Comparison of under-actuated and fully-actuated serial robotic arms: a case study

Under-actuated robots are very interesting in terms of cost and weight since they can result in a state-controllable system with a number of actuators lower than the number of joints. In this paper, a comparison between an under-actuated planar 3 degrees of freedom (DOF) robot and a comparable fully-actuated 2 degrees of freedom robot is presented, mainly focusing on the performances in terms of trajectories, actuator torques, and vibrations. The under-actuated system is composed of 2 active rotational joints followed by a passive rotational joint equipped with a torsional spring. The fully-actuated robot is inertial equivalent to the under-actuated manipulator: the last link is equal to the sum of the last two links of the under-actuated system. Due to the conditions on the inertia distribution and spring placement, in a simple point-to-point movement the last passive joint starts and ends in a zero-value configuration, so the 3 DOF robot is equivalent, in terms of initial and final configuration, to the 2 DOF fully-actuated robot, thus they can be compared. Results show how while the fully actuated robot is better in terms of reliable trajectory and actuator torques, the under-actuated robot wins in flexibility and vibration behavior.

Experimental Investigations and Numerical Simulations of the Vibrational Performance of Wood Truss Joist Floors with Strongbacks

This paper provides an experimental study and computer modeling analysis of vibration performance of full-scale wood truss joist floors, related to the static deflection and vibration mode/frequency and single-person-induced vibration. The vibration behavior of full-scale truss joist floors was investigated and the influences of the strongbacks on the vibration behavior were assessed. The results showed that the simulated predictions agreed well with the measured results. Strongbacks do not significantly affect the fundamental frequency of the truss joist floors but influence the second and third modal frequencies. The use of strongback rows at mid-span effectively decreased the maximum deformation of point loading at floor center. The effect of adding strongbacks at one-third of each span on decreasing maximum deformation at the floor center was minimal. The case of walking parallel to the joist produced higher acceleration response at the floor center than that of walking perpendicular to the joist. The closer the placements of strongbacks were to the mid-span, the more significant reduction of the vibration at floor center was. Two strongback rows at mid-span performed the best effect on reduction of vibration response at floor center. However, the use of strongbacks had limits of reduction peak acceleration of the sheathing between the joists. The study provides a valuable guide for future vibration serviceability study and design optimization of wood truss joist floors.