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Автор: Grafiati
Опубліковано: 6 вересня 2023

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Статті в журналах з теми "Degrees-of-freedom actuator"

1

YANO, Tomoaki. "Actuator with Multi Degrees of Freedom." Journal of The Institute of Electrical Engineers of Japan 127, no. 5 (2007): 294–96. http://dx.doi.org/10.1541/ieejjournal.127.294.

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2

Suzuki, Aya, and Minoru Hashimoto. "Development of a PVC Gel Actuator with a Particulate Structure." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 273–75. http://dx.doi.org/10.20965/jrm.2022.p0273.

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Actuators are usually driven in a uniaxial direction, which limits their ability to be driven with multiple degrees of freedom. In this study, we propose an actuator that is not limited to a uniaxial direction. We developed a polyvinyl chloride gel actuator with a particulate structure. The actuator can change its surface shape by displacing each particle in the structure. As the first step in this experiment, each particle was displaced independently, by applying a voltage to the anode to change the actuator’s surface into an uneven shape.
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3

Safavi, Sahba, A. Selk Ghafari, and A. Meghdari. "Efficient Design of a Torque Actuator for Lower Extremity Exoskeleton Based on Muscle Function Analysis." Advanced Materials Research 328-330 (September 2011): 1041–44. http://dx.doi.org/10.4028/www.scientific.net/amr.328-330.1041.

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Several lower extremity exoskeletal systems have been developed for augmentation purpose. Common actuators, have important drawbacks such as complexity, and poor torque capacities. The main scope of this research is to propose a series elastic actuator for lower extremity exoskeletal system which was designed based on muscle functional analysis. For this purpose, a biomechanical framework consisting of a musculoskeletal model with ten degrees-of-freedom actuated by eighteen Hill-type musculotendon actuators per leg is utilized to perform the muscle functional analysis for common daily human activities. The simulation study illustrated functional differences between flexor and extensor muscles and the results were utilized for efficient design of the series elastic torque actuator employed in lower extremity exoskeletons.
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4

Biswal, Deepak Ranjan, and Pramod Kumar Parida. "Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand." International Journal for Research in Applied Science and Engineering Technology 10, no. 9 (September 30, 2022): 100–108. http://dx.doi.org/10.22214/ijraset.2022.46579.

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Abstract: Imparting the dexterity and autonomous competence to a robotic system is a significant burden in humanoid robotics, especially in the fields of industrial manufacturing, prosthetics, orthopedic rehabilitation, etc. Operating a humanoid hand requires a very innovative actuator and transmission system. The under-actuated concepts are proving to be a possible means of achieving extremely dexterous robotic hands without the need for diverse mechanical design. The main characteristics of an under-actuated robotic hand are that fewer actuators are required to operate it than the degrees of freedom. The under-actuated equivalent hand is significantly less expensive than the fully-actuated equivalent hand and remarkably reduces the complexity of the control system. The existing work dealt with the modeling and finite element-based analysis of an anthropomorphic underactuated robotic hand using five fingers including the thumb and palm with dexterity and with a total of twenty-one degrees of freedom.
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5

Bansevicius, Ramutis, Dalius Mazeika, Vytautas Jurenas, Genadijus Kulvietis, and Asta Drukteiniene. "Multi-DOF Ultrasonic Actuators for Laser Beam Positioning." Shock and Vibration 2019 (February 10, 2019): 1–13. http://dx.doi.org/10.1155/2019/4919505.

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Анотація:
A novel design concept of multi-degree-of-freedom (multi-DOF) piezoelectric actuator is introduced in the paper. The main idea is to connect two identical piezoelectric transducers by hyperelastic material in order to increase the total number of degrees-of-freedom of the system. Such design principle also allows to separate vibrations of two piezoelectric transducers and to control them independently. The ring- and cylinder-type piezoelectric transducers were used to design two multi-DOF ultrasonic actuators for precise laser beam positioning. Reflecting mirror is mounted on the top of the actuator and is preloaded by magnetic force. Both disc- and cylinder-type actuators can realize up to six degrees-of-freedom, i.e., to rotate the mirror about three axes employing one transducer and to position mirror in the plane by using another transducer. Bidirectional rotation and translation motion of the mirror are obtained by switching excitation signals between different electrodes of the transducers. Both the numerical simulation and physical prototype were used to verify operating principle of the actuators. Numerical investigation of the piezoelectric actuator was performed to investigate modal-frequency and harmonic response analysis while experimental study was performed to measure electrical and mechanical output characteristics of the piezoelectric actuator. A mathematical model of contacting force control was proposed, and numerical verification was performed when the mirror need to be rotated according to the specific motion trajectory.
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6

Park, F. C., and J. W. Kim. "Singularity Analysis of Closed Kinematic Chains." Journal of Mechanical Design 121, no. 1 (March 1, 1999): 32–38. http://dx.doi.org/10.1115/1.2829426.

