scholarly journals A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

2021 ◽  
Author(s):  
Vladyslav Romanyuk
Keyword(s):  
Experimental Study ◽  
Effective Mass ◽  
Limited Range ◽  
Mode Switching ◽  
Friction Compensation ◽  
Free Rotation ◽  
Passive Mode ◽  
Impulsive Forces ◽  
Reconfigurable Robot ◽  
Analytic Models

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

scholarly journals A Multiple Working Mode Approach to Hammering With A Modular Reconfigurable Robot

2021 ◽  
Author(s):  
Vladyslav Romanyuk
Keyword(s):  
Experimental Study ◽  
Effective Mass ◽  
Limited Range ◽  
Mode Switching ◽  
Friction Compensation ◽  
Free Rotation ◽  
Passive Mode ◽  
Impulsive Forces ◽  
Reconfigurable Robot ◽  
Analytic Models

Robot joints could be damaged by impulsive forces due to impact when the robot performs hammering operations. This thesis presents the development of a strategy that allows a modular reconfigurable robot to safely perform nail hammering. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses which can be computed offline or online and serve as criteria for mode switching. Joint impulses are constrained in case the hammer collides with such an object of infinite effective mass. Advantages of the proposed approach may include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study validates analytic models of hammering and effectiveness of multiple working mode approach.

A multiple working mode approach to robotic hammering: Analysis and experiments

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Vladyslav Romanyuk ◽  
Sina Soleymanpour ◽  
Guangjun Liu
Keyword(s):  
Limited Range ◽  
Service Robots ◽  
Mode Switching ◽  
Friction Compensation ◽  
Robot Arm ◽  
Free Rotation ◽  
Passive Mode ◽  
Space Robots ◽  
Reconfigurable Robot ◽  
Analytic Models

Abstract A robot arm may be in need for performing various operations, especially for service robots and space robots. This paper presents a strategy that allows a modular and reconfigurable robot to safely perform nail hammering without hardware enhancements. The purpose is to equip a versatile robot arm with hammering capability that can be used if needed. To do this, a multiple working mode approach is applied to switch the selected joint(s) to passive mode with friction compensation to allow free rotation during impact. Analytic impulse models are used to predict joint impulses and serve as criteria for mode switching. Advantages of the proposed approach include savings on space, weight, costs, and complexity for a limited range of nail/board environments. An experimental study has validated analytic models of hammering and demonstrated the effectiveness of the proposed approach.

scholarly journals Development of modular and reconfigurable robot with multiple working modes

2021 ◽  
Author(s):  
Xiaojia He
Keyword(s):  
Force Control ◽  
Jacobian Matrix ◽  
Friction Compensation ◽  
Force Analysis ◽  
Passive Mode ◽  
Door Opening ◽  
Spherical Wrist ◽  
Reconfigurable Robot ◽  
The Common

A modular and reconfigurable robot (MRR) with multiple working modes for performing manipulation in uncontrolled environments is developed in this thesis. In the proposed MRR design, each joint module can independently work in active mode or passive mode. Major contributions of this thesis include the development of the passive mode with a unique friction compensation method and the use of force control in manipulation, such as door opening. In order to implement force control, the kinematics model and Jacobian matrix of the manipulator are derived by using the twist and wrench method, which is superior to the common D-H method, and the complete force analysis of the spherical wrist is presented as well. As a case study, the door opening process using force control is investigated by simulation and experiments. Door opening is successfully demonstrated using the developed MRR with multiple working modes.

scholarly journals Development of modular and reconfigurable robot with multiple working modes

2021 ◽  
Author(s):  
Xiaojia He
Keyword(s):  
Force Control ◽  
Jacobian Matrix ◽  
Friction Compensation ◽  
Force Analysis ◽  
Passive Mode ◽  
Door Opening ◽  
Spherical Wrist ◽  
Reconfigurable Robot ◽  
The Common

