Precise position control of tubular linear motors with neural networks and composite learning

2010 ◽  
Vol 18 (5) ◽  
pp. 515-522 ◽  
Author(s):  
David Naso ◽  
Francesco Cupertino ◽  
Biagio Turchiano
2020 ◽  
Vol 10 (21) ◽  
pp. 7618
Author(s):  
Ozgur Ustun ◽  
Omer Cihan Kivanc ◽  
Mert Safa Mokukcu

The progress in material and manufacturing technologies enables the emergence of new research areas in electromagnetic actuator applications. Permanent magnet (PM) linear motors are preferred to achieve precise position control and to meet the need for high dynamic forces in the seismic shake tables that are used in analyzing reactions of structure models. The design approaches on the linear motors used in the seismic shake tables may vary depending on the desired force, stroke and acceleration values. Especially, the maximum width, the maximum depth, the maximum linear motor length in longitudinal direction and the maximum travelling distance parameters are the primary design criteria in seismic shake table drive systems. In this paper, a design approach for a linear PM brushless direct current (BLDC) motor with high force/volume, force/weight and force/input power ratios is developed. The design was analyzed using two-dimensional (2D) and three-dimensional (3D) finite element method (FEM) approaches through the ANSYS Maxwell software. The mathematically designed linear BLDC motor was manufactured and subjected to displacement, acceleration and force tests that are used in seismic analyses. The results of the experimental tests validate the convenience of the proposed design approach and the selected parameters.


2018 ◽  
pp. 32-1-32-12
Author(s):  
Jian-Xin Xu ◽  
Sanjib Kumar Panda

Author(s):  
Yiwei Tang ◽  
Xin Sun ◽  
Qi He ◽  
Xi Xiao ◽  
Weihua Wang

2018 ◽  
Vol 7 (4) ◽  
pp. 369-370 ◽  
Author(s):  
Kenshi Matsuo ◽  
Takeshi Miura ◽  
Katsubumi Tajima

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Xinjun Sheng ◽  
Zhao Ma ◽  
Ningbin Zhang ◽  
Wei Dong

Abstract This paper presents the development of a six degrees-of-freedom manipulator with soft end-effector and an inverse kinematic compensator for aerial contact manipulation. Realizing the fact that aerial manipulators can hardly achieve precise position control, a compliant manipulator with soft end-effector is first developed to moderate end-effector positioning errors. The manipulator is designed to be rigid-soft combined. The rigid robotic arm employs the lightweight but high-strength materials. The compliance requirement is achieved by the soft end-effector so that the mechanical design for the joints are largely simplified. These two features are beneficial to lighten the arm and to ensure the accuracy. In the meantime, the pneumatic soft end-effector can further moderate the probable insufficient accuracy by endowing the manipulator with compliance for impact resistance and robustness to positioning errors. With the well-designed manipulator, an inverse kinematic compensator is then proposed to eliminate lumped disturbances from the aerial platform. The compensator can ensure the stabilization of the end-effector by using state estimation from the aerial platform, which is robust and portable as the movement of the platform can be reliably obtained. Both the accuracy and compliance have been well demonstrated after being integrated into a hexarotor platform, and a representative scenario aerial task repairing the wind turbine blade-coating was completed successfully, showing the potential to accomplish complex aerial manipulation tasks.


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