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This paper presents a coordinate-invariant differential geometric analysis of kinematic singularities for closed kinematic chains containing both active and passive joints. Using the geometric framework developed in Park and Kim (1996) for closed chain manipulability analysis, we classify closed chain singularities into three basic types: (i) those corresponding to singular points of the joint configuration space (configuration space singularities), (ii) those induced by the choice of actuated joints (actuator singularities), and (iii) those configurations in which the end-effector loses one or more degrees of freedom of available motion (end-effector singularities). The proposed geometric classification provides a high-level taxonomy for mechanism singularities that is independent of the choice of local coordinates used to describe the kinematics, and includes mechanisms that have more actuators than kinematic degrees of freedom.
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7

Alfaro Barrantes, Juan, Paola Vega Castillo, Marta Vílchez Monge, and Marco Rodríguez Montero. "Simulation of laminar bimorph piezoelectric microactuators with application in miniaturized robots." Revista Tecnología en Marcha 25, no. 5 (November 21, 2012): 116. http://dx.doi.org/10.18845/tm.v25i5.484.

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Анотація:
<p>In order to implement miniaturized robots different possibilities for electromechanical actuation at the microscale must be evaluated according to their function on the robot, as well as, size, mechanical strength and deformation, resolution, power supply, energy and degrees of freedom required. The piezoelectric actuators are among the most suitable possibilities to incorporate microactuators in miniaturized robots.This article presents an overview of piezoelectric actuation and the evaluation of a simple <em>x-y </em>micropositioning actuator for a miniaturized robot using COMSOL Multiphysics.</p>
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8

Sun, Qiang, Shizhong Zhang, Xuan Li, Weiwei Chen, Wuxiang Sun, and Hu Huang. "A novel two-degrees of freedom (2-DOF) piezo-driven positioning platform with the working stroke being over 20 cm." Review of Scientific Instruments 93, no. 10 (October 1, 2022): 105002. http://dx.doi.org/10.1063/5.0106657.

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Анотація:
Multi-degrees of freedom piezo-driven precision positioning platforms with large working strokes are demanded in many research fields. Although many multi-degrees of freedom piezo-driven positioning platforms have been proposed, few of them can achieve both large working stroke and high speed, which hinders their applications. In this study, a two-degrees of freedom piezo-driven positioning platform was proposed by stacking two identical stick–slip piezoelectric actuators. To simplify the practical implementation of a large working stroke, the actuator employed a special structure, in which the compliant mechanism and the slider were connected together as a mover and the guide rail was fixed as a stator. The working stroke of the actuator can be increased easily by increasing only the length of the guide rail without changing the output performances. By designing a lever-type compliant mechanism (LCM) on the side surface of the slider, a large loading space was obtained. Theoretical calculation and finite element analysis of the LCM were performed in detail. As the structures of these two stick–slip piezoelectric actuators are the same, only the output performances of the upper actuator ( x direction) were tested as an example. Experimental results indicated that the upper actuator had a stable bi-direction motion with a working stroke being over 20 cm. The maximum speeds along the positive x and negative x directions reached 17.864 and 18.73 mm/s, and the resolutions were 100 and 230 nm, respectively. Furthermore, the vertical loading capacity was larger than 60 N.
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9

Peerdeman, Bart, Stefano Stramigioli, Edsko E. G. Hekman, Dannis M. Brouwer, and Sarthak Misra. "Development of Underactuated Prosthetic Fingers with Joint Locking and Electromyographic Control." Mechanical Engineering Research 3, no. 1 (April 24, 2013): 130. http://dx.doi.org/10.5539/mer.v3n1p130.

