Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint

2013 ◽  
Vol 401-403 ◽  
pp. 267-271
Author(s):  
De Xu Geng ◽  
He Peng ◽  
Jin Tao Zhang ◽  
Yun Wei Zhao ◽  
Guang Bin Wu
Keyword(s):  
High Speed ◽  
Test Bench ◽  
Control Method ◽  
Hexapod Robot ◽  
Gravity Center ◽  
Pneumatic Control ◽  
Translational Displacement ◽  
New Type ◽  
Set Up ◽  
The Stability

This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated, the kinematics model on translational displacement and velocity was followed. Furthermore, the test bench and pneumatic control system were set up, and the displacement, velocity and acceleration of the center of were acquired by high-speed camera shooting means. Finally, the stability of the gravity center and the control method of the hexapod robot were studied. The research of this paper provides a theoretical and practical basis for the application of bionic hexapod robot.

Energy Wave Transmission and Control Analysis in Force Reflection Teleoperation Based on Interconnected Power Line

2011 ◽  
Vol 58-60 ◽  
pp. 1306-1310
Author(s):  
Xiao Hui Xie ◽  
Cui Ma ◽  
Qiang Sun ◽  
Chang Jie Luo ◽  
Ru Xu Du
Keyword(s):  
Control Method ◽  
Power Line ◽  
System Structure ◽  
Communication Link ◽  
Control Analysis ◽  
Practical Application ◽  
New Type ◽  
Transfer Method ◽  
The Stability ◽  
And Control

Force-Reflected Telepresence Teleoperation system has been widely used. Generally, force and torque sensors are installed on the robot to realize haptic perception. Control commands and force-reflected information from the robot are transmitted by communication link, such as internet. However, this structure not only brings difficulties of installation and commissioning, but also reduces the system flexibility and makes control more difficult. And it is prone to interfered in microenvironment. This paper presents a new type of energy transfer method to achieve it by power line instead of internet between the Master-slave Manipulators. This method achieves the consistency of force-reflected without using sensors to measure the conditions. In practical application, it requires to design an energy managed controller to insure the stability and obtain precision in synchronization between the master part and slave part. This paper gives the theory, the system structure and control method of force telepresence teleoperation based on power line.

scholarly journals Research on the Modeling, Control, and Calibration Technology of a Tracked Vehicle Load Simulation Test Bench

2019 ◽  
Vol 9 (12) ◽  
pp. 2557
Author(s):  
Haoliang Lv ◽  
Xiaojun Zhou ◽  
Chenglong Yang ◽  
Zhe Wang ◽  
Yimeng Fu
Keyword(s):  
Test Bench ◽  
Control Method ◽  
Dynamic State ◽  
Test Bed ◽  
Simulation Test ◽  
Tracked Vehicle ◽  
Resistance Torque ◽  
Model Control ◽  
The Stability ◽  
Load Simulation

The load simulation test bench plays an important role in tracked vehicle development. The stability and accuracy of the system have a vital impact on the experimental results. To accurately reproduce the power performance of a tracked vehicle on the test platform, this paper aims to investigate the model, control, and calibration method of the test bench. Firstly, the dynamic model of a tracked vehicle under complex driving conditions is analyzed and established, which takes driving torque as the input and driving wheel speed as the output. Then, considering the uncertainties and disturbances in the system model, a 2-degree-of-freedom (2-DOF) control method combined with a disturbance observer is proposed to solve the stability problem of the system. Furthermore, in order to investigate the accuracy of the simulation on the test bed, a method of calibrating the system by a flywheel set with standard inertia is proposed. In the calibration process, the influence of the system resistance torque and the original mechanical inertia on the results is considered, and the response time of the inertia simulation is analyzed in both a steady and dynamic state. Finally, the load simulation test is carried out with the corrected system. The test results show that the system has a high load simulation accuracy under various load simulation tests.

Impedance Control of Gyroscopic Power Generator

2011 ◽  
Author(s):  
Tomoyuki Takahashi ◽  
Jun Iwasaki ◽  
Hiroshi Hosaka
Keyword(s):  
Steady State ◽  
Phase Difference ◽  
High Speed ◽  
Control Method ◽  
Impedance Control ◽  
Low Frequency ◽  
Power Generator ◽  
Communication Devices ◽  
High Speed Rotation ◽  
The Stability

The gyroscopic power generator produces a high-speed rotation of magnets from low-frequency vibrations and supplies electric power to information and communication devices that use human vibrations in daily life. In this paper, in order to increase the stability and the output power of the generator, a simple equation that indicates the steady state approximate solution of the phase difference is derived. From the derived solution, a control method for the steady state is verified by the simulations. In order to maintain the stability and high power generation for variable input vibrations, the impedance control method using the phase difference is developed and verified experimentally.

