scholarly journals Energy Dissipation during Surface Interaction of an Underactuated Robot for Planetary Exploration

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4282
Author(s):  
Łukasz Wiśniewski ◽  
Jerzy Grygorczuk ◽  
Paweł Zajko ◽  
Mateusz Przerwa ◽  
Gordon Wasilewski ◽  
...  
Keyword(s):  
Energy Dissipation ◽  
System Development ◽  
Planetary Exploration ◽  
Contact Dynamics ◽  
Space Systems ◽  
Surface Type ◽  
Hopping Robot ◽  
Hopping Robots ◽  
Test Outcomes ◽  
Underactuated Robot

The article summarizes research on essential contributors to energy dissipation in an actuator for an exemplary planetary exploration hopping robot. It was demonstrated that contact dynamics could vary significantly depending on the surface type. As a result, regolith is a significant uncertainty factor to the control loop and plays a significant contribution in the control system development of future planetary exploration robots. The actual prototype of the actuating mechanism was tested on a reference surface and then compared with various surfaces (i.e., Syar, quartz sand, expanded clay, and quartz aggregate) to estimate the dissipation of the energy in the initial phase of hopping. Test outcomes are compared with multibody analysis. The research enhances trajectory planning and adaptive control of future hopping robots by determining three significant types of energy losses in the system and, most importantly, determining energy dissipation coefficients in contact with the various surfaces (i.e., from 4% to 53% depending on the surface type). The actual step-by-step methodology is proposed to analyze energy dissipation aspects for a limited number of runs, as it is a case for space systems.

Models of a hybrid wheeled hopping self-balanced robot

2021 ◽  
pp. 095440622098419
Author(s):  
Qimin Li ◽  
Haibing Zeng ◽  
Long Bai ◽  
Zijian An
Keyword(s):  
Pid Control ◽  
Motion Pattern ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Swarm Optimization ◽  
Hopping Robot ◽  
Control Scheme ◽  
Hopping Robots ◽  
Hybrid Motion ◽  
Classical Control

Combining wheeled structure with hopping mechanism, this paper purposes a self-balanced hopping robot with hybrid motion pattern. The main actuator which is the cylindrical cam, optimized by particle swarm optimization (PSO), is equipped with the motor to control the hopping motion. Robotic system dynamics model is established and solved by Lagrangian method. After linearization, control characteristics of the system is obtained by classical control theory based on dynamics equations. By applying Adams and Matlab to simulate the system, hopping locomotion and self-balanced capability are validated respectively, and result shows that jump height can reach 750 mm theoretically. Then PID control scheme is developed and specific models of hardware and software are settled down accordingly. Finally, prototype is implemented and series of hopping experiments are conducted, showing that with different projectile angle, prototype can jump 550 mm in height and 460 mm in length, transcending majority of other existing hopping robots.

scholarly journals Design and Experimental Evaluation of a Single-Actuator Continuous Hopping Robot Using the Geared Symmetric Multi-Bar Mechanism

2018 ◽  
Vol 9 (1) ◽  
pp. 13 ◽  
Author(s):  
Long Bai ◽  
Fan Zheng ◽  
Xiaohong Chen ◽  
Yuanxi Sun ◽  
Junzhan Hou
Keyword(s):  
Performance Evaluation ◽  
Energy Storage ◽  
Experimental Evaluation ◽  
State Of The Art ◽  
Energy Conversion Efficiency ◽  
Servo Motor ◽  
Hopping Robot ◽  
Closed Chain ◽  
Hopping Robots ◽  
And Performance

This paper proposes the design and performance evaluation of a miniaturized continuous hopping robot RHop for unstructured terrain. The hopping mechanism of RHop is realized by an optimized geared symmetric closed-chain multi-bar mechanism that is transformed from the eight-bar mechanism, and the actuator of RHop is realized by a servo motor and the clockwork spring, thereby enabling RHop to realize continuous hopping while its motor rotates continuously only in one direction. Comparative simulations and experiments are conducted for RHop. The results show that RHop can realize better continuous hopping performance, as well as the improvement of energy conversion efficiency from 70.98% to 76.29% when the clockwork spring is applied in the actuator. In addition, comparisons with some state-of-the-art hopping robots are conducted, and the normalized results show that RHop has a better energy storage speed.