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Анотація:
Modern hand prostheses possess a large number of degrees of freedom. These degrees of freedom cannot simply be actuated by a single motor each, since their combined size and weight would exceed the limitations of an anthropomorphic prosthesis. Some hand prostheses try to remedy this by way of underactuation of the fingers or addition of entirely passive fingers, but this reduces the hand's ability to execute different grasp types. We present a joint locking system, allowing certain degrees of freedom to be fixed during actuation of an underactuated finger. These locks are actuated by miniature solenoids, and allow the fingers to support a variety of grasp types. In this paper, these locks are implemented in a two-fingered prosthesis prototype, which is able to perform several grasping motions important for prosthesis users. This prototype is controlled by pre-recorded electromyographic signals, which control different grasp types and their opening/closing. Various grasping experiments show that the prototype is able to execute three essential grasp types for daily living with a single main actuator, and can be intuitively controlled by means of six different electromyographic signals. This prototype demonstrates new joint locking mechanisms and control systems that can provide an anthropomorphic, myoelectric hand prosthesis with minimal actuation and intuitive control.
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10

Gardner, J. F., K. Srinivasan, and K. J. Waldron. "Closed loop trajectory control of walking machines." Robotica 8, no. 1 (January 1990): 13–22. http://dx.doi.org/10.1017/s026357470000727x.

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SUMMARYThe global trajectory control of walking machines is addressed here with particular attention paid to the consequences of actuator redundancy for control and to the inclusion of actuator dynamics in trajectory controller design. Redundancy of actuation, typical of walking machines, results in the trajectory control problem being formulated perforce in a global coordinate frame, instead of the joint space, as in nonredundant manipulators. This lack of one-to-one correspondence between the degrees of freedom of motion in the global coordinate frame and the actuators results in coupling between the different trajectory control loops. A mechanism for reducing this coupling effect is proposed here, along with a procedure to take into account approximately the effect of actuator dynamics in designing the trajectory controllers. The proposed methods are evaluated by simulation for an example problem in legged locomotion and are shown to be effective.
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Більше джерел

Дисертації з теми "Degrees-of-freedom actuator"

1

Garimella, Suresh. "Actuator Modeling and Control For a Three Degrees of Freedom Differential Thrust Control Testbed." Ohio University / OhioLINK, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195164411.

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2

Liu, Taoming. "Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593.

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3

Kossowski, Craig Dean. "A novel wire-driven parallel robot, design, analysis and simulation of the CAT4 (Cable Actuated Truss, 4 degrees of freedom)." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2002. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/MQ65662.pdf.

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4

Bafumba, Liseli Joël. "Design and control of a piezoelectric positioning systems, with high resolution, multiple degrees of freedom and an embedded measurement by self-sensing." Thesis, Bourgogne Franche-Comté, 2019. http://www.theses.fr/2019UBFCD017.

