A Light Weight Compliant Hand Mechanism With High Degrees of Freedom

2005 ◽  
Vol 127 (6) ◽  
pp. 934-945 ◽  
Author(s):  
Jason Potratz ◽  
Jingzhou Yang ◽  
Karim Abdel-Malek ◽  
Esteban Peña Pitarch ◽  
Nicole Grosland
Keyword(s):  
Degrees Of Freedom ◽  
Static Load ◽  
Current Control ◽  
Deformation Analysis ◽  
Dimensional Model ◽  
3 Dimensional ◽  
Wrist Flexor ◽  
Compression Spring ◽  
Extensor Muscles ◽  
Control Scheme

This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to x and y coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.

scholarly journals Observer-based robust integral of the sign of the error control of class I of underactuated mechanical systems: Theory and real-time experiments

2021 ◽  
pp. 014233122110313
Author(s):  
Afef Hfaiedh ◽  
Ahmed Chemori ◽  
Afef Abdelkrim
Keyword(s):  
Real Time ◽  
Error Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Class I ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Control Scheme ◽  
And Performance

In this paper, the control problem of a class I of underactuated mechanical systems (UMSs) is addressed. The considered class includes nonlinear UMSs with two degrees of freedom and one control input. Firstly, we propose the design of a robust integral of the sign of the error (RISE) control law, adequate for this special class. Based on a change of coordinates, the dynamics is transformed into a strict-feedback (SF) form. A Lyapunov-based technique is then employed to prove the asymptotic stability of the resulting closed-loop system. Numerical simulation results show the robustness and performance of the original RISE toward parametric uncertainties and disturbance rejection. A comparative study with a conventional sliding mode control reveals a significant robustness improvement with the proposed original RISE controller. However, in real-time experiments, the amplification of the measurement noise is a major problem. It has an impact on the behaviour of the motor and reduces the performance of the system. To deal with this issue, we propose to estimate the velocity using the robust Levant differentiator instead of the numerical derivative. Real-time experiments were performed on the testbed of the inertia wheel inverted pendulum to demonstrate the relevance of the proposed observer-based RISE control scheme. The obtained real-time experimental results and the obtained evaluation indices show clearly a better performance of the proposed observer-based RISE approach compared to the sliding mode and the original RISE controllers.

Design of Electric Control System of Stainless Steel Composite Plate

2013 ◽  
Vol 706-708 ◽  
pp. 716-719
Author(s):  
Jian Chu ◽  
Gang Wang
Keyword(s):  
Stainless Steel ◽  
Control System ◽  
Composite Plate ◽  
Current Control ◽  
Equipment Operation ◽  
Electric Control ◽  
Control Scheme ◽  
Steel Composite ◽  
Machine Interface ◽  
Electrical Components

This paper mainly introduced to the PLC as the core of stainless steel composite plate electric control part of the design. The system uses the converter +PLC+ man-machine interface, as the major part of roll welding machine control, because of the use of the PLC, so that the system can improve the automatic level, electrical components is reduced, reduce failure rate, improve the reliability of equipment operation. Based on the current control and speed control, so that the welding quality and welding speed has been greatly improved. In the article, mainly from the production process, and the control system hardware and software design, and the control scheme to introduce several aspects.

A Two-Dimensional Linear Assumed Strain Triangular Element for Finite Deformation Analysis

2005 ◽  
Vol 73 (6) ◽  
pp. 970-976 ◽  
Author(s):  
Fernando G. Flores
Keyword(s):  
Finite Deformation ◽  
Degrees Of Freedom ◽  
Yield Function ◽  
Triangular Element ◽  
Deformation Analysis ◽  
Elastic Model ◽  
Stress Strain ◽  
Metric Tensor ◽  
Assumed Strain ◽  
Non Linear

An assumed strain approach for a linear triangular element able to handle finite deformation problems is presented in this paper. The element is based on a total Lagrangian formulation and its geometry is defined by three nodes with only translational degrees of freedom. The strains are computed from the metric tensor, which is interpolated linearly from the values obtained at the mid-side points of the element. The evaluation of the gradient at each side of the triangle is made resorting to the geometry of the adjacent elements, leading to a four element patch. The approach is then nonconforming, nevertheless the element passes the patch test. To deal with plasticity at finite deformations a logarithmic stress-strain pair is used where an additive decomposition of elastic and plastic strains is adopted. A hyper-elastic model for the elastic linear stress-strain relation and an isotropic quadratic yield function (Mises) for the plastic part are considered. The element has been implemented in two finite element codes: an implicit static/dynamic program for moderately non-linear problems and an explicit dynamic code for problems with strong nonlinearities. Several examples are shown to assess the behavior of the present element in linear plane stress states and non-linear plane strain states as well as in axi-symmetric problems.

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