High speed and high resolution chemical imaging based on a new type of OLED-LAPS set-up

2012 ◽  
Vol 175 ◽  
pp. 118-122 ◽  
Author(s):  
Carl Frederik Werner ◽  
Torsten Wagner ◽  
Ko-ichiro Miyamoto ◽  
Tatsuo Yoshinobu ◽  
Michael J. Schöning
Keyword(s):  
High Resolution ◽  
High Speed ◽  
Chemical Imaging ◽  
New Type ◽  
Set Up

scholarly journals Elementi di chimica

2009 ◽  
Author(s):  
Roberto Spinicci
Keyword(s):  
Atomic Nucleus ◽  
Structural Properties ◽  
Chemical Kinetics ◽  
Chemical Equilibrium ◽  
First Year ◽  
First Year Students ◽  
The Earth ◽  
New Type ◽  
Set Up ◽  
The Stability

This book is designed as a teaching aid for the first-year students of many University faculties, being conceived for the new type of course set up through the recent reorganisation of university studies. The principal objective is therefore to provide a tool for the study of the basics of chemistry and the classic arguments of a chemistry course, seeking to establish a guiding thread in the treatment of the various subjects. The work is therefore arranged essentially in two sections, so that the student can appreciate, through the study of chemistry, the formation of the resources and materials present on the earth, their energetic and structural properties and their reactivity. The first section is therefore developed through an analysis of the properties of the atomic nucleus, and then through that of the structural properties which explain the stability of the matter. The second section instead addresses the analysis of the reactivity of matter, elaborating the concepts of chemical equilibrium and chemical kinetics.

scholarly journals Improving the Stability of the Passenger Vehicle by Using an Active Stabilizer Bar Controlled by the Fuzzy Method

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-20
Author(s):  
Tuan Anh Nguyen
Keyword(s):  
High Speed ◽  
Control Method ◽  
Spatial Dynamics ◽  
The Body ◽  
Vertical Force ◽  
Dynamics Model ◽  
Track Dynamics ◽  
The Difference ◽  
Lift Off ◽  
The Stability

The rollover phenomenon is a particularly dangerous problem. This phenomenon occurs when the driver travels at high speed and suddenly steers. Under the influence of centrifugal force, the body vehicle will be tilted and cause the wheels to lift off the road. To solve this problem, the method of using an active stabilizer bar has been proposed. The active stabilizer bar is controlled automatically by a previously designed controller. The performance of the active stabilizer bar depends on the selected control method. Previous research often only used a half-car dynamics model combined with a linear single-track dynamics model to simulate the vehicle’s oscillation. In addition, most of the research focuses only on the use of linear control methods for the active stabilizer bar. Therefore, the performance of the stabilizer bar is not guaranteed. This paper focuses on establishing the model of spatial dynamics combined with the nonlinear double-track dynamics model that fully describes the vehicle’s oscillation most accurately. Besides, the fuzzy control method is proposed to control the operation of the hydraulic stabilizer bar. This is a completely novel model, and it is suitable for the actual traveling conditions of the vehicle. Also, simulations are done based on different scenarios. The results of the paper showed that the values of the roll angle, the difference in the vertical force at the wheels, and the displacement of the unsprung mass were significantly reduced when the vehicle used the active stabilizer bar, which is controlled by an intelligent control method. Therefore, the stability and safety of the vehicle have been guaranteed. This result will be the basis for performing other more complex research in the future.

scholarly journals Luenberger Position Observer Based on Deadbeat-Current Predictive Control for Sensorless PMSM

Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1325 ◽  
Author(s):  
Yuan Zhu ◽  
Ben Tao ◽  
Mingkang Xiao ◽  
Gang Yang ◽  
Xingfu Zhang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
High Speed ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Current Control ◽  
Luenberger Observer ◽  
Control Step ◽  
The Stability ◽  
Discrete Mathematical Model

Two problems can cause control performance degradation on permanent magnet synchronous motor (PMSM) systems, namely, fluctuation of PMSM parameters and the time delay between current sampling and command value update. In order to reduce the influence of these problems, a new current-predictive control strategy is proposed in this article for medium- and high-speed PMSM. This strategy is based on the discrete mathematical model of PMSM. This new control strategy consists of two main steps: First, an integrator is applied to calculate current compensation value; second, the predictive current value is obtained through deadbeat-current predictive method. The stability of predictive control system is also proved in the article. With this deadbeat-current predictive control scheme, the real current can reach the desired value within one control-step. Based on this new current control method, Luenberger observer and phase-locked loop position tracker is applied in this article. Experimental results for 0.4 kW surface-mounted PMSM confirm the validity and excellent performance for parameters fluctuation of new current predictive control.

