Actuator Array Dynamics Incorporating Actuator Inertia

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.

Distributed Sensing in Actuator Array Manipulation

Volume 4A: Dynamics, Vibration and Control ◽

10.1115/imece2013-62499 ◽

2013 ◽

Author(s):

Mark D. Bedillion ◽

Deepak Parajuli ◽

Randy C. Hoover

Keyword(s):

Degrees Of Freedom ◽

Binary Image ◽

Distributed Sensing ◽

Distributed Manipulation ◽

Actuator Arrays ◽

Sensor Information ◽

Position And Orientation ◽

Binary Object ◽

Two Degree Of Freedom ◽

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.

Strategies of traversing obstacles and the simulation for a forestry chassis

International Journal of Advanced Robotic Systems ◽

10.1177/1729881418773903 ◽

2018 ◽

Vol 15 (3) ◽

pp. 172988141877390 ◽

Author(s):

Yue Zhu ◽

Jiangming Kan ◽

Wenbin Li ◽

Feng Kang

Keyword(s):

Multibody Dynamics ◽

Inclination Angle ◽

Degrees Of Freedom ◽

Ride Comfort ◽

Hydraulic Cylinder ◽

Single Side ◽

Simulation Results ◽

Maximum Inclination ◽

Three Degrees Of Freedom ◽

Small Inclination

As to the complicated terrain in forest, forestry chassis with an articulated body with three degrees of freedom and installed luffing wheel-legs (FC-3DOF&LW) is a novel chassis that can surmount obstacles. In addition, the rear frame of FC-3DOF&LW is regarded as the platform to carry equipment. Small inclination angle for rear frame contributes to stability and ride comfort. This article describes the strategy of traversing obstacles and simulation for FC-3DOF&LW that drives in forest terrain. First, key structures of FC-3DOF&LW are briefly introduced, which include articulated structure with three degrees of freedom and luffing wheel-leg. Based on the sketch of luffing wheel-leg, the movement range of luffing wheel-leg is obtained by hydraulic cylinder operation. Second, the strategy of crossing obstacles that are simplified three models of terrain is presented, and the simulation for surmounting obstacles is constructed in multibody dynamics software. The simulation results demonstrate that the inclination angle of rear frame is 18° when slope is 30°. A maximum 12° decrease of inclination angle for rear frame can be acquired when luffing wheel-legs are applied. For traversing obstacles with both sides, the maximum inclination angle of rear frame is about 1.2° and is only 3° for traversing obstacles with single side.

Actuator Array Manipulation Using Low Resolution Local Sensing

Volume 4A: Dynamics, Vibration, and Control ◽

10.1115/imece2014-37147 ◽

2014 ◽

Author(s):

Deepak Parajuli ◽

Mark D. Bedillion ◽

Randy C. Hoover

Keyword(s):

Degrees Of Freedom ◽

Accurate Method ◽

Distributed Sensing ◽

Object A ◽

Distributed Manipulation ◽

Simulink Model ◽

Manipulation System ◽

Position And Orientation ◽

To Come ◽

Two Degree Of Freedom

An actuator array is a planar distributed manipulation system that uses multiple two degree-of-freedom actuators to manipulate objects with three degrees of freedom (x, y and θ). This paper presents an accurate method of estimating position and orientation of an object using local sensing and communication. In this method, each of the distributed modules contains a number of binary sensors, weight sensors, and two planar actuators. The binary sensors combined together give a binary image and analog sensors in each module combined together form a grayscale image representation of the weight distribution of the object under manipulation. Additive normalization has been used to combine binary and grayscale distributed sensing images together to come up with increased precision estimates of the position and orientation of an object. A distributed sensing simulation has been developed in Simulink and the effectiveness of this method has been verified for rectangular and circular objects using the Simulink model.

Robust Trajectory Following Control of Robotic Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.3140741 ◽

1985 ◽

Vol 107 (4) ◽

pp. 308-315 ◽

Cited By ~ 14

Author(s):

S. N. Singh ◽

A. A. Schy

Keyword(s):

Degrees Of Freedom ◽

Digital Simulation ◽

Robotic Systems ◽

Control Law ◽

Robot Arm ◽

Control Laws ◽

Payload Uncertainty ◽

Trajectory Following ◽

And Control ◽

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4029529 ◽

2015 ◽

Vol 137 (7) ◽

Author(s):

Abdelrahem Atawnih ◽

Zoe Doulgeri ◽

George A. Rovithakis

Keyword(s):

Degrees Of Freedom ◽

Position Tracking ◽

Admittance Control ◽

Flexible Joint ◽

Flexible Joint Robots ◽

Operational Space ◽

Control Scheme ◽

Simulation Results ◽

Flexible Joint Manipulator ◽

In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.

Model-Based Control of Three Degrees of Freedom Robotic Bulldozing

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4025861 ◽

2013 ◽

Vol 136 (2) ◽

Author(s):

Scott G. Olsen ◽

Gary M. Bone

Keyword(s):

Material Removal Rate ◽

Material Removal ◽

Control Algorithm ◽

Degrees Of Freedom ◽

Position Control ◽

Removal Rate ◽

Optimal Controller ◽

Control Laws ◽

Rule Based ◽

This brief paper investigates the control of a robotic bulldozing operation. Optimal blade position control laws were designed based on a hybrid dynamic model to maximize the predicted material removal rate of the bulldozing process. Experiments were conducted with a scaled-down robotic bulldozing system. The control laws were implemented with various tuning values. As a comparison, a rule-based blade control algorithm was also designed and implemented. The experimental results with the best optimal controller demonstrated a 33% increase in the average material removal rate compared to the rule-based controller.

