The compliance of robotic hands – from functionality to mechanism

2015 ◽  
Vol 35 (3) ◽  
pp. 281-286 ◽  
Author(s):  
Rui Li ◽  
Wei Wu ◽  
Hong Qiao
Keyword(s):  
Nervous System ◽  
Control Mechanism ◽  
Control Method ◽  
Physical Structure ◽  
Robotic Assembly ◽  
Automation System ◽  
Content Type ◽  
Assembly Automation ◽  
Human Motor ◽  
And Control

Purpose – The purpose of this paper is to introduce the physical structure and the control mechanism of human motor nervous system to the robotic system in a tentative manner to improve the compliance/flexibility/versatility of the robot. Design/methodology/approach – A brief review is focused on the concept of compliance, the compliance-based methods and the application of some compliance-based devices. Combined with the research on the physical structure and the control mechanism of human motor nervous system, a new drive structure and control method is proposed. Findings – Introducing the physical structure and the control mechanism of human motor nervous system can improve the compliance/flexibility/versatility of the robot, without bringing in more complexity or inefficiency to the system, which helps in the assembly automation tasks. Originality/value – The proposed drive structure and control method are useful to build up a novel, low-cost robotic assembly automation system, which is easy to interact and cooperate with humans.

Study on multi-section continuum robot wire-tension feedback control and load manipulability

2020 ◽  
Vol 47 (6) ◽  
pp. 837-845
Author(s):  
Azamat Nurlanovich Yeshmukhametov ◽  
Koichi Koganezawa ◽  
Zholdas Buribayev ◽  
Yedilkhan Amirgaliyev ◽  
Yoshio Yamamoto
Keyword(s):  
Control Method ◽  
Tension Control ◽  
Estimation Model ◽  
Content Type ◽  
Wire Tension ◽  
Payload Capacity ◽  
Continuum Robot ◽  
Continuum Manipulators ◽  
And Control ◽  
The Continuum

Purpose The purpose of this paper is to present a novel hybrid pre-tension mechanism for continuum manipulators to prevent wire slack and improve continuum robot payload capacity, as well as to present a new method to control continuum manipulators’ shape. Design/methodology/approach This research explains the hardware design of a hybrid pre-tension mechanism device and proposes a mathematic formulation wire-tension based on robot design. Also, the wire-tension control method and payload estimation model would be discussed. Findings Wire-tension is directly related to the continuum manipulators’ rigidity and accuracy. However, in the case of robot motion, wires lose their tension and such an issue leads to the inaccuracy and twist deformation. Therefore, the proposed design assists in preventing any wire slack and derailing the problem of the wires. Originality/value The novelty of this research is proposed pre-tension mechanism device design and control schematics. Proposed pre-tension mechanism designed to maintain up to eight wires simultaneously.

Modeling and Control Method for Multi-Layer Distributed Flow Based on WFCP-Net

2010 ◽  
Vol 97-101 ◽  
pp. 3682-3685
Author(s):  
Hai Wei Wang ◽  
Geng Liu ◽  
Dang Dang Zheng
Keyword(s):  
Control Mechanism ◽  
Control Method ◽  
Flow Modeling ◽  
Class Model ◽  
Modeling And Control ◽  
Collaborative Simulation ◽  
System Building ◽  
Management Flow ◽  
And Control ◽  
Entity Class

According to the simulation requirement for complex mechanical system, building flow modeling and control mechanism is the main content of development for the collaborative simulation platform. Based on research and analysis to WFCP-Net technique, we present multi-layer distributed flow. Management flow and simulation flow are defined, and a suit of entity class model and a kind of flow control mechanism are designed. Finally, the method is verified by the platform developed.

Modified MPC based grid-connected five-level inverter for photovoltaic applications

2018 ◽  
Vol 37 (2) ◽  
pp. 971-985 ◽  
Author(s):  
Mohammad Maalandish ◽  
Seyed Hossein Hosseini ◽  
Mehran Sabahi ◽  
Pouyan Asgharian
Keyword(s):  
Control Method ◽  
Harmonic Distortion ◽  
Input Voltage ◽  
Modified Model ◽  
Content Type ◽  
Current Path ◽  
Voltage Stress ◽  
Photovoltaic Applications ◽  
Multi Level ◽  
And Control