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Анотація:
De nos jours, les systèmes intègrent de plus en plus de fonctionnalités dans des volumes de plus en plus petits grâce aux microcomposants intégrés. L'assemblage de ces microcomposants nécessite des systèmes de manipulation précis et reproductibles. Un nombre considérable de recherches ont été menées afin de mettre au point des actionneurs et des microrobots capables d'effectuer des tâches de positionnement ou de manipulation avec des précisions microniques voire submicroniques. Les technologies piézoélectriques jouent un rôle fondamental dans les applications de positionnement à résolution nanométrique ou même inférieure. Ces matériaux permettent la conception et le développement de systèmes de positionnement avec résolution et bande passante élevées. Cependant, des effets non linéaires tels que l'hystérésis et la dérive lente affectent la précision de la position des systèmes à base piézoélectrique s'ils ne sont pas contrôlés. Souvent, des capteurs de position sont montés sur ces systèmes pour permettre un contrôle en boucle fermée et l'élimination des effets d'hystérésis et de dérive lente. Néanmoins, l'intégration de capteurs permettant un asservissement robuste et de qualité pose des problèmes spécifiques aux microrobots. Cela est particulièrement vrai lorsque le nombre de degrés de liberté augmente. En effet, les capteurs de position qui jouissent d'une bonne résolution et précision sont généralement très volumineux et coûteux. Les solutions alternatives à l’intégration de capteurs de position externes peuvent être regroupées en deux catégories: soit par contrôle en boucle ouverte, également appelé schémas de contrôle prédictifs, soit par des techniques basées sur le contrôle par auto-détection (Self-Sensing Actuation - SSA), c’est-à-dire un contrôle en boucle fermée utilisant l'actionneur piézoélectrique comme son propre capteur.Dans cette thèse, l'objectif est de concevoir et de contrôler un système de positionnement basé sur la technologie piézoélectrique avec une méthode de mesure intégrée par SSA et ayant plusieurs degrés de liberté. À cette fin, les deux classes de SSA, à savoir le SSA basé sur l’effet direct piézoélectrique et le SSA basé sur la modification des propriétés électriques de l'actionneur piézoélectrique (PEA), sont étudiées en profondeur afin de déterminer celle qui convient le mieux au contrôle de la force et de la position dans les actionneurs piézoélectriques caractérisés par le fluage et non-linéarités d'hystérésis et consacrés à des opérations précises. De plus, cette étude présente un modèle constitutif et une technique d’identification de paramètres améliorés, qui prend en compte l’effet de couplage électromécanique et les non linéarités sur les propriétés du matériau piézoélectrique (constantes élastiques et diélectriques).Une nouvelle technique d'évaluation en temps réel des propriétés électriques du PEA est développée. Cette évaluation est basée sur la mesure de l’amplitude du courant de détection résultant de l’application d’une tension d’entrée haute fréquence de faible amplitude superposée à la tension d’entrée de commande qui actionne le PEA. Ensuite, un estimateur qui utilise le courant de détection pour estimer la position du PEA est conçu. Enfin, une plate-forme microrobotique pour le positionnement planaire à haute résolution avec la mesure intégrée par SSA développée est présentée
Currently, systems integrate more and more functionalities into smaller volumes thanks to embedded micro-components. The assembly of those components requires precise and repeatable systems of manipulation. Substantial amounts of research have been carried out for developing actuators and microrobots to perform positioning or manipulation with micron- or even submicron accuracies. Piezoelectric technologies play a fundamental role in positioning applications with nanoscale or even lower resolution. These materials make possible the design and development of positioning systems with high resolution and bandwidth. However, nonlinear effects such as hysteresis and creep affect the position accuracy of piezoelectric-based systems if not controlled. Often, position sensors are mounted to these systems to permit a feedback control and the elimination of the hysteresis and creep effects. Nonetheless, the integration of sensors to enable quality and robust servo control poses specific problems for microrobots. This is especially true when the number of degrees of freedom (DOF) increases. Precision position sensors are usually very bulky and expensive. Alternative solutions to the integration of external position sensors can be grouped into two categories: either by open-loop control, also called feedforward control schemes or by Self-Sensing Actuation (SSA) control-based techniques, that is, a feedback control that uses the piezoelectric actuator as its own sensor.In this thesis, the objective is to design and control a piezoelectric-based positioning system with an embedded measurement by SSA method and having several degrees of freedom. To this end, the two classes of SSA, namely SSA based on the piezoelectric direct effect and the SSA based on the change of electrical properties of the piezoelectric actuator (PEAs), are studied in depth to determine the more adequate for force and position control in piezoelectric actuators typified by creep and hysteresis nonlinearities and devoted to precise operations. Additionally, from this study, an improved constitutive model and parameter identification technique are presented which includes the electromechanical coupling effect on the piezoelectric material properties (elastic and dielectric constants).A novel technique for real-time evaluation of the PEA's electrical properties is developed. This evaluation is based on the measurement of the amplitude of the detection current that results from the application of high-frequency low amplitude input voltage that is superimposed to the control input voltage which actuates the PEA. Then an estimator that uses the detection current to estimate the PEA's position is designed. Finally, a microrobotics platform for planar positioning with high resolution and the developed embedded measurement by SSA is presented
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5

Lin, Ching-Yuan, and 林敬沅. "Design and Fabrication of a Novel Multi-Degrees of Freedom Piezoelectric Actuator." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/87352093498685988335.