The Kinematics Model and Simulation of a Subminiature Based on Marine Ranching

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.909.135 ◽

2014 ◽

Vol 909 ◽

pp. 135-140

Author(s):

Jie Jiang Shao ◽

Feng Peng Wei ◽

Lan Zhen

Keyword(s):

Degrees Of Freedom ◽

Complex Environment ◽

Kinematics Model ◽

Model And Simulation ◽

Simulation Results ◽

Freedom Movement ◽

A subminiature submersible has been designed on the basis of the condition of the marine ranching, especially the shape of the submersible in view of the complex environment of marine ranching. Its mainly designed from three major movements, namely advance, ups-downs and yawing movement; it can complete three degrees of freedom movement. At the same time a force analysishas beengiven. Thetransfer functions have been deduced, and the simulation structure has been designed according to its kinematics model. According to the simulation results, the feasibility of the kinematics model was verified.

Volume 1: 23rd Biennial Conference on Mechanical Vibration and Noise, Parts A and B ◽

Multi-Degree-of-Freedom Modeling of Mechanical Snubbing Systems

10.1115/detc2011-47144 ◽

2011 ◽

Author(s):

Sudhir Kaul

Keyword(s):

Experimental Data ◽

Data Collection ◽

Rigid Body ◽

Degrees Of Freedom ◽

Degree Of Freedom ◽

Rigid Frame ◽

Identification Technique ◽

Simulation Results ◽

Stiffness And Damping ◽

This paper presents a multi-degree-of-freedom model for the analysis of mechanical snubbing in elastomeric isolators. The model uses a system of elastomeric isolators and snubbers to assemble a rigid body with three degrees-of-freedom to a rigid frame. The isolators are supplemented by the snubbing system so as to limit the displacement of the rigid body in all three directions of motion when the system undergoes transient loading or overloading conditions. The model is piecewise non-linear and uses normalized Bouc-Wen elements in order to capture inherent hysteresis of the elastomeric isolators and the snubbing system as well as the transition in stiffness and damping properties resulting due to inherent coupling between the isolators and the snubbing system. Separate elements are used to model the enhanced stiffness resulting from the snubbing system in the translational directions of motion. A set of elastomeric isolators and snubbing systems is used for data collection, characterization and model validation. The data collection is carried out at multiple strain amplitudes and strain rates. A conventional least squares based parameter identification technique is used for characterization. The completely characterized model is then used for simulating the response of the rigid body and the simulation results are compared to experimental data. The simulation results are found to be in general agreement with the experimental data.

An Investigation on a Novel 3-RCU Flexible Micromanipulator

Micromachines ◽

10.3390/mi11040423 ◽

2020 ◽

Vol 11 (4) ◽

pp. 423 ◽

Author(s):

Junnan Qian ◽

Yangmin Li ◽

Lukai Zhuge

Keyword(s):

Carrying Capacity ◽

Degrees Of Freedom ◽

Transmission Efficiency ◽

Element Analysis ◽

Margin Of Error ◽

Simulation Results ◽

Amplification Mechanism ◽

Working Performance ◽

Three Degrees Of Freedom ◽

Ansys Workbench

A novel type of spatial three revolute-cylindrical-universal (3-RCU) flexible micro manipulator is designed based on flexible hinges, and analyzed by finite element analysis (FEA). The piezoelectric actuators are adopted as driving devices in this platform, a new lever amplification mechanism is designed as its micro-displacement amplification mechanism, the workspace of the platform is enlarged, and the theoretical and simulation amplification ratios of the amplification mechanism are 3.056 and 2.985, respectively. The margin of error is just 2.3%. In space, the 3-RCU platform can realize the micro movement of three degrees of freedom. Also, the platform has a high carrying capacity, less motion loss, and the transmission efficiency is higher when the platform works. The decoupling performance, stress under extreme conditions and natural frequency of the platform are simulated by ANSYS Workbench software. A series of simulation analyses show the feasibility and security of the platform. The platform has good decoupling and working performance. The simulation results show that the platform has high simulation stiffness and high positioning accuracy.

Omnidirectional Walking Microrobot Realized by Thermal Microactuator Arrays

10.1115/imece2001/mems-23824 ◽

2001 ◽

Author(s):

Matthew H. Mohebbi ◽

Mason L. Terry ◽

Karl F. Böhringer ◽

Gregory T. A. Kovacs ◽

John W. Suh

Keyword(s):

Carrying Capacity ◽

Degrees Of Freedom ◽

Maximum Velocity ◽

Input Power ◽

Actuation Frequency ◽

Actuator Arrays ◽

Controlled Motion ◽

Bimorph Actuators ◽

Micro Electromechanical System ◽

Abstract An omnidirectional mobile microrobot realized by micro-electromechanical system (MEMS) actuator arrays is presented. The microrobot consists of two rigidly connected microcilia array chips, each having an 8 × 8 array of “motion pixels,” which are composed of four orthogonally oriented thermal bimorph actuators. This allows for reliable, accurate motion in three degrees of freedom (x,y,θ) in the plane, a first for a microrobot of this kind. The microrobot is approximately 3cm in length, 1cm in width, 1mm in height, and has a mass of less than half a gram. By varying the input power, actuation frequency and motion gait strategy the velocity of the chip can be precisely controlled. Motion in three degrees of freedom has been demonstrated and a maximum velocity of 635 μm/s and carrying capacity greater than 1.448 g (two 8-pin ICs) has been observed. The microrobot has been characterized extensively and a model for its performance is described.