A modular and reconfigurable robot (MRR) with multiple working modes for performing manipulation in uncontrolled environments is developed in this thesis. In the proposed MRR design, each joint module can independently work in active mode or passive mode. Major contributions of this thesis include the development of the passive mode with a unique friction compensation method and the use of force control in manipulation, such as door opening. In order to implement force control, the kinematics model and Jacobian matrix of the manipulator are derived by using the twist and wrench method, which is superior to the common D-H method, and the complete force analysis of the spherical wrist is presented as well. As a case study, the door opening process using force control is investigated by simulation and experiments. Door opening is successfully demonstrated using the developed MRR with multiple working modes.

scholarly journals Twist-angle dependence of moiré excitons in WS2/MoSe2 heterobilayers

2020 ◽  
Vol 11 (1) ◽  
Author(s):  
Long Zhang ◽  
Zhe Zhang ◽  
Fengcheng Wu ◽  
Danqing Wang ◽  
Rahul Gogna ◽  
...  
Keyword(s):  
Experimental Study ◽  
Effective Mass ◽  
Critical Parameter ◽  
Twist Angle ◽  
Van Der Waals ◽  
Reciprocal Lattice ◽  
Lattice Period ◽  
Van Der Waals Heterostructures ◽  
Angle Dependence ◽  
The Way

AbstractMoiré lattices formed in twisted van der Waals bilayers provide a unique, tunable platform to realize coupled electron or exciton lattices unavailable before. While twist angle between the bilayer has been shown to be a critical parameter in engineering the moiré potential and enabling novel phenomena in electronic moiré systems, a systematic experimental study as a function of twist angle is still missing. Here we show that not only are moiré excitons robust in bilayers of even large twist angles, but also properties of the moiré excitons are dependant on, and controllable by, the moiré reciprocal lattice period via twist-angle tuning. From the twist-angle dependence, we furthermore obtain the effective mass of the interlayer excitons and the electron inter-layer tunneling strength, which are difficult to measure experimentally otherwise. These findings pave the way for understanding and engineering rich moiré-lattice induced phenomena in angle-twisted semiconductor van der Waals heterostructures.

Experimental study of the stability and optimization of multipulse passive mode locking

2010 ◽  
Vol 35 (23) ◽  
pp. 4054 ◽  
Author(s):  
Michael Katz ◽  
Vladimir Smulakovsky ◽  
Alexander Bekker ◽  
Omri Gat ◽  
Baruch Fischer
Keyword(s):  
Experimental Study ◽  
Mode Locking ◽  
Passive Mode ◽  
The Stability

Experimental study of the stochastic nature of the pulsation self-starting process in passive mode locking

2005 ◽  
Vol 30 (20) ◽  
pp. 2787 ◽  
Author(s):  
Boris Vodonos ◽  
Alexander Bekker ◽  
Vladimir Smulakovsky ◽  
Ariel Gordon ◽  
Omri Gat ◽  
...  
Keyword(s):  
Experimental Study ◽  
Mode Locking ◽  
Passive Mode ◽  
Stochastic Nature ◽  
Starting Process

scholarly journals Fiscal Policy Reaction Function and Sustainability of Fiscal Policy in Ukraine

2017 ◽  
pp. 22-35 ◽  
Author(s):  
Artem Vdovychenko
Keyword(s):  
Fiscal Policy ◽  
Smooth Transition ◽  
Mode Switching ◽  
Output Gap ◽  
Reaction Function ◽  
Passive Mode ◽  
Switching Regimes ◽  
Sustainability Of Fiscal Policy ◽  
High Output ◽  
Policy Reaction Function

This study analyzes the fiscal policy reaction function with switching regimes. We use Logistic Smooth Transition Regressions (LSTR) to show that fiscal policy in Ukraine during the study period remained largely in passive mode, switching to active mode during periods of a high output gap and elevated debt-to-GDP ratio. An important finding is that the fiscal policy reaction function is nonlinear. Specifically, the response of fiscal policy to the output gap is asymmetric: fiscal policy is pro-cyclical during periods of economic growth but neutral in recession.

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