Reproduction of Linear Motion with Adaptation for Change in Environmental Position

2012 ◽  
Vol 132 (5) ◽  
pp. 526-533 ◽  
Author(s):  
Noboru Tsunashima ◽  
Seiichiro Katsura
Keyword(s):  
Linear Motion

scholarly journals Synchronization Control of a Dual-Cylinder Lifting Gantry of Segment Erector in Shield Tunneling Machine under Unbalance Loads

Machines ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 152
Author(s):  
Litong Lyu ◽  
Xiao Liang ◽  
Jingbo Guo
Keyword(s):  
Motion Tracking ◽  
Adaptive Robust Control ◽  
Synchronization Control ◽  
Small Range ◽  
Linear Motion ◽  
Shield Tunneling ◽  
Rotational Angle ◽  
High Level ◽  
Unbalanced Loads ◽  
Segment Erector

Segment assembling is one of the principle processes during tunnel construction using shield tunneling machines. The segment erector is a robotic manipulator powered by a hydraulic system to assemble prefabricated concrete segments onto the excavated tunnel surface. Nowadays, automation of the segment erector has become one of the definite developing trends to further improve the efficiency and safety during construction; thus, closed-loop motion control is an essential technology. Within the segment erector, the lifting gantry is driven by dual cylinders to lift heavy segments in the radial direction. Different from the dual-cylinder mechanism used in other machines such as forklifts, the lifting gantry usually works at an inclined angle, leading to unbalanced loads on the two sides. Although strong guide rails are applied to ensure synchronization, the gantry still occasionally suffers from chattering, “pull-and-drag”, or even being stuck in practice. Therefore, precise motion tracking control as well as high-level synchronization of the dual cylinders have become essential for the lifting gantry. In this study, a complete dynamics model of the dual-cylinder lifting gantry is constructed, considering the linear motion as well as the additional rotational motion of the crossbeam, which reveals the essence of poor synchronization. Then, a two-level synchronization control scheme is synthesized. The thrust allocation is designed to coordinate the dual cylinders and keep the rotational angle of the crossbeam within a small range. The motion tracking controller is designed based on the adaptive robust control theory to guarantee the linear motion tracking precision. The theoretical performance is analyzed with corresponding proof. Finally, comparative simulations are conducted and the results show that the proposed scheme achieves high-precision motion tracking performance and simultaneous high-level synchronization of dual cylinders under unbalanced loads.

Detection of bearing/rail defects for linear motion stage using acoustic emission

2013 ◽  
Vol 14 (11) ◽  
pp. 2043-2046 ◽  
Author(s):  
Huang Jian ◽  
Hyo-Ryeol Lee ◽  
Jung-Hwan Ahn
Keyword(s):  
Acoustic Emission ◽  
Linear Motion ◽  
Motion Stage

Analysis and synthesis of LinWWC-VSA, a Variable Stiffness Actuator for linear motion

2017 ◽  
Vol 110 ◽  
pp. 85-99 ◽  
Author(s):  
G. Spagnuolo ◽  
M. Malosio ◽  
T. Dinon ◽  
L. Molinari Tosatti ◽  
G. Legnani
Keyword(s):  
Variable Stiffness ◽  
Linear Motion ◽  
Analysis And Synthesis ◽  
Variable Stiffness Actuator

The Research on Macro Charged Jet Phenomenon and its Orderly Collection

2011 ◽  
Vol 121-126 ◽  
pp. 1156-1159
Author(s):  
Yuan Yuan Liu ◽  
Qing Wei Li ◽  
Qing Xi Hu ◽  
Chang Juan Jing ◽  
Qiang Gao Wang
Keyword(s):  
Rapid Prototyping ◽  
Influence Factors ◽  
Small Diameter ◽  
Rotating Disk ◽  
Linear Motion ◽  
Injection Speed ◽  
Collection Device ◽  
Forming Precision

Macro charged jet molding combines with Rapid Prototyping and electrospinning together, it solved the problem of insufficient forming precision with RP molding and the difficulty of collection with electrospinning which caused by highly injection speed and small diameter. This article talks about Macro charged jet phenomena of PEO solution and its influence factors through experiment, detected diameter of the shoot fluid by using microscope, measured micro-injection speed by using the rotating disk with linear motion collection device, achieved orderly collection of Macro charged jet with different diameter and injection speed.

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