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Анотація:
碩士
國立雲林科技大學
機械工程系
102
In this paper, the use of dual piezoelectric element as the core of piezoelectric actuator, and applying the appropriate frequency of driving voltage to the piezoelectric element, with standing wave design, piezoelectric actuator side will have a slightly elliptical motion and the slider surface contact, the friction force to actuator the spherical rotor. The novel Multi-Degrees of Freedom piezoelectric actuator structure contains: Dual piezoelectric ceramics, Driving tip, Clamp apparatus and Spherical rotor. In order to reduce the interference and abrasion of piezoelectric elements are generated, the use of piezoelectric element wave vibration to determine the fixed point and the friction element position. The driving mode, the spherical rotor of the Pre-pressure and friction generated friction element can be rotated clockwise and counterclockwise to the Y-axis and Z-axis. The resonant frequency at 229.5kHz、229.1 kHz、230.6 kHz, respectively. The experimental results obtain that the rotation speed of spherical rotor, When the input voltages 50Vpp ,Y-axis clockwise speed 36.9rpm,Y-axis counterclockwise speed 49.5 rpm.
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6

Yuan, Tsan-Hsiu, and 袁贊修. "Tracking Control of a Three Degrees of Freedom Mechanical Arm Actuated by Pneumatic Muscle Actuators." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/48669028079872239144.

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Анотація:
碩士
聖約翰科技大學
自動化及機電整合研究所
95
In this study, the three degrees of freedom mechanical arm actuated by six pneumatic muscle actuators is used as a rehabilitation robot. It is difficult to achieve high control accuracy using classical control method, because the compressibility of gas and the nonlinear elasticity of bladder container caused parameter variation. We use two intelligent controllers to implement angle control and end-effector tracking control. The linguistic approach learning mechanism is used to modify on-line fuzzy rules and the fuzzy sliding surface can reduce fuzzy sets. And then the adaptive law is used to adjust scaling factor. The experimental results show that adaptive self-organizing fuzzy sliding mode controller can attain excellently tracking control performance .
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7

CHI, CHIA-WEI, and 季佳緯. "Design of Two Degrees-of-Freedom Piezoelectric Actuators for Electronic Eye Ball Applications." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/d43248.

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Анотація:
碩士
國立雲林科技大學
機械工程系
104
Generally, actuator can be classified as two forms, one is piezoelectric actuator, and the other is electromagnetic actuator. Moreover, standing wave type and traveling wave type are two major types of piezoelectric actuators. In this paper, converse piezoelectric effect occurs as we input voltage and driving frequency in piezoelectric plate. Piezoelectric effect is a phenomenon about mechanical energy transformation. We excite electrode to generate ultrasonic vibration that cause rotor to drive in elliptical motion and make stator start to move. The purpose of this study is using standing wave type method to drive stator. The three piezoelectric actuators are attached to the foundation of fixture above the base that arrange asymmetrically and separate in 120 degrees. Besides, we can adjust the distance of fixture based on the size of rotor. The powerful magnet below the center is to increase the weight of stator by means of magnet suction. To increase the efficiency of piezoelectric plate, we must find the location of the fixture and the friction elements on the piezoelectric ceramic chaps by using finite element analysis software. The optimal driving frequency in mode(1,0), mode(0,1)and mode(1,1) is 194 frequency, 195 frequency and 191 frequency. The structure of the two degrees of freedom piezoelectric actuators consist of three asymmetrical ceramic chaps, fixtures, friction elements, foundation of fixture, acrylic base, and rotor. There are three major situations about driving modes. In the first driving mode(1,0), the rotor applies a clockwise rotation around the y – axis with the highest speed as 54.2rpm. In the second driving mode(0,1), the rotor applies a anticlockwise rotation around the y – axis with the highest speed as 40.1 rpm. In the third driving mode(1,1), the rotor rotate around the x – axis with the highest speed as 26.6 rpm.
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8

Hsu, Yu-Lin, and 徐玉麟. "Precision Tracking Control of a Five-Degrees-of-Freedom Piezoelectric-Actuated Stage." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/78143261518707292217.

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Анотація:
碩士
國立雲林科技大學
電機工程系碩士班
94
In this paper, precision tracking control of Five-Degrees-of-Freedom piezoelectric-actuated systems is discussed. Generally, the piezoelectric-actuated system can be modeled as a linear model coupled with a hysteresis. In order to obtain precision tracking control, Prandtl-Ishlinskii (PI) model is used to model the hysteresis nonlinearity. Then, the inverse PI model is used to reduce the hysteresis nonlinearity and a sliding-model controller is designed to compensate the remaing nonlinear uncertainty and disturbances. After the linear model is identified a sliding-mode controller can be designed for the motion control of a nano-stage. The experimental results presented to verify the usefulness of this method.
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9

Jhe-WeiLi and 李哲維. "Analysis, Design, and Control of a Cascaded Piezoelectric Actuated Two-Degrees of Freedom Precision Stage." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/33496079233827666788.

