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2023 International Conference on Advanced Robotics and Intelligent systems, ARIS 2023

作者： Shih, Chih-Hsuan Wu, Chih-Yi National Taiwan University Department of Computer Science and Information Engineering Taipei10617 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Laboratories Hsinchu31040 Taiwan

ISBN: (纸本)9798350302714

Robotic arms play a crucial role in factory automation, offering immense versatility, precision, and the capability for autonomous operation, thereby eliminating the need for manual labor. In this study, we have developed a robotic slag removal system with automatic position compensation and defect detection capabilities, which is capable of locating the features of workpieces, perform deslagging, and detect defects using the YOLO (You Only Look Once) algorithm. The experimental workpiece in this study is a knee femoral implant. Firstly, a position compensation method is employed to precisely locate the clamping hole of the workpiece. The robot trajectory is then automatically generated by the software for the deburring of the clamping hole slag. Subsequently, the system utilizes the detected defect locations to generate a re-deslagging path, ensuring that all remnants are thoroughly cleaned. © 2023 IEEE.

关键词： Robotics

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Rover Wheel Assistive Grouser Shape Effects on Traction Force in Flat Soft Terrain

Rover Wheel Assistive Grouser Shape Effects on Traction Forc...

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2023 IEEE International Conference on Automatic Control and Intelligent systems, I2CACIS 2023

作者： Aziz, Intan Nur Aqiella Che Ibrahim, Ahmad Najmuddin Basri, Ikmanizardi Fukuoka, Yasuhiro Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Pekan Campus Pahang Pekan26600 Malaysia Ibaraki Universit College of Engineering Ibaraki University Department of Mechanical System Engineering Hitachi316-8511 Japan

ISBN: (纸本)9798350321302

This paper presents the study of different grouser shapes on the performance of the assistive grouser wheel travelling on a flat surface loose soil terrain. This work is an extension from our previous work exploring the rover wheel assistive grouser angle of attack effects on traction force in soft terrain. Therefore, a new experiment involving the different grouser shapes on the assistive grouser wheel must be conducted to comprehend the interactions between the grouser and loose soil. From observation, the bulldozing effect of the assistive grouser is also influenced by the grouser shapes. Further understanding of the soil flow also effect of the grouser shape design in general. Hence, we have developed 4 different grouser shapes to be attached to the single wheel rover testbed to evaluate the effects of the shape to the performance of the assistive grouser wheel on a 0-degree slope loose soil surface. The grouser shapes consisted of Inverse Parallel, C-Shape, Inverse C-Shape and Inverse Chevron Shape. The average total traction force and current consumption was examined. It was observed during the grouser entering the sand surface, the sand piled up onto the grouser surface effecting the value of average total traction force. This was caused by surface area of the grouser. The more surface area of the assistive grouser, the more traction force generated to push the wheel forward. Based on the experimental results, it was concluded that Inverse Parallel is the optimal grouser design for use as assistive grouser in wheeled rover on soft sand, as it has the lowest surface area and the lowest average total traction force. However, Inverse Chevron generated the least current consumption by the half-wheel rover. These results indicate that the traction force of the assistive grouser is not affected by shape, but the width and depth of the assistive grouser. © 2023 IEEE.

关键词： Wheels

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Nanoscale fabrication of a three-dimensional stack of graphene layers using a focused ion beam

Nanoscale fabrication of a three-dimensional stack of graphe...

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作者： Venugopal, Gunasekaran Kim, Sang-Jae Department of Mechanical System Engineering School of Engineering Jeju National University Jeju 690-756 Korea Republic of Faculty of Mechatronics Engineering Research Institute of Advanced Technology Jeju National University Jeju 690-756 Korea Republic of

A top-down nanoscale stack fabrication approach involving the high-precision carving of a stack of graphene layers from a thin graphite flake via focused-ion-beam (FIB) three-dimensional (3D) etching is presented. Using this technology, etching was performed in the c-axis with the height of a few tens of nanometres. By reducing the stack height to 50nm, a 3D stack of graphene layers coupled in a stacked manner was fabricated. The transport characteristics of the stack in the c-axis were studied and compared with the transport characteristics of the stack with a larger in-plane area and stack height value. The observed conductivity of the nanostack with a 50 nm height was one order smaller than the conductivity of the stack with a larger in-plane area and stack height value. Nonlinear current-voltage (l-V) characteristics were observed in all the studied temperatures, but the stack with a larger in-plane area and stack height value showed nonlinear characteristics only at lower temperatures. The observation of these temperature-dependent l-V characteristics was discussed in detail, and the tunneling characteristics were investigated using the Fowler-Nordheim tunneling model, which showed the best fit to the experiment data in this study. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Focused ion beams

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Specification of shear zone characteristics in achieving desired residual stress profile

Specification of shear zone characteristics in achieving des...

