Using modular robotics enables an innovative learning and teaching method in education and entertainment. In this paper, we present our unique feature modular robotic system, named moreBot. The robotic system can be u...
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Microcapsules are used in a wide range of applications, especially in self-healing composite materials and phase change materials. There is a growing body of literature that recognizes the importance of reinforcement ...
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This paper presents a straightforward way to fully calibrate low-cost IMU sensor in field. In this approach, a plastic cube that is made by 3D printer is introduced as the body carrier of IMU. The accelerometer is fir...
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In clean environments, such as surgery or clean rooms, the robots with conventional joints are source of friction, dust generation, and oil lubrication. To overcome this problem, robots with contactless active robotic...
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ISBN:
(纸本)9781509062355
In clean environments, such as surgery or clean rooms, the robots with conventional joints are source of friction, dust generation, and oil lubrication. To overcome this problem, robots with contactless active robotic joint using active magnetic bearing (AMB) can be used. Moreover, this proposed kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. In this paper the macro/micro-positioning control of a novel contactless active robotic joint using active magnetic bearing is presented. In addition, the stability analysis of the controller is studied. The robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The macro/micro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision macro-micro-positioning control.
A steel part (AUT20 / 22S20) was turned with various cutting parameters for different cylindrical sections and the roughness was measured for each section with the Hommel T500 tester. On the other hand, purely geometr...
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A steel part (AUT20 / 22S20) was turned with various cutting parameters for different cylindrical sections and the roughness was measured for each section with the Hommel T500 tester. On the other hand, purely geometric calculations of surface roughness were used. The measured values were compared with the calculated values. All calculations were done in MS Excel which helped us obtain the graphs of cutting parameter influence on roughness. The interpretation of the graphs led to drawing important conclusions regarding the cutting parameters of the above-mentioned steel.
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thi...
The subject of the article is a simulation of heat affected components of a device for deep drawing by extreme conditions in vacuum by high temperatures required for forming of crystallization containers made from thin molybdenum sheets. The simulation is focused on the distribution of heat in particular components in relation with their shape. There are presented the design of working components and the boundary conditions of transient thermal simulations with the results.
Posts are permanent, single-tooth and periodontal restorations. During chewing, forces make teeth with posts to undergo complex stresses. The aim of this work is to compare and estimate the upper medial incisors resto...
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The purpose of this paper is to analyze the influence of the temperature in case of dry turning of an titanium alloy - Ti6Al4V. The measured temperature in turning process was compared with the temperature obtained af...
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The purpose of this paper is to analyze the influence of the temperature in case of dry turning of an titanium alloy - Ti6Al4V. The measured temperature in turning process was compared with the temperature obtained after the simulation using DEFORM 2D software.
This paper proposes an effective human approaching algorithm that enables a mobile service robot to safely and socially approach humans in dynamic and crowded environments. The proposed method is composed of two major...
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