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Анотація:
碩士
國立成功大學
機械工程學系碩博士班
100
In recent years, Automatic Optical Inspection (AOI) plays an important role on modern semiconductor and optical industries. A typical AOI equipment consists of a camera mounted on a gantry for performing large-area inspection. Fast and accurate movement would influence the inspection efficiency. However, the motion induced vibration during fast transition could significantly increase the settling time and therefore deteriorate the inspection rate. In this thesis, a piezoelectric driven compliant stage was design as the carrier for camera. By integrating control scheme with the stage, it is possible to suppress the vibration and therefore improve the performance of AOI. The objective of this research is to develop a PC-based closed loop X-Y axes micro-nano positioning system. The developed system mainly consists of two piezoelectric actuators, two displacement magnification mechanism, the micro-nano positioning stage analyzed by the FEM software -ABAQUS, piezo amplifier, two capacitive sensors, and a PC. The structure of the positioning stage has been designed as stacked serial type. A lever for displacement magnification mechanism has been used to enlarge the travel of each PZT actuator. The movement of the designed micro-nano positioning stage body was constrained by four sets of flexible hinge cut by wire electrical discharge machining.The geometric dimensions of the hinge have been determined by executing the optimization function using the ABAQUS software on static and dynamic analysis. Based on the test results, the designed stage have good performance in fix-point control and dynamic tracking. This study has successfully set up a positioning system. Its characteristic is simple structure with low cost and low-needed of hardware equipment. This positioning system can achieve high-precise motion. It is hope that the result of this study can be expanded to longer stroke and higher precise positioning system, and integrates every mature technology to develop more superior precise instrument in the future.
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10

Fatima, Mariam. "Development of an actuation system for a specialized fixture: providing two degrees of freedom for single point incremental forming." Thesis, 2013. http://hdl.handle.net/10155/311.

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In this thesis, an actuation system is developed for a Two-Axis Gyroscopic (TAG) adapter. This adapter is a fixture with two auxiliary axes which is used for the Single Point Incremental Forming (SPIF) technique to enhance a three-axis mill to have five-axis capabilities. With five-axis mill capabilities, variable angles between line segments of the toolpath and the tool can be obtained. To achieve specialized angles between a line segment and the SPIF tool, the sheet is rotated. Inverse kinematic equations for the TAG adapter are derived to calculate the required rotations for the TAG adapter’s auxiliary axes for a line segment of a toolpath. If the next line segment requires a different orientation of the sheet, the sheet is rotated while the tool follows the rotation of the sheet to maintain its position at the connecting point of the line segments of the toolpath. Five equations of motions are derived to calculate the three translations of the mill and two rotations of the TAG adapter’s frames, during forming. A toolpath execution algorithm is implemented in MATLAB which uses the five equations of motion to execute a toolpath. The algorithm generates an array of data points that can be used by a Computer Numerically Controlled (CNC) machine to follow a desired path. A visual representation for the execution of the toolapth is implemented in MATLAB and is used to illustrate the successful completion of a toolpath. A computer controlled motor system is selected and tested in this thesis which will ultimately be integrated with a worm gear system and a CNC machine to develop a full CNC actuation system.
UOIT
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Книги з теми "Degrees-of-freedom actuator"

1

Goldfarb, Michael. Minimum surface-effect microgripper design for force-reflective telemanipulation of a microscopic environment. [Washington, DC: National Aeronautics and Space Administration, 1996.

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2

Goldfarb, Michael. Minimum surface-effect microgripper design for force-reflective telemanipulation of a microscopic environment. [Washington, DC: National Aeronautics and Space Administration, 1996.

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3

Nikola, Celanovic, and United States. National Aeronautics and Space Administration., eds. Minimum surface-effect microgripper design for force-reflective telemanipulation of a microscopic environment. [Washington, DC: National Aeronautics and Space Administration, 1996.

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4

Goldfarb, Michael. Minimum surface-effect microgripper design for force-reflective telemanipulation of a microscopic environment. [Washington, DC: National Aeronautics and Space Administration, 1996.

