Hybrid active/passive force control strategy for grinding marks suppression and profile accuracy enhancement in robotic belt grinding of turbine blade

2021 ◽  
Vol 67 ◽  
pp. 102047 ◽  
Author(s):  
Xiaohu Xu ◽  
Wei Chen ◽  
Dahu Zhu ◽  
Sijie Yan ◽  
Han Ding
Keyword(s):  
Turbine Blade ◽  
Control Strategy ◽  
Force Control ◽  
Passive Force ◽  
Belt Grinding ◽  
Accuracy Enhancement ◽  
Robotic Belt Grinding ◽  
Profile Accuracy

scholarly journals An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1635 ◽  
Author(s):  
Tie Zhang ◽  
Ye Yu ◽  
Yanbiao Zou
Keyword(s):  
Force Control ◽  
Control Method ◽  
Sliding Mode ◽  
Force Sensor ◽  
Grinding Force ◽  
One Dimension ◽  
Constant Force ◽  
Belt Grinding ◽  
Robotic Belt Grinding ◽  
The Relationship

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.

scholarly journals Passive force control of multimodal astronaut training robot

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984826
Author(s):  
Yupeng Zou ◽  
Tao Qin ◽  
Nuo Wang ◽  
Junqing Li ◽  
Ming Xu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Elimination Rate ◽  
Signal Frequency ◽  
Phase Lag ◽  
Passive Force ◽  
Space Adaptation Syndrome ◽  
Astronaut Training ◽  
Dynamic Quality ◽  
Deep Squat

For the purpose of solving the problem of astronaut training in weightlessness environment, this article proposes a multimodal astronaut training robot to enable astronauts to perform running, bench press and deep squat training in the weightless environment, so as to help them mitigate the adverse effects brought by the space adaptation syndrome. Taking the modularized wire driving unit as the research object, the dynamic model of the passive force servo system was established; and the passive force control strategy was designed. The experimental results show that the system is of good stability, high steady-state accuracy, and excellent dynamic quality after correction. When the given signal frequency is 10 Hz, the system phase lag is about 9°, and the loading error is about 5%. The passive force servo control strategy can effectively reduce the surplus force. When the speed disturbance frequency of carrying unit is within 3 Hz, the elimination rate of the surplus force can reach 90%.

Analysis and assessment of robotic belt grinding mechanisms by force modeling and force control experiments

2018 ◽  
Vol 120 ◽  
pp. 93-98 ◽  
Author(s):  
Dahu Zhu ◽  
Xiaohu Xu ◽  
Zeyuan Yang ◽  
Kejia Zhuang ◽  
Sijie Yan ◽  
...  
Keyword(s):  
Force Control ◽  
Belt Grinding ◽  
Force Modeling ◽  
Robotic Belt Grinding

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

Tire Force Control Strategy for Semi Active Magnetorheological Damper Suspension System Using Quarter Heavy Vehicle Model

2015 ◽  
Vol 789-790 ◽  
pp. 957-961
Author(s):  
Syabillah Sulaiman ◽  
Pakharuddin Mohd Samin ◽  
Hishamuddin Jamaluddin ◽  
Roslan Abd Rahman ◽  
Saiful Anuar Abu Bakar
Keyword(s):  
Simulation Model ◽  
Control Strategy ◽  
Force Control ◽  
Mr Damper ◽  
Magnetorheological Damper ◽  
Vehicle Suspension ◽  
Heavy Vehicle ◽  
Vehicle Model ◽  
Tire Force ◽  
Simulation Results

This paper proposed semi active controller scheme for magnetorheological (MR) damper of a heavy vehicle suspension known as Tire Force Control (TFC). A reported algorithm in the literature to reduce tire force is Groundhook (GRD). Thus, the objective of this paper is to investigate the effectiveness of the proposed TFC algorithm compared to GRD. These algorithms are applied to a quarter heavy vehicle models, where the objective of the proposed controller is to reduce unsprung force (tire force). The simulation model was developed and simulated using MATLAB Simulink software. The use of semi active MR damper using TFC is analytically studied. Ride test was conducted at three different speeds and three bump heights, and the simulation results of TFC and GRD are compared and analysed. The results showed that the proposed controller is able to reduced tire force significantly compared to GRD control strategy.

Force Control Strategy of Five-Digit Precision Grasping With Aligned and Unaligned Configurations

2022 ◽  
pp. 001872082110409
Author(s):  
Po-Tsun Chen ◽  
Hsiu-Yun Hsu ◽  
You-Hua Su ◽  
Chien-Ju Lin ◽  
Hsiao-Feng Chieh ◽  
...  
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Task Type ◽  
Applied Force ◽  
Force Variability ◽  
Force Transducers ◽  
Task Requirements ◽  
Power Grasp ◽  
Precision Grasping ◽  
Large Moment

Objective To investigate the digit force control during a five-digit precision grasp in aligned (AG) and unaligned grasping (UG) configurations. Background The effects of various cylindrical handles for tools on power grasp performance have been previously investigated. However, there is little information on force control strategy of precision grasp to fit various grasping configurations. Method Twenty healthy young adults were recruited to perform a lift-hold-lower task. The AG and UG configurations on a cylindrical simulator with force transducers were adjusted for each individual. The applied force and moment, the force variability during holding, and force correlations between thumb and each finger were measured. Result No differences in applied force, force correlation, repeatability, and variability were found between configurations. However, the moments applied in UG were significantly larger than those in AG. Conclusion The force control during precision grasp did not change significantly across AG and UG except for the digit moment. The simulator is controlled efficiently with large moment during UG, which is thus the optimal configuration for precision grasping with a cylindrical handle. Further research should consider the effects of task type and handle design on force control, especially for individuals with hand disorders. Application To design the handle of specific tool, one should consider the appropriate configuration according to the task requirements of precision grasping to reduce the risk of accumulating extra loads on digits with a cylindrical handle.

scholarly journals Effects of aging on motor control strategies during bimanual isometric force control

2019 ◽  
Vol 27 (4) ◽  
pp. 267-275
Author(s):  
Yan Jin ◽  
JiWon Seong ◽  
YoungChae Cho ◽  
BumChul Yoon
Keyword(s):  
Older Adults ◽  
Motor Control ◽  
Control Strategy ◽  
Force Control ◽  
Isometric Force ◽  
Control Strategies ◽  
Force Variability ◽  
Dual Tasking ◽  
Effects Of Aging ◽  
Force Accuracy

Aging-induced degeneration of the neuromuscular system would result in deteriorated complex muscle force coordination and difficulty in executing daily activities that require both hands. The aim of this study was to provide a basic description of how aging and dual-task activity would affect the motor control strategy during bimanual isometric force control in healthy adults. In total, 17 young adults (aged 25.1 ± 2.4 years) and 14 older adults (aged 72.6 ± 3.4 years) participated in the study. The subjects were instructed to press both hands simultaneously to match the 1 Hz sine curve force under two conditions (with or without calculation) with continuous visual feedback. Differences in bimanual motor synergy, bimanual coordination, force accuracy, force variability, and calculation speed were compared. This study found that the specific motor control strategy of older adults involved a decreased bimanual force control ability with both increased VUCM and VORT, and was not influenced by dual tasking. These findings might have implications for establishing interventions for aging-induced hand force control deficits.

Sign in / Sign up

Export Citation Format

Share Document