Contact Dynamics of Reconfigurable Space Systems With Numerical Verification Method

2001 ◽  
Author(s):  
Takashi Takahashi ◽  
Saburo Matunaga
Keyword(s):  
Numerical Computation ◽  
Contact Dynamics ◽  
Numerical Verification ◽  
Space Systems ◽  
Guaranteed Accuracy ◽  
Experiment System ◽  
Verification Method ◽  
Satellite Systems ◽  
Cluster Satellite ◽  
The Difference

Abstract In order to analyze dynamics of space systems, such as cluster satellite systems and the capturing process of damaged satellites, it is necessary to consider such space systems as reconfigurable multibody systems. In this paper, we discuss the numerical computation of the dynamics of the ground experiment system to simulate the capturing and berthing process of a satellite by a dual-manipulator on the flat floor as an example. We have previously discussed the efficient dynamics algorithm for reconfigurable multibody system with topological changes. However, the contact dynamics, which is one of the most difficult issues in our study, remains to be discussed. We introduce two types of the linear complementarity problem (LCP) concerned with contact dynamics. The difference between the two types of LCP is whether impacts can be considered. Dynamic systems with impacts and friction are non-conservation systems; moreover the LCP is not always solvable. Therefore we must check if the solutions of the numerical computation are correct, or how accurate they are. In this paper, we derive the method of numerical computation with guaranteed accuracy of the LCP for contact dynamics.

The Design of Hopping Angle Control by Using PID and LQR Techniques

2013 ◽  
Vol 419 ◽  
pp. 693-700
Author(s):  
Saifullah Samo ◽  
Shu Yuan Ma ◽  
Bdran Sameh
Keyword(s):  
Pid Controller ◽  
Linear Quadratic Regulator ◽  
Dc Motor ◽  
Linear Quadratic ◽  
Matlab Simulink ◽  
Hopping Robot ◽  
Hopping Robots ◽  
Obstacle Height

It is very difficult for hopping robots to follow the trajectory without controlling hopping angle. A hopping angle controller is designed for combustion piston type hopping robot to adjust the angle of hop which is required to achieve a desired distance or height. So, the controller adds functionality to hopping robot for altering the hopping angle during operation according to obstacle height and obstacle distance. A proportional Integrated Derivative (PID) and Linear Quadratic Regulator (LQR) are designed and compared for adjusting hopping angle by using MATLAB / SIMULINK environment. As result, both controllers are capable to control hopping angle but PID gives better performance. An implementation of PID controller for the hopping angle control is given by using a DC motor. The experiment also carried out on prototype by using PID controller and found satisfactory results.

Agile Embedded System Development versus European Space Standards

2017 ◽  
Vol 8 (1) ◽  
pp. 1-23
Author(s):  
Ville Rantala ◽  
Kaisa Könnölä ◽  
Samuli Suomi ◽  
Minna Isomäki ◽  
Teijo Lehtonen
Keyword(s):  
Software Development ◽  
Embedded System ◽  
System Development ◽  
Agile Methods ◽  
Agile Development ◽  
Space Systems ◽  
European Cooperation ◽  
Space Projects ◽  
Mission Critical ◽  
Development Methods

Agile development methods are widely utilized in software development. There is a growing interest and effort to introduce them to other areas of technology, such as development of space systems. Space systems are typically safety- and mission-critical and therefore their development is strongly regulated and standardized. European Cooperation for Space Standardization (ECSS) has created a collection of standards which are extensively followed mainly in European space projects. In this paper, a review and discussion are presented to find out the conflicts between the agile development and the ECSS standards. The presented analysis and discussion show that the ECSS standards do not fully prevent the utilization of agile methods. However, there are aspects to be taken into account in the development methods, contracts and tailoring of standards.

scholarly journals Investigating the Effect of Preimpact Energy Dissipation on Coefficient of Restitution regarding the Slope-Boulder Interaction

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Ran Bi ◽  
Shaoying Li ◽  
Gou Liu ◽  
Jianxi Ren ◽  
Yongjun Song
Keyword(s):  
Energy Dissipation ◽  
Linear Function ◽  
Initial Velocity ◽  
Slope Angle ◽  
Coefficient Of Restitution ◽  
Small Scale ◽  
Surface Type ◽  
Velocity Surface ◽  
Increasing Trend ◽  
Kinematic Coefficient

