139"},"PeriodicalIF":3.3,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139548514","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":"Dynamics modeling for the ultrasonic machining tool using a data-driven approach and a D-RBFNN","authors":"Chao-Chung Peng ,&nbsp;Yi-Ho Chen ,&nbsp;Hao-Yang Lin ,&nbsp;Her-Terng Yau","doi":"10.1016/j.mechatronics.2024.103136","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103136","url":null,"abstract":"<div><p><span>Ultrasonic machining presents several advantages over traditional CNC machining tools, including reduced cutting force and minimized friction between the cutting tool and workpiece. However, due to its complexity, it can be challenging to model the system's behavior accurately. In particular, it is crucial to identify the nominal air cutting system dynamics<span> and associated parameters regularly during the warm-up stage to ensure successful practical machining processes. Therefore, this paper aims to describe mathematical models of the ultrasonic machining system, which consists of a driving circuit part and mechanical part. By using the driving input voltage, circuit output and the displacement of the cutting tool, the associated transfer functions can be constructed by using the autoregressive with extra input (ARX) together with a proper system order reduction. To improve prediction accuracy, a directional radial basis function neural network (D-RBFNN) is proposed to fit the </span></span>nonlinear dynamics<span> of the cutting tool, which can capture forward/backward nonlinear behaviors of the machine tools. The proposed modeling algorithm enables monitoring of the ultrasonic machine tool's status during the warm-up stage within a short time to prevent possible anomalies during practical machining. Experiments demonstrate that the method accurately captures transient circuit dynamics and predicts good mechanical cutting tool output.</span></p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"98 ","pages":"Article 103136"},"PeriodicalIF":3.3,"publicationDate":"2024-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139505660","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":"Investigation of two concepts for piezo- electrically driven bistable hydraulic switching valves","authors":"Philipp Albrecht-Zagar,&nbsp;Rudolf Scheidl","doi":"10.1016/j.mechatronics.2024.103138","DOIUrl":"https://doi.org/10.1016/j.mechatronics.2024.103138","url":null,"abstract":"<div><p>This paper deals with the investigation of two actuation concepts for hydraulic switching valves which utilizes a piezo stack and a bistable mechanism. The goal of this work is to show concepts with which small and compact light-weight hydraulic valves can be designed and to pave the way for their integration in exoskeleton applications. The paper shows modeling and design aspects of a valve prototype and discusses measurements which were taken throughout the design process as well as final measurements of the valve’s switching behavior. Finally, possible improvements for robustness, miniaturization and increased dynamics are suggested.</p></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"98 ","pages":"Article 103138"},"PeriodicalIF":3.3,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0957415824000035/pdfft?md5=472752ae577c740174b2a14e2ac9e7e6&pid=1-s2.0-S0957415824000035-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139493418","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}