Development of a Mechatronic System for Demonstration Purposes

Abstract The aim of the paper is to present a modular system, with the help of which it is possible to reveal the structure and analysis of a mechatronic system, taking into account several disciplines that contribute to the structure of the system. The planned system will include devices from different disciplines, the operation and coordination of which will be observable. The designed system is a two-degree-of-freedom mechanism with a translational and a rotary joint. The movement of the joints are obtained by different types of energy converters (pneumatic, electric). The replacement of the different types of drives can be performed quickly and easily without drastically changing the system setup. The simulations are implemented using the MATLAB Simscape software package.

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Application of Extended Homotopy Analysis Method to the Two-Degree-of-Freedom Coupled van der Pol-Duffing Oscillator

Abstract and Applied Analysis ◽

10.1155/2014/729184 ◽

2014 ◽

Vol 2014 ◽

pp. 1-7 ◽

Cited By ~ 1

Author(s):

Y. H. Qian ◽

S. M. Chen ◽

L. Shen

Keyword(s):

Homotopy Analysis Method ◽

Duffing Oscillator ◽

Approximate Solutions ◽

Analytical Approximation ◽

Degree Of Freedom ◽

Analysis Method ◽

Van Der Pol ◽

Different Types ◽

Homotopy Analysis ◽

Two Degree Of Freedom

The extended homotopy analysis method (EHAM) is presented to establish the analytical approximate solutions for two-degree-of-freedom (2-DOF) coupled van der Pol-Duffing oscillator. Meanwhile, the comparisons between the results of the EHAM and standard Runge-Kutta numerical method are also presented. The results demonstrate that the analytical approximate solutions of the EHAM agree well with the numerical integration solutions. For EHAM as an analytical approximation method, we are not sure whether it can apply to all of the nonlinear systems; we can only verify its effectiveness through specific cases. As a result of the existence of nonlinear terms, we must study different types of systems, no matter from the complication of calculation and physical significance.

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Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1999.p0002 ◽

1999 ◽

Vol 11 (1) ◽

pp. 2-12 ◽

Cited By ~ 1

Author(s):

Masafumi Hashimoto ◽

◽

Fuminori Oba ◽

Toru Eguchi

Keyword(s):

Nonholonomic Constraint ◽

Degree Of Freedom ◽

Joint Position ◽

Prismatic Joint ◽

Reference Path ◽

Rotary Joint ◽

Vehicle Chassis ◽

Two Degree Of Freedom ◽

Vehicle Movement

This paper presents a method for controlling an omnidirectional vehicle with multiple modular steerable drive wheels. Each wheel module has two independent drive wheels and a two-degree-of-freedom (2DOF) attachment consisting of an active prismatic joint and a free rotary joint. The attachment enables the wheel module under nonholonomic constraint to move the chassis better omnidirectionally. A controller consisting of vehicle-level and wheel-module controllers is designed to coordinate wheel modules to ensure correct vehicle movement. The vehicle-level controller determines the desired acceleration of the vehicle chassis to track its reference path, and each wheel-module controller controls its own actuator movement to generate the desired acceleration. If the prismatic joint on the wheel module approaches its mechanical limit, the vehicle-level controller corrects the acceleration to keep the joint position within the workspace. Simulation of a vehicle with four wheel modules confirmed the effectiveness of the proposed control.

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Development of 2-DOF Hybrid Actuator System

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.523-524.733 ◽

2012 ◽

Vol 523-524 ◽

pp. 733-738

Author(s):

Ryota Okeya ◽

Manabu Aoyagi

Keyword(s):

Force Feedback ◽

Piezoelectric Actuators ◽

Degree Of Freedom ◽

Performance Characteristics ◽

The Other ◽

Haptic Display ◽

Different Types ◽

Actuator System ◽

Two Degree Of Freedom ◽

Hybrid Actuator

Ordinal force-feedback devices mainly employ electromagnetic motors (EMMs), and are excellent at expressing springy sensations. However, it is not easy to express a realistic sense of hardness and roughness using such devices. On the other hand, an actuator system (AS) using multilayered piezoelectric actuators exhibits performance characteristics that are opposite to those of an ordinal AS using an EMM. The objective of the present study is to develop an ideal AS for a haptic display. A two-degree-of-freedom AS utilizing a pair of hybrid AS units, each consisting of an EMM, an ultrasonic motor and a piezoelectric clutch, is proposed and evaluated. Such an arrangement allows the different types of actuators to complement each other, thus compensating for their individual weaknesses. This hybrid AS can expand the range of representable sensations. The results show that the proposed AS can realistically express both hardness and softness by switching between actuator combinations.

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