Coefficient of restitution is regarded as a dominating parameter in rockfall research. Generally, small-scale experiments were developed without considering interactions between boulder and slope. However, preimpact moving statuses are essential to evaluate rockfall behaviors. To reveal the effect of preimpact interactions on coefficient of restitution, energy dissipation considering initial velocity, surface type, and slope angle is executed based on medium-scale tests. The results show that (1) as the inclination of initial velocity, higher rebound height, and the declining normal coefficient of restitution occur, a determinable linear function could demonstrate relationships among energy dissipation and all coefficient of restitution; when initial velocity exceeds 5 m/s, the recovery ability shows and produces an increasing trend with respect to the variation of kinematic coefficient of restitution and kinetic energy coefficient of restitution. (2) As the surface material varies, slope hardness and rebound ability influence normal coefficient of restitution, and the surface roughness and rotation feature dominate tangential coefficient of restitution; considering preimpact slope and boulder interactions, four types of coefficient of restitution follow declining trend with different material sequence. (3) Slope angle affects normal coefficient of restitution, and tangential coefficient of restitution relatively descends 18% and inclines 10% when the angle ranges from 30° to 75°; regarding preimpact moving status, it differs from bounce times. The correlation between preimpact energy dissipation and four coefficients of restitution can be represented by the same decreasing linear function, when increasing the slope angle.

The Control of Fuel System for Combustion Piston Type Hopping Robot

2013 ◽  
Vol 397-400 ◽  
pp. 1574-1579
Author(s):  
Saifullah Samo ◽  
Ma Shu Yuan ◽  
Bdran Sameh
Keyword(s):  
Control System ◽  
Potential Energy ◽  
Simulation Model ◽  
Maximum Power ◽  
Fuel System ◽  
Mixing Process ◽  
Matlab Software ◽  
Hopping Robot ◽  
Hopping Robots

Various hopping robots use the different methods to release energy for hop. The use of fuel with oxidant can provide enough potential energy for hopping by combustion. The fuel control system for combustion type hopping robot is presented. Maximum power of explosion can be obtained for high hop by mixing, fuel & oxidant in correct amount of ratio. The feedback fuel control system is presented which adjusts the ratio of fuel and oxidant to generate the desired pressure inside cylinder by controlling the fuel & oxidant pressures individually. The mixing process of fuel and oxidant takes place inside the cylinder. A simulation model of system in SIMULINK is established by using MATLAB software.

Dynamic Modeling and Control of a Novel One-Legged Hopping Robot

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Amin Khakpour Komarsofla ◽  
Ehsan Azadi Yazdi ◽  
Mohammad Eghtesad
Keyword(s):  
Sliding Mode ◽  
Main Body ◽  
Lagrange Equations ◽  
Flat Foot ◽  
Modeling And Control ◽  
System A ◽  
Hopping Robot ◽  
Hopping Robots ◽  
The Stability ◽  
And Control

SUMMARY In this article, a novel mechanism for planar one-legged hopping robots is proposed. The robot consists of a flat foot which is pinned to the leg and a reciprocating mass which is connected to the leg via a prismatic joint. The proposed mechanism performs the hopping by transferring linear momentum between the reciprocating mass and its main body. The nonlinear equations of the motion of the robot are derived using the Euler–Lagrange equations. To accomplish a stable jump, appropriate trajectories have been planned. To guarantee a stable response for this nonlinear system, a sliding-mode controller is implemented. The performance of the hopping robot is investigated through numerical simulations. The results confirm the stability of the hopping robot through the jump cycle on a flat surface and in climbing up and down ramp and stairs.

Capture of Satellites having Rotational Motion

1986 ◽  
Vol 30 (9) ◽  
pp. 875-879 ◽  
Author(s):  
Craig S. Hartley ◽  
David J. Cwynar ◽  
Kathy D. Garcia ◽  
Robert A. Schein
Keyword(s):  
Human Factors ◽  
Rotational Motion ◽  
Time Delays ◽  
System Development ◽  
Contact Dynamics ◽  
Summary Table ◽  
Control Authority

This paper describes the results of system development simulations conducted to resolve key human factors issues involved in the capture of satellites having rotational motion, using both manned and remotely piloted vehicles. These man-in-the-loop simulations of remotely piloted Orbital Maneuvering Vehicle (OMV) spacecraft, combined with recent on-orbit experience from Manned Maneuvering Unit (MMU) capture and retrieval missions, have provided results related to many of the human factors issues inherent in such piloting tasks. The results discussed relate to control authority, piloting techniques, communications time delays, plume impingement, contact dynamics, controls, and displays. The paper concludes with a summary table of knowledge established through simulations and mission experience that is applicable to capture and retrieval of dynamic satellites.

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