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3rd International Conference on Intelligent robotics, Mechatronics and Automation Systems, IRMAS 2023

作者： Hait, Mongaldip Dey, Tapobrata Sarnobat, Sandeep S Department of Mechanical Engineering D. Y. Patil College of Engineering Akurdi Pune India Savitribai Phule Pune University Pune India Department of Robotics and Automation D. Y. Patil College of Engineering Akurdi Pune India

The Elasticity property/Spring theory indicates that a long lasting spring is always showing small deflection and high stiffness and this property makes it comfortable for any applications. The present investigation deals with a comparative analysis carried out on the basis of sustainability of helical spring that is extensively used in suspension system, to increase the work efficiency of the shock absorber. A suspension system or a shock absorber is a mechanical device that is used to absorb shocks when riding in rough terrains. Stainless Steel grade (AISI316 & AISI302), High Carbon Steel (Music wire grade ASTM A228 & Hard drawn grade ASTM A227) and Alloy Steel (Chrome vanadium grade ASTM A231 & Chrome silicon grade ASTM A401) springs have been utilized throughout the study followed by applying compressive load. In order to enhance the mechanical property of the helical spring, alloy steel based material has been used instead of stainless steel. During this investigation a new shock absorber spring has been designed with the help of Solid Works software and the static structural analysis of the so formed model has been conducted via FEA. © Published under licence by IOP Publishing Ltd.

关键词： Finite element method

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Nonlinear dynamic of turbulent bearing-rotor system under quadratic damping with HSFD and active control

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Journal of the Brazilian Society of mechanical Sciences and engineering 2024年第3期46卷 1-13页

作者： Chang-Jian, Cai-Wan Chu, Li-Ming Chen, Tsung-Chia Yau, Her-Terng Department of Mechanical Engineering National Chin-Yi University of Technology No.57 Sec. 2 Zhongshan Rd. Taiping Dist. Taichung411030 Taiwan Interdisciplinary Program of Green and Information Technology National Taitung University Taitung City95092 Taiwan Department of Mechanical Engineering National Chung Cheng University No.168 Sec. 1 University Rd. Chiayi Minhsiung621301 Taiwan

Traditional squeeze-film dampers are used in modern aircraft generators as vibration-suppressing devices. However, the conventional squeeze-film damper has the disadvantage of highly nonlinear oil film force. This study aims to improve the dynamic characteristics of the squeeze-film damper by changing its geometric structure, so a hybrid squeeze-film damper (HSFD) is proposed. Besides, the turbulent flow could also be found in lubrication analysis of high rotating speed turbo-machineries, and the ignorance of turbulent flow would lead to significant failure results. Accordingly, the study presents a nonlinear dynamic analysis of a turbulent bearing-rotor system under quadratic damping equipped with HSFD. The dimensionless speed ratio and dimensionless unbalance parameter are used to plot the bifurcation diagrams, and abundant harmonic, subharmonic, quasi-periodic, and even chaotic motions are found with dynamic trajectories, power spectrum, Poincaré maps, Lyapunov exponent, and fractal dimension, simultaneously. Finally, an active control method is applied to suppress the chaotic responses. The simulation results will provide valuable suggestions for designing and developing rotating machinery, such as rotor-bearing systems operating at high rotational speeds and nonlinearity. © The Author(s), under exclusive licence to The Brazilian Society of mechanical Sciences and engineering 2024.

关键词： Rotating machinery

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Identification of benefits, challenges, and pathways in E-commerce industries: An integrated two-phase decision-making model

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Sustainable Operations and Computers 2023年第1期4卷 200-218页

作者： Gupta, Srikant Kushwaha, Pooja.S. Badhera, Usha Chatterjee, Prasenjit Gonzalez, Ernesto D.R. Santibanez Department of Operations and Decision Sciences Jaipuria Institute of Management Jaipur India Department of Business Analytics Jaipuria Institute of Management Indore India Department of Business Analytics Jaipuria Institute of Management Jaipur India Department of Mechanical Engineering MCKV Institute of Engineering West Bengal 711204 India Post-Doctoral Fellow Management Graduate Program Universidade Paulista Indianópolis Campus Brazil Department of Industrial Engineering and CES 4.0 Faculty of Engineering University of Talca Curico Chile