PurposeThe main purpose of this paper is to select appropriate voltage vectors in the switching techniques and, by selecting the proper voltage vectors, be able to achieve a DC link with the same outputs and a symmetric multi-level inverter. Design/methodology/approachThe proposed structure, a two-stage DC–AC symmetric multi-level inverter with modified Model Predictive Control (MMPC) method, is presented for Photovoltaic (PV) applications. The voltage of DC-link capacitors of the boost converter is controlled by MMPC control method to select appropriate switching vectors for the multi-level inverter. The proposed structure is provided for single-phase power system, which increases 65 V input voltage to 220 V/50 Hz output voltage, with 400 V DC link. Simulation results of proposed structure with MMPC method are carried out by PSCAD/EMTDC software. FindingsBased on the proposed structure and control method, total harmonic distortion (THD) reduces, which leads to lower power losses and higher circuit reliability. In addition, reducing the number of active switches in current path causes to lower voltage stress on the switches, lower PV leakage current and higher overall efficiency. Originality/valueIn the proposed structure, a new control method is presented that can make a symmetric five-level voltage with lower THD by selecting proper switching for PV applications.

Robotic assembly for tight tolerant cascaded peg-in-hole process with incomplete constraints

2020 ◽  
Vol 40 (5) ◽  
pp. 769-778
Author(s):  
Hongtai Cheng ◽  
Tianzhuo Liu ◽  
Wei Zhang ◽  
Lina Hao
Keyword(s):  
Control Strategy ◽  
Design Methodology ◽  
Hybrid Control ◽  
Industrial Robot ◽  
Robotic Assembly ◽  
Content Type ◽  
Modeling And Control ◽  
Experiment Platform ◽  
Stepped Shaft ◽  
And Control

Purpose Installing a tight tolerant stepped shaft is not a trivial task for an industrial robot. If all peg-hole constraints are complete, the cascaded peg-in-hole task can be simplified into several independent stages and accomplished one by one. However, if some of the constraints are incomplete, the cross stage interference will bring additional difficulties. This paper aims to discuss the cascaded peg-in-hole problem with incomplete constraints. Design/methodology/approach In this paper, the problem is formulated according to geometric parameters of the stepped shaft and completeness of the corresponding hole. The possible jamming type is modeled and analyzed. A contact modeling and control strategy is proposed to compensate the peg postures under incomplete constraints. Findings The above methods are implemented on an experiment platform and the results verify the effectiveness of the proposed robotic assembly strategy. Originality/value Based on force/torque sensor, a hybrid control strategy for incomplete constraints cascaded peg-in-hole assembly problem is proposed.

Control of Hand Prostheses: A Literature Review

2013 ◽  
Author(s):  
Aimee Cloutier ◽  
James Yang
Keyword(s):  
Nervous System ◽  
Sensory Feedback ◽  
Recent Progress ◽  
Control Method ◽  
Control Strategies ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Natural Control ◽  
Prosthetic Hands ◽  
And Control

In recent years, there has been a steep rise in the quality of prostheses for patients with upper limb amputations. One common control method, using electromyographic (EMG) signals generated by muscle contractions, has allowed for an increase in the degrees of freedom (DOFs) of hand designs and a larger number of available grip patterns with little added complexity for the wearer. However, it provides little sensory feedback and requires non-natural control which must be learned by the user. Another recent improvement in prosthetic hand design instead employs electroneurographic (ENG) signals, requiring an interface directly with the peripheral nervous system (PNS) or the central nervous system (CNS) to control a prosthetic hand. While ENG methods are more invasive than using surface EMG for control, an interface with the PNS has the potential to provide more natural control and creates an avenue for both efferent and afferent sensory feedback. Despite the recent progress in design and control strategies, however, prosthetic hands are still far more limited than the actual human hand. This review outlines the recent progress in the development of EMG and ENG controlled prosthetic hands, discussing advancements in the areas of sensory feedback and control. The potential benefits and limitations of both control strategies, in terms of signal classification, invasiveness, and sensory feedback, are examined. A brief overview of interfaces with the CNS is provided, and potential future developments for these control methods are discussed.

Ethanol potentiation of central nervous system trauma

1977 ◽  
Vol 46 (3) ◽  
pp. 328-335 ◽  
Author(s):  
Eugene S. Flamm ◽  
Harry B. Demopoulos ◽  
Myron L. Seligman ◽  
John J. Tomasula ◽  
Vincent DeCrescito ◽  
...  
Keyword(s):  
Central Nervous System ◽  
Nervous System ◽  
Dura Mater ◽  
Considerable Increase ◽  
Content Type ◽  
Central Nervous System Trauma ◽  
The Central Nervous System ◽  
Membrane Bound ◽  
And Control ◽  
Membrane Bound Enzymes

✓ Two models have been used to study the effects of ethanol on injuries of the central nervous system. The spinal cords of cats were injured by delivering a 200 gm-cm impact to the exposed dura mater. A second group of animals received a similar injury to the exposed dura mater overlying the cerebral hemispheres. The animals were divided into two groups, those that received an infusion of ethanol before injury, and control animals that received no ethanol. The parameters of injury used in this model produced small and insignificant lesions in those animals that received no ethanol; however, when the animals were pretreated with ethanol, a considerable increase in the extent of the injury was noted. The mechanisms by which this potentiation is produced are briefly discussed. These include alterations in membrane-bound enzymes and clotting mechanisms, and alteration of cell membranes through abnormal free radical reactions.