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5

Center, Langley Research, ed. Simplified analytical model of a six-degree-of-freedom large-gap magnetic suspension system. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1997.

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6

Center, Langley Research, ed. Analysis and testing of plates with piezoelectric sensors and actuators. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1998.

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7

Center, Langley Research, ed. Analysis and testing of plates with piezoelectric sensors and actuators. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1998.

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Частини книг з теми "Degrees-of-freedom actuator"

1

Yano, Tomoaki. "Actuator with Multi Degrees of Freedom." In Next-Generation Actuators Leading Breakthroughs, 279–90. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-991-6_24.

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Saurav Kumar Dutta, B. Sandeep Reddy, and Santosha Kumar Dwivedy. "Design of a Two Degrees of Freedom Actuator for Rehabilitation Robotic Applications." In Lecture Notes in Mechanical Engineering, 1189–96. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0550-5_113.

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Thoendel, Evzen. "Design and Optimal Control of a Linear Electromechanical Actuator for Motion Platforms with Six Degrees of Freedom." In Intelligent Automation and Systems Engineering, 65–77. New York, NY: Springer New York, 2011. http://dx.doi.org/10.1007/978-1-4614-0373-9_6.

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Suzumori, Koichi, and Shuichi Wakimoto. "Intelligent Actuators for Mechatronics with Multi-Degrees of Freedom." In Next-Generation Actuators Leading Breakthroughs, 165–76. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-991-6_15.

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Balasubramanian, Ravi, and Aaron M. Dollar. "Performance of Serial Underactuated Mechanisms: Number of Degrees of Freedom and Actuators." In Lecture Notes in Electrical Engineering, 1–13. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33971-4_1.

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6

Lee, Kok-Meng, and Shankar Arjunan. "A Three Degrees of Freedom Micro-Motion In-Parallel Actuated Manipulator." In Solid Mechanics and Its Applications, 345–74. Dordrecht: Springer Netherlands, 1992. http://dx.doi.org/10.1007/978-94-011-1818-7_9.

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Sasso, G., F. Carpi, N. Pugno, and J. J. C. Busfield. "Fluid mixer with two degrees of freedom enabled by dielectric elastomer actuators." In Constitutive Models for Rubber XII, 504–7. London: CRC Press, 2022. http://dx.doi.org/10.1201/9781003310266-82.

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Osypiuk, Rafal, and Torsten Kröger. "Parallel Stiffness Actuators with Six Degrees of Freedom for Efficient Force/Torque Control Applications." In Springer Tracts in Advanced Robotics, 275–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_16.

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9

Izard, Jean-Baptiste, and Marc Gouttefarde. "On the Cable Actuation of End-Effector Degrees of Freedom in Cable-Driven Parallel Robots." In Mechanisms and Machine Science, 134–45. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-32322-5_11.

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Kuang, Lisheng, Maud Marchal, Marco Aggravi, Paolo Robuffo Giordano, and Claudio Pacchierotti. "Design of a 2-DoF Haptic Device for Motion Guidance." In Haptics: Science, Technology, Applications, 198–206. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06249-0_23.

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AbstractWe present a 2-degrees-of-freedom (2-DoF) haptic device, which can be either used as a grounded or a hand-held device. It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a three-legged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.
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Тези доповідей конференцій з теми "Degrees-of-freedom actuator"

1

Xie, Qing, Tao Wang, and Shiqiang Zhu. "Dynamical Characteristics of a Hydraulic Soft Actuator With Three Degrees of Freedom." In ASME/BATH 2021 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/fpmc2021-68734.

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Abstract In recent years, increasing attention and expanding research have been devoted to the study and application of soft actuators. Inherent compliance equips soft actuators with such advantages as incomparable flexibility, good environmental adaptability, safe interaction with the environment, etc. However, the highly nonlinear also bring challenges to modeling of dynamics. This study aims to explore the dynamical characteristics of an underwater hydraulic soft actuator. The actuator has three fiber-reinforced elastomer chambers distributed symmetrically inside. By controlling the pressure in the chambers through a hydraulic power system, the actuator can achieve spatial motion with three degrees of freedom. To describe the relationship between the input pressure combination and the actuator movement, a dynamic model considering the nonlinearity of viscoelastic material is developed based on Lagrangian method and constant curvature hypothesis. A series of experiments are carried out, including single-chamber actuation and multi-chamber actuation. The test results verify the effectiveness and precision of the model. Finally, the effects of the geometrical features on dynamic response are investigated through model-based simulation, which can provide guidance to parameter optimization. The proposed dynamic model can also contribute to behavior analysis, performance prediction, and motion control of the hydraulic soft actuator.
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2

