Integrated Multibody Dynamics and Fem-Based Modal Simulation of a Six-Dof Robotic Manipulator for Agricultural Handling
Опубликована: Янв. 1, 2025
Язык: Английский
Design and Position Control of a Bionic Joint Actuated by Shape Memory Alloy Wires
Biomimetics,
Год журнала:
2024,
Номер
9(4), С. 210 - 210
Опубликована: Март 30, 2024
Bionic
joints
are
crucial
for
robotic
motion
and
a
hot
topic
in
robotics
research.
Among
various
actuators
joints,
shape
memory
alloys
(SMAs)
have
attracted
significant
interest
due
to
their
similarity
natural
muscles.
SMA
exhibits
the
effect
(SME)
based
on
martensite-to-austenite
transformation
its
inverse,
which
allows
force
displacement
output
through
low-voltage
heating.
However,
one
of
main
challenges
with
is
limited
axial
stroke.
In
this
article,
bionic
joint
wires
differential
pulley
set
structure
was
proposed.
The
stroke
converted
into
rotational
by
amplification
set,
enabling
rotate
sufficient
angle.
We
modeled
designed
proportional–integral
(PI)
controller.
demonstrated
that
exhibited
good
position
control
performance,
achieving
rotation
angle
range
−30°
30°.
proposed
joint,
utilizing
offers
an
innovative
solution
enhancing
actuated
joints.
Язык: Английский
A New MATLAB-Based Simulation Interface for Serial Robots
Опубликована: Июнь 27, 2024
The
development
of
virtual
models
has
recently
been
generalized
in
the
field
complex
mechatronic
product
design.
Virtual
have
various
advantages
such
as:
systemic
design
approach,
most
often
parametric,
implementation
extreme,
expensive,
and
perhaps
risky
scenarios
for
operation
designed
product,
testing
a
large
number
variants,
etc.
main
contribution
paper
consists
an
interface
family
called
DeSeRoI
(Dedicated
Serial
Robot
Interface).
Each
member
integrates
Simulink
libraries
is
created
by
programmer
accordance
with
user
requests.
It
follows
that
interfaces
composing
can
different
levels
complexity
depending
on
needs
constraints.
We
are
implementing
MATLAB-based
application
user-provided
configuration
serial
robots
order
to
automatically
visualize
kinematics
data
simulation.
Within
MATLAB,
two
scripts
responsible
generating
compute
problem.
One
(Main)
saves
information
about
robot
other
one
(Generates_Simulink_Models)
computes
Different
types
functions
(software
module)
developed.
Using
these
functions,
result
as
modular
entities.
automated
approach
eases
user’s
interaction
understanding
robots’
performing
simulation
procedure
shorter
amount
time
higher
efficiency,
assuring
precise
outcome
despite
chosen
parameters.
Язык: Английский
Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot
Biomimetics,
Год журнала:
2023,
Номер
8(8), С. 585 - 585
Опубликована: Дек. 3, 2023
The
dynamic
performance
of
a
2-DOF
hip
joint
rehabilitation
robot
configuration
for
patients
with
dyskinesia
was
analyzed.
There
were
eight
revolute
pairs
on
one
side
the
configuration.
dynamics
analyzed
Newton–Euler
method,
and
model
developed.
On
basis
solved
model,
index
is
given,
atlas
under
different
parameters
drawn.
theoretically
verified.
This
study
provides
theoretical
research
development
exoskeleton
robots.
Язык: Английский
Kinematic Analysis and Control of the Handling Robotic Arm
Опубликована: Март 1, 2024
In
terms
of
automated
handling
heavy
objects,
ropes
or
steel
cables
are
currently
commonly
used
for
lifting
and
handling.
This
method
requires
operators
to
constantly
assist
in
adjusting
their
posture,
which
is
not
efficient
poses
certain
risks
operators.
For
this
purpose,
the
research
group
has
designed
a
six
degree
freedom
hydraulic
robotic
arm
automatic
400kg
object.
Firstly,
kinematic
model
was
established
using
D-H
parameter
method.
Based
on
results
analysis,
workspace
image
drawn
Monte
Carlo
The
Simulink
simulation
established,
trajectory
planning
based
Cartesian
space
conducted
arm.
were
consistent
with
calculation
results,
verifying
correctness
algorithm
Subsequently,
experiments
prototype,
showed
that
could
complete
operation
planned
within
20
seconds,
process
continuous
smooth.
Язык: Английский
Free Vibration Analysis of Hydraulic Quick Couplings Considering Fluid–Structure Interaction Characteristics
Actuators,
Год журнала:
2024,
Номер
13(12), С. 515 - 515
Опубликована: Дек. 11, 2024
As
an
important
component
of
the
automatic
hydraulic
quick
coupling
device
(AHQCD)
on
rescue
vehicles,
couplings
(HQCs)
are
used
to
rapidly
dock
lines
and
transport
fluid
while
changing
operating
working
tools.
However,
during
tool
operation
at
sites,
pressure
pulsations
multiple
frequencies
in
can
coincide
with
natural
HQCs,
potentially
causing
resonance
that
severely
affects
stability
conveying
damages
connection
accidentally.
To
investigate
HQCs
upstream
downstream
lines,
characteristics
fluid–structure
interaction
were
considered
between
poppets
this
study,
equivalent
stiffness
model
domain
was
derived
based
compressibility.
A
dynamic
model,
along
6-DOF
equations
for
system,
established,
mode
vectors
determined
by
free
vibration
analysis.
In
addition,
effects
pressure,
air
content,
springs
frequency
HQC
system
analyzed.
The
results
show
increases
a
higher
lower
effect
spring
varies
different
modes.
Furthermore,
proposed
is
validated
experimental
signals,
showing
good
agreement,
average
error
2.7%
first-order
frequency.
This
paper
presents
theoretical
method
improving
when
various
tools
under
complex
conditions.
Язык: Английский