Actuators最新文献_第3页

Disturbance Observer and Adaptive Control for Disturbance Rejection of Quadrotor: A Survey 用于四旋翼飞行器干扰抑制的干扰观测器和自适应控制：调查

Actuators Pub Date : 2024-06-11 DOI: 10.3390/act13060217

Ruiying Wang, Jun Shen

引用次数: 0

Motion Control of a Hybrid Quadruped-Quadrotor Robot 四足-四旋翼混合机器人的运动控制

Actuators Pub Date : 2024-06-09 DOI: 10.3390/act13060215

Wenjuan Ouyang, Haozhen Chi, Leifeng Lu, Chao Wang, Qinyuan Ren

引用次数: 0

Dynamic Output Feedback of Second-Order Systems: An Observer-Based Controller with Linear Matrix Inequality Design 二阶系统的动态输出反馈：基于观测器的控制器与线性矩阵不等式设计

Actuators Pub Date : 2024-06-09 DOI: 10.3390/act13060216

Danielle S Gontijo, J. M. Araújo, Luciano Frezzato, Fernando de Oliveira Souza

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Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots 用于无系绳水下机器人的软电液弯曲执行器

Actuators Pub Date : 2024-06-08 DOI: 10.3390/act13060214

Hao Lin, Yihui Chen, Wei Tang

{"title":"Soft Electrohydraulic Bending Actuators for Untethered Underwater Robots","authors":"Hao Lin, Yihui Chen, Wei Tang","doi":"10.3390/act13060214","DOIUrl":"https://doi.org/10.3390/act13060214","url":null,"abstract":"Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":" 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141368650","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Numerical Study on the Internal Flow Field Characteristics of a Novel High-Speed Switching Control Valve 新型高速开关控制阀内部流场特性的数值研究

Actuators Pub Date : 2024-06-06 DOI: 10.3390/act13060213

Hexi Ji, Jiazhen Han, Yong Wang, Qixian Wang, Sen Yang, Yudong Xie, Yilong Song, Haibo Wang

{"title":"Numerical Study on the Internal Flow Field Characteristics of a Novel High-Speed Switching Control Valve","authors":"Hexi Ji, Jiazhen Han, Yong Wang, Qixian Wang, Sen Yang, Yudong Xie, Yilong Song, Haibo Wang","doi":"10.3390/act13060213","DOIUrl":"https://doi.org/10.3390/act13060213","url":null,"abstract":"Modern laver fluffiness is achieved by applying high-speed gas to a laver, which is generated by the opening and closing of a laver fluffiness control valve in a fluffiness system. To address the problems of the slow response speed and poor stability of valves used in the laver processing industry at present, this paper proposes a novel principle of a high-speed switching control valve, which has the advantages of a fast response speed, high stability, and long service life. The structure and working principle of the control valve are introduced, and the calculation equation of the valve’s flow area is established. The flow field inside the control valve with different openings was numerically calculated in this study using Fluent. The flow regulation characteristics and flow field performance of the control valve were also analyzed. The results show that, with an increase in the valve opening, the influence of the flow area at the valve throttle on the valve flow rate was weakened. When the valve was opened, a vortex appeared in both the upper and lower cavities, and jet flow occurred at the throttle of the middle flow channel. As the valve opening increased, the pressure in the upper cavity reduced, while the pressure in the lower cavity increased. The vortex in the flow field intensified, and the jet phenomenon at the valve throttle gradually disappeared. At the same time, the main stream in the lower cavity gradually changed from an annular flow to a direct flow toward the valve outlet. Furthermore, the impact, collision, and vortex formation of the fluid caused energy loss of the fluid, leading to a decrease in the outlet flow of the control valve.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"100 s1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141378168","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Active Power Assist with Equivalent Force on Connection for Lower Limb Exoskeleton Robots 下肢外骨骼机器人的等效连接力主动动力辅助系统

Actuators Pub Date : 2024-06-05 DOI: 10.3390/act13060212

Jing Deng, Wenzheng Jiang, Haibo Gao, Mantian Li, Yapeng Shi

{"title":"Active Power Assist with Equivalent Force on Connection for Lower Limb Exoskeleton Robots","authors":"Jing Deng, Wenzheng Jiang, Haibo Gao, Mantian Li, Yapeng Shi","doi":"10.3390/act13060212","DOIUrl":"https://doi.org/10.3390/act13060212","url":null,"abstract":"Active power-assist lower limb exoskeleton robots aim to enhance wearer assistance while ensuring wearer comfort and simplifying the exoskeleton’s design and control. This study proposes an active assistance method known as Equivalent Force on Connection (EFOC). The EFOC method effectively addresses the limitations encountered in conventional Joint Torque Proportional Compensation (JTPC) approaches. These limitations include the necessity for exoskeleton robot configurations to align with human limb structures for parallel assistance at each lower limb joint, as well as the exoskeleton’s inability to contribute a greater proportion of assistance due to the excessive load on specific skeletal and muscular structures, resulting in wearer discomfort. Furthermore, the effectiveness of the EFOC method is evaluated and validated for assistance during both the stance and swing phases of single-leg movements. Finally, the proposed EFOC method is implemented on a hydraulic-driven lower limb exoskeleton robot to assist wearers in squatting, stepping, and jumping locomotion. The experimental results demonstrate that the proposed EFOC method can effectively achieve the desired assistance effect.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"22 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141383359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design of a Tripod LARMbot Arm 三脚架 LARMbot 机械臂的设计

Actuators Pub Date : 2024-06-05 DOI: 10.3390/act13060211

M. Ceccarelli, Steven Beaumont, Matteo Russo

引用次数: 0

Light-Weighting and Comparative Simulation Analysis of the Forearm of Welding Robots 焊接机器人前臂的轻量化和比较仿真分析