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2007 ASME International Conference on Manufacturing Science and engineering

作者： Hanna, Carl R. Liang, Steven Y. Chao, Ru-Min George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332-0405 United States Department of System and Naval Mechatronics Engineering National Cheng Kung University Tainan Taiwan

ISBN: (纸本)0791842908

Surface integrity of a machined component in meeting the demands of a specific application requirement is defined by several characteristics. The residual stress profile at the surface and sub-surface of the workpiece is often one of these characteristics as it carries a direct effect on the fatigue life of a machined component. Machined residual stress is difficult to predict since it is governed by less than predictable high stresses, temperature gradients, and phase transformation occurring during the cutting process. A significant amount of effort have been dedicated by researchers to predict residual stress in a workpiece using analytical, experimental, and numerical modeling methods. Nonetheless, no method is available that could express the cutting process parameters and tool geometry parameters as functions of machined residual stress profile to allow process planning in achieving desired residual stress profile. This paper presents a physics-based approach to predict the shear zone characteristics during an orthogonal cutting operation. Using machined residual stress requirement at the surface as an input, information such as the shear angle ,the shear stress in the shear zone, the depth of cut and consequently the cutting forces are obtained by inverse calculations procedure based on the rolling/sliding contact theory, the McDowell hybrid residual stress algorithm and the specific cutting energy. This work constitutes a basis for further design and optimization of process and tool geometry parameters in achieving a specified residual stress profile. Experimental data are presented to validate the developed model. Copyright © 2007 by ASME.

关键词： Process control

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Dynamic stiffnesses of active magnetic thrust bearing including eddy-current effects

Dynamic stiffnesses of active magnetic thrust bearing includ...

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作者： Sun, Yanhua Ho, Yick-Sing Yu, Lie Department of Mechanical Engineering Hong Kong Polytechnic University Hung Hom Kowloon Hong Kong Hong Kong Mechatronics and Information System Institute School of Mechanical Engineering Xi'an Jiaotong University 710049 Xi'an Shaanxi China

The eddy currents induced in a thrust bearing result not only in a power loss of the system but also in phase lag and a decrease in magnitude of the magnetic force. Therefore, an accurate model including eddy-current effects would be highly beneficial at the design stage. We present a linear model including eddy-current effects for a typical active magnetic thrust bearing (AMTB). We define and calculate the dynamic current stiffness and displacement stiffness using both an analytical method and transient finite element (FE) analysis. We present a simple magnetic circuit model including eddy currents from which the two stiffnesses can be derived analytically. Furthermore, by using a transient analysis of the FE model, flux saturation, leakage, and fringing effects can all be taken into account. We show that the two stiffnesses have the same frequency response characteristics, both in the analytical model and from the results of the linear FE analysis, when the leakage and fringing effects are ignored. Even in the more practical case when the flux saturation, leakage and fringing effects are considered, the two stiffnesses can be considered to have the same frequency response characteristics within the 3 dB bandwidth without introducing much error. The open-loop frequency response of the two stiffnesses derived from the analytical model and the FE model agrees well with the experimental results. © 2009 IEEE.

关键词： Eddy currents

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Vision system based lane keeping assistance evaluated in a hardware-in-the-loop simulator

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ASME 2010 10th Biennial Conference on engineering systems Design and Analysis (ESDA2010)

作者： Coşkun, Fuat Tuncer, Özgür Karsligil, Elif Güvenç, Levent Department of Computer Engineering Intelligent Systems Laboratory Yildiz Technical University Istanbul Turkey Department of Mechanical Engineering Mekar Mechatronics Research Laboratories Istanbul Technical University Istanbul Turkey Department of Computer Engineering Intelligent System Laboratory Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9780791849170

Lane keeping assistance systems help the driver in following the lane centerline. While lane keeping assistance systems are available in some mass production vehicles, they have not found widespread use and are not as common as ESP or ACC at the moment. Lane keeping assistance systems still need further development. Previously available systems have to be continuously adapted to newer vehicle models and fully tested after this adaptation. An image processing algorithm for lane detection and tracking, a lane keeping assistance controller design and a real time hardware-in-the-loop (HiL) simulator developed for testing the designed lane keeping assistance system are therefore presented in this paper. The high fidelity, high order, realistic and nonlinear vehicle model in Carmaker HiL runs as software in a real time simulation on a dSpace compact simulator with the DS1005 and DS2210 boards. A PC is used for processing video frames coming from an in-vehicle camera pointed towards the road ahead. Lane detection and tracking computations including fitting of composite Bezier curves to curved lanes are carried out on this PC. In the present setup, the camera used is a virtual camera attached to the virtual vehicle in Carmaker and provides video frames from the Carmaker animation screen. A dSpace microautobox is available for obtaining the lane data from the PC and the Carmaker vehicle data from the dSpace compact simulator and calculating the required steering actions and sending them to the Carmaker vehicle model. The lane keeping controller is designed in the Matlab toolbox COMES using parameter space techniques. The motivation behind this approach is to develop the lane keeping assistance system as much as possible in a laboratory hardware-in-the-loop setting before time consuming, expensive and potentially dangerous road testing. Lane detection, tracking and curved lane fit results, hardware-in-the-loop simulation results of the lane keeping controller with the image p

关键词： Controllers

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system system configuration and evaluation for optical sled drive using constraint-tuning ultrasonic actuator

System System configuration and evaluation for optical sled ...