Review on Main Drive Torsional Vibration and Roller Coupling Vibration of Rolling Mill

2020 ◽  
Vol 14 ◽  
Author(s):  
Xiao-bin Fan ◽  
Bin Zhao ◽  
Yu Jiang ◽  
Bing-Xu Fan
Keyword(s):  
Rolling Mill ◽  
High Speed ◽  
Control Method ◽  
Hot Spot ◽  
Rolling Process ◽  
Coupling Vibration ◽  
Non Linear ◽  
Roll System ◽  
The Stability ◽  
Rolling Mill Vibration

Background: Rolling mill vibration has become one of the most widespread and unsolved problems in rolling industry, which is called "Ghost" vibration. The research on the starting mechanism, vibration characteristics and vibration suppression measures of high-speed tandem rolling mill has always been a hot spot and difficult point in the field of rolling at home and abroad. However, up to now, the research on rolling mill vibration has not formed a relatively complete and widely accepted theoretical system, experimental means and solutions. In production, vibration is often controlled by experience and test, which has high cost and low efficiency. Methods: In this paper, the research history and achievements of vibration phenomena, vibration mechanism, stability of rolling process and vibration control theory of high-speed tandem rolling mill in recent years are summarized. The aim is to reveal the mechanism of rolling mill vibration in continuous rolling process, the mechanism of rolling mill non-linear vibration instability and its changing law, and to explore the optimization of rolling process and the control method of rolling mill structure so as to improve the rolling process. Results: The evolution of non-linear random torsional / bending vibration and its transfer mechanism to the space coupling vibration of the roll system, the unsteady dynamic friction characteristics of the rolling interface and the mechanism of induced roll chatter, and the non-linear random dynamic behavior of the space coupling vibration of the roll system are revealed. Conclusion: The stability of rolling process can realize the research and development of high-end products considering the stability of rolling process, and also provide reference for further research by industry experts.

Development of New Type Settlement Plate in Settlement Observation on High-Speed Railway

2011 ◽  
Vol 52-54 ◽  
pp. 529-532
Author(s):  
Huai Ping Feng ◽  
Jian Mei Chang ◽  
Zu Run Yue
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
High Speed Railway ◽  
Type Settlement ◽  
Settlement Plate ◽  
New Type ◽  
The Stability ◽  
Passenger Dedicated Line

The stability and smoothness of embankment is very important factors for the design of a new high-speed railway project. To make an accuracy prediction of the post-construction settlement, it is necessary to carry out a carefully settlement observation during the construction of embankment. The defects of traditional settlement plate, however, are well known as disturbing construction and destroyed easily by construction. In this paper, based on the application in Shi-Wu passenger dedicated line, a new type of settlement plate has been developed. The application of this new type of settlement plate in site shows that it has no any disturbs on the pavement and compaction of embankment. And measurement becomes simple and easy to operation. Accordingly, high accuracy of settlement observation can be obtained by this method, which has the value of application in high-speed railway settlement observation.

High-Speed Rotor With Air Bearings Mounted on Flexible Supports: Test Bench and Experimental Results

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
G. Belforte ◽  
F. Colombo ◽  
T. Raparelli ◽  
V. Viktorov
Keyword(s):  
High Speed ◽  
Test Bench ◽  
Dynamic Stiffness ◽  
Experimental Results ◽  
Air Bearings ◽  
Stability Threshold ◽  
Air Turbine ◽  
Flexible Supports ◽  
The Stability ◽  
Rotational Response

A test bench for rotors supported by air bearings floating on O-rings is designed in order to study the whirl phenomenon and characterize the stability threshold with damping elements mounted on bearings. The work includes a description of the test bench and some preliminary experimental results. A rotor of 1kg mass and 37mm diameter is rotated up to 75,000rpm by an air turbine machined on the rotor. Capacitance probes, placed in two radial planes, allow orbit scanning of both the rotor and the bushing at different rotating speeds and suitable load devices permit measurement of the static and dynamic stiffness of the rotor-bearing system. Curves of rotational response using rubber O-rings of three different materials are shown and compared. Also presented are the Fourier spectra of the signals for rotor displacement. The phenomenon of whirl instability is shown in terms of whirl frequency and orbit amplitudes of the rotor and bearings. The effects of both supply pressure and angular velocity on the stability threshold are shown.

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