Actuators Pub Date : 2024-06-04 DOI: 10.3390/act13060209

Hongchen Pang, Zibin Sun, Jiezhen Hu, Fang Yang

{"title":"Light-Weighting and Comparative Simulation Analysis of the Forearm of Welding Robots","authors":"Hongchen Pang, Zibin Sun, Jiezhen Hu, Fang Yang","doi":"10.3390/act13060209","DOIUrl":"https://doi.org/10.3390/act13060209","url":null,"abstract":"The light-weighting of a robotic arm is an important aspect of robot research. In the operation of existing welding robots, excessive vibrations in the welding actuators have been observed, which lead to reduced welding precision and work efficiency. The direct connection between the forearm and the welding actuator is a key component that affects vibrations. Based on this, a study on light-weighting the forearm is proposed. Using the theory of topology optimization with variable density structure, the structural dimensions, shapes, and geometric parameters of the forearm are optimized. The material removal methods of “hole cutting” and “local hollowing” are employed to reconstruct the forearm structure model. Static, modal, and transient simulations were performed on the forearm model pre-optimization and post-optimization. The optimization results show that the mass of the forearm is reduced by 19.8%. The static simulation comparative analysis shows that, under the same constraints and load conditions, the maximum total deformation of the optimized forearm is reduced by 3.6%, the maximum stress is reduced by 3.2%, and the maximum equivalent elastic strain is reduced by 5.7%. The optimized forearm structure is more reasonable and exhibits better mechanical performance. Modal simulation comparative analysis shows that the first and second natural frequencies of the optimized forearm are increased by 9.8% and 7.0%, respectively. Transient simulation comparative analysis demonstrates that, under the maximum operating condition, the vibration frequency and amplitude of the optimized welding robot forearm are reduced by 19.4% and 26.9%, respectively. The maximum amplitudes of the maximum equivalent stress curve and maximum equivalent elastic strain curve are reduced by 51.0% and 46.0%, respectively. This study provides a guarantee for reducing vibrations in welding actuators, improving welding precision, and enhancing the work efficiency of the welding robot.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"83 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141387155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic Modeling and Control of a 4-Wheel Narrow Tilting Vehicle 四轮窄倾车辆的动态建模与控制

Actuators Pub Date : 2024-06-04 DOI: 10.3390/act13060210

Sunyeop Lee, Hyeonseok Cho, Kanghyun Nam

{"title":"Dynamic Modeling and Control of a 4-Wheel Narrow Tilting Vehicle","authors":"Sunyeop Lee, Hyeonseok Cho, Kanghyun Nam","doi":"10.3390/act13060210","DOIUrl":"https://doi.org/10.3390/act13060210","url":null,"abstract":"The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, given the inherent limited width of compact vehicles, the potential risk of vehicle rollover is greater than that of regular vehicles. This paper addresses the safety concerns associated with vehicle rollover, focusing on narrow tilting vehicles (NTVs). Quantifying stability involves numerical indicators such as the lateral load transfer ratio (LTR). Additionally, a unique approach is taken by applying ZMP (zero moment point), commonly used in the robotics field, as an indicator of vehicle stability. Effective roll control requires a detailed analysis of the vehicle’s characteristic model and the derivation of lateral and roll dynamics. The paper presents the detailed roll dynamics of an NTV with a MacPherson strut-type suspension. A stability-enhancing method is proposed using a cascade structure based on the internal robust position controller and outer roll stability controller, addressing challenges posed by disturbances. Experimental verification using Simscape Multibody and CarSim validates the dynamic model and controller’s effectiveness, ensuring the reliability of the proposed tilting control for NTVs in practical scenarios.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"1 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141266352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Novel Continuously Variable Transmission with Circumferentially Arranged Disks (CAD CVT) 带圆周排列盘的新型无级变速器（CAD CVT）

Actuators Pub Date : 2024-06-03 DOI: 10.3390/act13060208

Muhammad Bilal, Qidan Zhu, Shafiq R. Qureshi, A. Elahi, Muhammad Kashif Nadeem, Sartaj Khan

{"title":"A Novel Continuously Variable Transmission with Circumferentially Arranged Disks (CAD CVT)","authors":"Muhammad Bilal, Qidan Zhu, Shafiq R. Qureshi, A. Elahi, Muhammad Kashif Nadeem, Sartaj Khan","doi":"10.3390/act13060208","DOIUrl":"https://doi.org/10.3390/act13060208","url":null,"abstract":"This paper presents a novel Continuous Variable Transmission (CVT) design. CVT is highly beneficial for actuators with rotary output as it can improve the energy efficiency of the actuators by providing an optimum transmission ratio. This property of CVT is highly beneficial for fossil-fuel-based vehicles, electric vehicles, wind turbines, industrial robots, etc. With the exception of Spherical CVT and DH CVT, all known CVTs like push belt CVTs, toroidal CVTs, Milner CVTs, etc., require additional gear sets and clutches for direction reversal and neutral gear ratio. However, Spherical CVT and DH CVT have low torque capacity due to a single traction point constraint. Foregoing in view, a new CVT named CAD CVT has been developed. The paper presents the design conception, the operating principle, the transmission ratio, the torque capacity, frictional losses, and experimental verification of the basic functionality by manufacturing a Proof of Concept (PoC). The proposed CVT is the only CVT capable of independent direction reversal and high torque capacity as it can transmit torque through multiple traction points. The new CVT will significantly impact high-torque applications in different engineering applications, especially land transport consisting of heavy vehicles like trucks, buses, and trailers.","PeriodicalId":504742,"journal":{"name":"Actuators","volume":"59 39","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141269128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0