The e-commerce industry has seen significant growth over the past decade as it focuses on convenience and accessibility, leading to a surge in online shopping with more and more consumers opting for it. At the same time, the e-commerce industry faces various challenges. In order to fully harness the potential of this industry, it is important to identify its benefits and challenges and focus on pathways to mitigate the challenges and harness its growth. This study utilizes the Delphi approach and involves experts from the e-commerce domain to get their opinions to identify the top ten benefits, challenges, and pathways for the e-commerce industry. Analytic Hierarchy Process (AHP) and Criteria Importance Through Intercriteria Correlation (CRITIC) methods are subsequently, employed to prioritize the identified factors. Results of the study revealed that factors such as affordable advertising & marketing;availability and product variety;and Global reachability are the most important benefits, while technological upgradation;returns or refunds;and counterfeit products posed the greatest challenges for the industry. Government compliance check;better relationship with delivery partners;and strong data privacy and online security policies emerged as the best pathways. This study also provides valuable insights to businesses, policymakers, and researchers in the e-commerce industry on how to navigate the benefits, challenges, and pathways of this rapidly growing sector. © 2023

关键词： Electronic commerce

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Performance Analysis of Ducted-Fan Modules with Axial Impeller

Performance Analysis of Ducted-Fan Modules with Axial Impell...

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2024 International Conference on Precision engineering and mechanical Manufacturing, PEMM 2024

作者： Shiau, Yau-Ren Fang, Jiunn Huang, Yuan-Chi Department of Industrial Engineering and Systems Management Feng Chia University Taichung407 Taiwan Department of Aerospace and Systems Engineering Feng Chia University Taichung407 Taiwan Ph.D. Program of Mechanical and Aeronautical Engineering Feng Chia University Taichung407 Taiwan

ISBN: (纸本)9781510683129

Impellers are extensively employed across various industrial sectors and in different industrial systems, such as ducted-fan modules. The configuration of ducted-fan modules can be optimized to achieve high impeller performance, safe and stable operation, and high operational efficiency. This study designed two ducted-fan modules with axial impellers composed of airfoil cascades by using the Fan Calculator software program to analyze their performance and efficiency. The study discovered that the module efficiency varied with the internal impeller diameter, external impeller diameter, and rotational speed. An increase in the outlet angle of the blade tip caused increases in the power generated by, pressure change produced in, and flow rate of the modules, thereby enhancing fan efficiency and module performance. The study makes two contributions. First, it constructed two ducted-fan modules with axial impellers by using the duct to isolate the blades, thus increasing the safety and stability of the fan. Second, it explored the performance and efficiency of impellers with airfoil cascades to enhance fan efficiency and optimize the design of a ducted-fan module. © 2024 SPIE.

关键词： Ducted fan engines

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Influence of Centrodes Coefficient on the Characteristic of Gear Ratio Function of the Compound Non-circular Gear Train with Improved Cycloid Tooth Profile 6th

Influence of Centrodes Coefficient on the Characteristic of ...

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6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Van Thom, Phung Trung, Nguyen Thanh Department of Mechanical Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology Hanoi Viet Nam Vietnam National Research Institute of Mechanical Engineering Hanoi Viet Nam

ISBN: (纸本)9783030918910

In this paper, the authors evaluate the influence of the centrodes coefficients on the gear ratio function characteristics of the compound non-circular gear (CNCG) train formed by two pairs of external non-circular gears (NCGs). First, a mathematical model describing the mating centrodes for the CNCG train has been establishing. From there, evaluate the influence of centrode coefficients μ1 and μ2 of NCGs in the CNCG train on the gear ratio function characteristic for the CNCG train. A design of a CNCG train with an improved cycloid tooth profile by a rack cutter. The evaluation results show that when increasing μ1, transmission size tends to decrease, but the speed and torque variation range rises to 54.31%. While reducing μ2, the speed variation and torque range increase, but the mating centrodes of NCGs 4 is a concave curve that cannot gear shaping by a rack cutter or hob cutter must be by shaper cutter. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Function evaluation

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Development of a Mixed-Reality Dual-User Training System for Robot Laparoscopic Surgery