Energy Conservation Strategy and Control Mechanism in Engineering of Water Supply

2012 ◽  
Vol 482-484 ◽  
pp. 1733-1740
Author(s):  
Yu Lin Pei ◽  
Xiao Yi Yang
Keyword(s):  
Energy Conservation ◽  
Water Supply ◽  
Control Strategy ◽  
Control Mechanism ◽  
Control Method ◽  
Supply System ◽  
Water Supply System ◽  
Conservation Strategy ◽  
Frequency Variation ◽  
And Control

Water supply system is a complex system. Aimed at the puzzle of being very heavy in energy consumption of system control and being not better in water supply quality resulted from being inappropriate in control strategy, The paper researched on the energy conservation strategy and control mechanism of water supply system. It discussed the cybernetics characteristic of water supply process, proposed the intelligence based fusion control strategy and the energy conservation executing strategy, and analyzed the control model of water supply purifying process and the control algorithm of constant pressure control system. Based on the comparative study of simulation experiment, the display of response curve demonstrated that the intelligence based control strategy would be better than conventional PID control method. The simulation results show that the proposed strategy combined intelligence based fusion control with speed control by frequency variation has better application prospect in water supply system.

Perencanaan Pengendalian Kualitas Produk Pakaian Bayi dengan Metode Six Sigma Pada CV. AGP

JEMAP ◽  
2020 ◽  
Vol 3 (1) ◽  
Author(s):  
Albertus Reynaldo Kurniawan ◽  
Bayu Prestianto
Keyword(s):  
Quality Control ◽  
Continuous Improvement ◽  
Six Sigma ◽  
Screen Printing ◽  
Control Method ◽  
Operational Performance ◽  
Machine Maintenance ◽  
Quality Product ◽  
Break Time ◽  
And Control

Quality control becomes an important key for companies in suppressing the number of defective produced products. Six Sigma is a quality control method that aims to minimize defective products to the lowest point or achieve operational performance with a sigma value of 6 with only yielding 3.4 defective products of 1 million product. Stages of Six Sigma method starts from the DMAIC (Define, Measure, Analyze, Improve and Control) stages that help the company in improving quality and continuous improvement. Based on the results of research on baby clothes products, data in March 2018 the percentage of defective products produced reached 1.4% exceeding 1% tolerance limit, with a Sigma value of 4.14 meaning a possible defect product of 4033.39 opportunities per million products. In the pareto diagram there were 5 types of CTQ (Critical to Quality) such as oblique obras, blobor screen printing, there is a fabric / head cloth code on the final product, hollow fabric / thin fabric fiber, and dirty cloth. The factors caused quality problems such as Manpower, Materials, Environtment, and Machine. Suggestion for consideration of company improvement was continuous improvement on every existing quality problem like in Manpower factor namely improving comprehension, awareness of employees in producing quality product and improve employee's accuracy, Strength Quality Control and give break time. Materials by making the method of cutting the fabric head, the Machine by scheduling machine maintenance and the provision of needle containers at each employees desk sewing and better environtment by installing exhaust fan and renovating the production room.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Neuromuscular Control of Movement

2018 ◽  
Keyword(s):  
Nervous System ◽  
Sensory Information ◽  
Neuromuscular Control ◽  
Complex Environments ◽  
Locomotor Rhythm ◽  
Motor Responses ◽  
Reflex Pathways ◽  
Local Reflex ◽  
Local Circuits ◽  
And Control

The control of movement is essential for animals traversing complex environments and operating across a range of speeds and gaits. We consider how animals process sensory information and initiate motor responses, primarily focusing on simple motor responses that involve local reflex pathways of feedback and control, rather than the more complex, longer-term responses that require the broader integration of higher centers within the nervous system. We explore how local circuits facilitate decentralized coordination of locomotor rhythm and examine the fundamentals of sensory receptors located in the muscles, tendons, joints, and at the animal’s body surface. These sensors monitor the animal’s physical environment and the action of its muscles. The sensory information is then carried back to the animal’s nervous system by afferent neurons, providing feedback that is integrated at the level of the spinal cord of vertebrates and sensory-motor ganglia of invertebrates.

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