Kant, Krishan, and David L. Trumper. "High force density five degrees of freedom electromagnetic actuator." In 2022 IEEE Energy Conversion Congress and Exposition (ECCE). IEEE, 2022. http://dx.doi.org/10.1109/ecce50734.2022.9948188.

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Bedillion, Mark D. "Actuator Array Dynamics Incorporating Actuator Inertia." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-62507.

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Actuator arrays are planar distributed manipulation systems that use multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y, and θ). Prior work has discussed actuator array dynamics while neglecting the inertia of the actuators; this paper extends prior work to the case of non-negligible actuator inertia. The dynamics are presented using a standard friction model incorporating stiction. Simulation results are presented that show object motion under previously derived control laws.
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Yamada, Tomohiro, Akihiro Torii, and Akiteru Ueda. "Positioning of an inchworm type actuator with five degrees of freedom." In 2011 International Symposium on Micro-NanoMechatronics and Human Science (MHS). IEEE, 2011. http://dx.doi.org/10.1109/mhs.2011.6102191.

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5

Chen, Dian-Sheng, Chun-Yi Yin, Ren-Jie Lai, and Jui-che Tsai. "A Multiple Degrees of Freedom Electrothermal Actuator for a Versatile MEMS Gripper." In 2009 IEEE 22nd International Conference on Micro Electro Mechanical Systems (MEMS). IEEE, 2009. http://dx.doi.org/10.1109/memsys.2009.4805563.

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Shoval, S. "High power three degrees of freedom mini actuator using a parallel mechanism." In 2016 IEEE 11th Annual International Conference on Nano/Micro Engineered and Molecular Systems (NEMS). IEEE, 2016. http://dx.doi.org/10.1109/nems.2016.7758251.

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Bedillion, Mark D., Deepak Parajuli, and Randy C. Hoover. "Distributed Sensing in Actuator Array Manipulation." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-62499.

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Actuator arrays are planar distributed manipulation systems that use multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y, and θ). This paper describes methods of sensing the position and orientation of objects on an actuator array using only binary object sensors at each actuator. The object sensor information, when combined, forms a binary image of the object which may be processed to recover object pose. The methods’ effectiveness for rectangular objects is verified via simulation.
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8

Nabi, Hafiz Noor, Saif Ullah, and Adnan Munir. "Kinematic analysis of three-degrees-of-freedom parallel manipulator with crank arm actuator." In 2014 11th International Bhurban Conference on Applied Sciences and Technology (IBCAST). IEEE, 2014. http://dx.doi.org/10.1109/ibcast.2014.6778143.

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Awtar, Shorya, John Ustick, and Shiladitya Sen. "An XYZ Parallel Kinematic Flexure Mechanism With Geometrically Decoupled Degrees of Freedom." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47713.

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We present the constraint-based design of a novel parallel kinematic flexure mechanism that provides highly decoupled motions along the three translational directions (X, Y, and Z) and high stiffness along the three rotational directions (θx, θy, and θz). The geometric decoupling ensures large motion range along each translational direction and enables integration with large-stroke ground-mounted linear actuators or generators, depending on the application. The proposed design, which is based on a systematic arrangement of multiple rigid stages and parallelogram flexure modules, is analyzed via non-linear finite element analysis. A proof-of-concept prototype of the flexure mechanism is fabricated to validate its large range and decoupled motion capability. The analyses as well as the hardware demonstrate an XYZ motion range of 10 mm × 10 mm × 10 mm. Over this motion range, the non-linear FEA predicts a cross-axis error of less than 3%, parasitic rotations less than 2 mrad, less than 4% lost motion, actuator isolation less than 1.5%, and no perceptible motion direction stiffness variation. Ongoing work includes non-linear closed-form analysis and experimental measurement of these error motion and stiffness characteristics.
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Nelson, Carl A. "A Fixed-Actuator Configuration for 3-Leg 6-DOF Robots." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67768.

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For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.
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