A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/c...
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A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.
Excessive heat will reduce the torque, power, and efficiency of the in-wheel motor, for example, the in-wheel motor used for an electric scooter. This study discusses an effort to reduce the temperature of the in-whee...
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When using an electric scooter, there is a problem with the electric motor overheating. Temperatures that are too high will damage motor performance and reduce reliability. As a result, heat transfer from electric mot...
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The increasing public demand for electric vehicles also impacts the demand for electric motors. The prominent problem electric motors faces are excess heat when operating because it affects the age and performance of ...
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The escalating challenge of orbital debris poses a significant threat to operational satellites, human spaceflight, and the long-term sustainability of space activities. This paper presents the Aranea Debris Intercept...
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Human error is the most significant factor in traffic accidents. 61% of accidents in Indonesia are caused by driver negligence. Autonomous vehicles are unmanned vehicles that are believed to be able to reduce the numb...
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Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and ***,a robust suction strategy for robotic manipulation needs to be *** this research,a geometric-base...
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Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and ***,a robust suction strategy for robotic manipulation needs to be *** this research,a geometric-based apple suction strategy for robotic packaging was studied,including suction cup design,optimal suction region selection algorithm,and robot system *** the first place,on the basis of the geometric features of the spheroid fruit,the structure of the suction cups was designed to provide reliable suction ***,suction force measurement experiments on both acrylic balls and apples were *** on the results,the parameters of the suction cup were finally *** results also indicated that the curvature radius of the suction region is supposed to larger than that of the suction ***,a robust suction region selection algorithm was developed,which involves four steps:RGB-D information acquisition,object detection and point cloud generation,spherical fitting,and suction region ***,the above methods were integrated into a robotic packaging *** addition,on the basis of spatial-frequency domain imaging(SFDI)technology,early stage bruise was detected for *** results showed that,the proposed suction strategy and system is potential for robust robotic apple packaging.
Through the course of RoboCup 2024 our team scored 45 goals over 6 seated matches and, ultimately, unseated the longstanding reigning champions in our division with a victory of 6 goals to 1. In this paper we will foc...
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Traffic congestion remains a persistent challenge in urban areas, necessitating efficient traffic control strategies. This research explores the application of advanced reinforcement learning techniques, specifically ...
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Wearable sensors have drawn vast interest for their convenience to be worn on body to monitor and track body movements or exercise activities in real ***,wearable electronics rely on powering systems to ***,a self-pow...
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Wearable sensors have drawn vast interest for their convenience to be worn on body to monitor and track body movements or exercise activities in real ***,wearable electronics rely on powering systems to ***,a self-powered,porous,flexible,hydrophobic and breathable nanofibrous membrane based on electrospun polyvinylidene fluoride(PVDF)nanofiber has been developed as a tactile sensor with low-cost and simple fabrication for human body motion detection and ***,effects of multi-walled carbon nanotubes(CNT)and barium titanate(BTO)as additives to the fiber morphology as well as mechanical and dielectric properties of the piezoelectric nanofiber membrane were *** fabricated BTO@PVDF piezoelectric nanogenerator(PENG)exhibits the highβ-phase content and best overall electrical performances,thus selected for the flexible sensing device ***,the nanofibrous membrane demonstrated robust tactile sensing performance that the device exhibits durability over 12,000 loading test cycles,holds a fast response time of 82.7 ms,responds to a wide pressure range of 0-5 bar and shows a high relative sensitivity,especially in the small force range of 11.6 V/bar upon pressure applied perpendicular to the ***,when attached on human body,its unique fibrous and flexible structure offers the tactile sensor to present as a health care monitor in a self-powered manner by translating motions of different movements to electrical signals with various patterns or sequences.
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