Development of a Mixed-Reality Dual-User Training System for...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Chen, Ting-You Young, Kuu-Young Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Hsinchu Taiwan National Yang Ming Chiao Tung University Department of Electrical Engineering Hsinchu Taiwan

ISBN: (纸本)9781665410205

As robot surgery becomes more popular these days, it consequently solicits a high demand on its training system. Currently, most of the systems are intended for personal training, while it may be more effective if an experienced expert can also be involved. It thus motivates us to propose a dual-user robotic surgical training system that can closely link the mentor and trainee together. The system is developed in a mixed-reality environment that integrates the information from both the virtual and real worlds. The haptic feedback and virtual fixtures are employed for assistance during skill transfer. The proposed system can assess the proficiency level of the trainee for the mentor to provide proper assistance during training. The experimental results demonstrate that the proposed system is capable of enhancing the trainee's ability for surgery. Especially, similar effectiveness is observed during comparative studies with direct hands-on guidance frequently adopted for skill transfer during sport training. © 2024 IEEE.

关键词： Robotic surgery

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Multi-mode input shapers for eliminating residual vibrations

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JMST Advances 2024年第3期6卷 247-256页

作者： Kang, Chul-Goo Kang, Brian Byunghyun Department of Mechanical Engineering Konkuk University Seoul Korea Department of Artificial Intelligence and Robotics Sejong University Seoul Korea

When an abrupt input is applied to engineering systems, residual vibrations generally occur. These residual vibrations degrade operational performance, reduce productivity, and lower control accuracy; therefore, they must be eliminated as quickly as possible. Recently, input shaping control methods, which eliminate residual vibrations by appropriately shaping the command input, have received significant attention as a means to control these vibrations. Traditional input shaping control primarily targets systems with a single vibration mode, and even when addressing two vibration modes, it has not systematically classified and handled multi-mode input shapers. In this paper, we systematically classify multi-mode vibrations and design multi-mode input shapers capable of eliminating multi-mode vibrations at once for each category. Additionally, we propose performance indices to evaluate the performance of multi-mode input shapers in cases with multiple vibration modes.

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Dynamics of a wheeled robot driven by an unbalanced rotor and equipped with the overrunning clutches 62

Dynamics of a wheeled robot driven by an unbalanced rotor an...

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62nd International Conference on Vibroengineering

作者： Korendiy, Vitaliy Kachur, Oleksandr Gurey, Volodymyr Kuzio, Igor Hurey, Tetyana Havrylchenko, Oleksandr Department of Robotics and Integrated Mechanical Engineering Technologies Lviv Polytechnic National University Lviv Ukraine Department of Transport Technologies Lviv Polytechnic National University Lviv Ukraine

Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are the most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot's wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot's dynamic diagram and deriving the motion equations followed by numerical modeling in the Mathematica software;designing the 3D-model and simulating the robot motion in the SolidWorks software;creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot's body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot's design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc. Copyright © 2023 Vitaliy Korendiy, et al.

关键词： Numerical models

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FISS+: Efficient and Focused Trajectory Generation and Refinement Using Fast Iterative Search and Sampling Strategy

FISS+: Efficient and Focused Trajectory Generation and Refin...

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2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023

作者： Sun, Shuo Chen, Jie Sun, Jiawei Yuan, Chengran Li, Yuanchen Zhang, Tangyike Ang, Marcelo H. National University of Singapore Department of Mechanical Engineering Singapore119077 Singapore Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Shaanxi Xi'an China

ISBN: (纸本)9781665491907

Trajectory planning plays a crucial role in autonomous driving systems, as it is tasked to generate feasible trajectories under highly dynamic scenarios within the time constraint. This paper proposes a novel two-stage coarse-to-fine framework for efficient sampling-based trajectory planning. The proposed method is designed to iteratively generate new trajectory samples focused on the low-cost regions in the sampling space. Two trajectory exploration algorithms are well-designed for efficient search in discretized coarse global space and continuous fine local space, respectively. Experimental results on the first-of-its-kind planning benchmark tool CommonRoad show that our method significantly outperforms the baseline methods both in optimality and computational efficiency. Overall, our approach offers a promising solution for efficient and effective trajectory planning in more autonomous vehicle applications. © 2023 IEEE.

关键词： Trajectories

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