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2011 International Conference on Applied Mechanics and Manufacturing Technology, AMMT'11

作者： Lai, Ming-Hung Wen, Fuh-Liang Shen, Yu-Lin Ouyang, Minsun Department of Engineering and System Science National Tsing-Hua University Hsinchu 30043 Taiwan Department of Mechanical and Computer-Aided Engineering Graduate Institute of Automation and Mechatronics St.John's University Tamsui New Taipei City 25135 Taiwan Department of Mechanical Engineering University of New Mexico Albuquerque NM 87131 United States

ISBN: (纸本)9783037852309

Through the estimated method for constraint-tuning modified-mode (CTMM), an innovative thin-disc piezoelectric ultrasonic actuator is used to drive an optical sled in this study. With four screws positioned on the thin-disc actuator at the angle distribution of 0°, 90°, 180°, and 320°, both modified modes of ((1, 2))C and ((1, 1))S in vibration provide an approximate equilibrium force to push an optical sled in bilateral movement. The innovative ultrasonic actuator has the vibrator's compact and thinner structure, a thickness of 3 millimeters, without a gearbox rather than a conventional DC sled motor. Using contact friction to drive an optical sled with quick tracking in bilateral motion, experimental results demonstrate obtaining the desired function by a proposed single-phase, bi-frequency LC resonant driving circuit as well as remaining the original sled controller. The general specification of linear speed achieves 200-300 mm/s at less power dissipation for pushing the CD652A BenQ sled drive with 1.0 N output force and 20%-33% efficiency. © (2011) Trans Tech Publications.

关键词： Tuning

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Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed 1

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4th International conference on Innovative Manufacturing, mechatronics and Materials Forum, iM3F2023

作者： Basri, Ikmanizardi Aziz, Intan Nur Aqiella Che Ibrahim, Ahmad Najmuddin Fukuoka, Yasuhiro Faculty of Manufacturing and Mechatronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Campus Pahang Pekan26600 Malaysia Department of Mechanical System Engineering Ibaraki University College of Engineering Ibaraki University Hitachi316-8511 Japan

ISBN: (数字)9789819988198

ISBN: (纸本)9789819988181

Much research has been done to investigate the most ideal grouser parameters to improve a robot’s wheel mobility in sandy terrain. However, their area of research mainly focused on the normal wheel with fixed grousers. This paper showcases the study of performance of the assistive grouser wheel moving on a flat surface sandy terrain attached with different grouser width parameters. Two different grouser shapes were fabricated which consist of C-Shape and Wider C-Shape, with two configurations forward facing and inverse. For each grouser set, one of the grousers was attached with 2 load cell sensors used to measure force. The grousers were tested across a total of 3 runs to identify its total average traction force acting on the grouser during the wheel’s movement. The results show increased maximum positive and negative forces when the grouser width is increased, which resulted in less net traction force. The inverse configuration also showed better results than forward facing. This shows that for assistive mechanism, increasing the width of the grouser may not increase the effectiveness of the grouser in generating traction force. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Wheels

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Computer simulations and experiments on vibration control of a flexible link manipulator using a piezoelectric actuator

Computer simulations and experiments on vibration control of...

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International MultiConference of Engineers and Computer Scientists, IMECS 2014

作者： Muhammad, Abdul Kadir Khan, Barlas Raheel Okamoto, Shingo Lee, Jae Hoon Center for Mechatronics and Control System Mechanical Engineering Department State Polytechnic of Ujung Pandang Jl. Perintis Kemerdekaan KM 10 Makassar90-245 Indonesia Mechanical Engineering Course Graduate School of Science and Engineering Ehime University 3 Bunkyo-cho Matsuyama790-8577 Japan

ISBN: (纸本)9789881925251

The purposes of this research are to formulate the equation of motion of the system, to develop computational codes by a finite-element method in order to perform dynamics simulation with vibration control, to propose an effective control scheme and to confirm the calculated results by experiments of a flexible link manipulator. The system used in this paper consists of an aluminum beam as a flexible link, a clamp-part, a servo motor to rotate the link and a piezoelectric actuator to control vibration. Computational codes on time history responses, FFT (Fast Fourier Transform) processing and eigenvalues -eigenvectors analysis were developed to calculate the dynamic behavior of the link. Furthermore, a control scheme using the piezoelectric actuator was designed to suppress the vibration. A proportional controller was designed and demonstrated its performances. The system and the proposed control scheme were confirmed through experiments. The calculated and experimental results revealed that the vibration of the flexible link manipulator can be controlled effectively.

关键词： Piezoelectric actuators

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE Robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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