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Control system design for the capsubot

作者： Li, Hongyi Lee, Namkon Kamamichi, Norihiro Furuta, Katsuhisa Shenyang Institute of Automation China Department of Advanced Multidisciplinary Engineering Graduate School of Advanced Science and Technology Tokyo Denki University Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Japan

ISBN: (纸本)9783642036262

In this paper, a capsule type robot, named the Capsubot, is designed. The robot has no moving part outside of its body, no legs and no wheel. Its motion is purely based on its internal force and friction with the environments. A four-step motion pattern is proposed. A minimal energy solution is stated. A prototype capsule robot, consisting a plastic tube with three independently driven copper coils and a NiFeB magnet rod which can move inside the tube, is built. It is essentially a motion magnet linear motor. The motion generation results are verified experimentally. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Magnets

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Modeling and analysis of a new flexure-based micropositioner for precision manipulation

Modeling and analysis of a new flexure-based micropositioner...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Mohd Nashrul Mohd Zubir Bijan Shirinzadeh Yanling Tian University of Malaya Kuala Lumpur Malaysia Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Robotics and Mechatronics Research laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia

This paper focuses on the development of a new high precision micropositioning device that is capable of traveling in translational and rotational motions. The device was modeled via the application of flexural cantilever structure to harness the precision and accuracy in implementing the positioning routine. This attribute is paramount to enable further manipulation procedures such as grasping, injecting, mounting, assembly and machining to be performed. A new hinge configuration was specifically designed to provide the micropositioner platform with 3-degree of freedom motion capability (x-y-thetas). Furthermore, a new approach in delivering the actuated motion has been devised via the utilization of slander beam profile acting in pressing mode which is critical in improving the performance of the device particularly in extending its capability to operate within high frequency range. The modeling procedure was realized via the combination of Pseudo Rigid Body Model (PRBM) and Finite Element Analysis (FEA). Analysis was performed within simulation environment to observe and verify the performance of the proposed model under various modes of motions. The analyses authenticate the capacity of the micropositioner to demonstrate high accuracy and fidelity motion.

关键词： Motion analysis mechatronics Machining Biomedical optical imaging Optical computing Optical recording Biomedical imaging Lithography Microassembly Robotic assembly

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Sequence design for Direct-Proportional Length-Based DNA Computing using Population-based Ant Colony Optimization

Sequence design for Direct-Proportional Length-Based DNA Com...

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SICE Annual Conference

作者： Tri Basuki Kurniawan Noor Khafifah Khalid Zuwairie Ibrahim Mohamad Shukri Zainal Abidin Marzuki Khalid Center of Artificial Intelligence and Robotics Department of Mechatronics and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Darul Takzim Malaysia

Generally, in DNA computing, the DNA sequences used for the computation should be critically designed in order to reduce error that could occur during computation. In order to design a set DNA sequences for direct-proportional length-based DNA computing (DPLB-DNAC), a population-based ant colony optimization (P-ACO) method is proposed. Previously, the DNA sequences for DPLB-DNAC are designed using graph method and generate-and-test approach, respectively. The both of methods are without the optimized objective functions process. The proposed method used four objective functions in their process to obtain the best solutions. The results obtained from the proposed method are compared with the sequences generated by graph and generate-and-test methods. The results show that P-ACO approach can generate relatively better DNA sequences in some objectives than others. It can be concluded that proposed algorithm can obtain relatively a better set of DNA sequences for DPLB-DNAC.

关键词： Sequences DNA computing Ant colony optimization Costs Robots mechatronics Turing machines Design methodology Design optimization Shortest path problem

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Enhanced sliding-mode constrained motion tracking control of piezo-actuated flexure-based mechanisms

Enhanced sliding-mode constrained motion tracking control of...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Hwee Choo Liaw Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and AeroSpace Engineering Monash University Clayton VIC Australia

This paper presents an enhanced sliding-mode constrained motion tracking control methodology for piezo-actuated flexure-based micro/nano manipulation mechanisms. This control methodology is formulated to accommodate not only the parametric uncertainties and unknown force conversion function, but also the non-linearities including the hysteresis effect and external disturbances in the manipulation mechanisms. The control objective is to track desired motion trajectories in a constrained environment. In this paper, the equations for the dynamic modelling of a flexure-hinged four-bar micro/nano manipulation mechanism operating in a constrained environment are established for the formulation of the control methodology. Stability of the proposed closed-loop system is analysed, and the convergence of the motion tracking errors is proven theoretically. Furthermore, precise motion tracking ability in following a desired motion trajectory is demonstrated in the experimental study.

关键词： Tracking Motion control Sliding mode control Trajectory Force control Uncertainty Hysteresis Nonlinear equations Manipulator dynamics Nonlinear dynamical systems

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Performance evaluation of a flexure-based five-bar mechanism for micro/nano manipulation

Performance evaluation of a flexure-based five-bar mechanism...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Yanling Tian Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and AeroSpace Engineering Monash University Clayton VIC Australia

This paper presents the design, fabrication and experimental methodologies for a flexure based five bar mechanism, which is indispensable for the applications of micro-nano scale operations. To overcome the limited displacement of such a flexure based mechanism driven by piezoelectric actuators, lever mechanisms are used to enlarge the working range in Cartesian space. The mechanical design of the micro-manipulator is firstly described. Based on the configuration of the proposed flexure based mechanism, the kinematic model is developed. The linearised relationship between the actuation space and the Cartesian space is derived according to the kinematic analysis. Finite element analysis (FEA) is carried out to guarantee the long-term repeatability accuracy and examine the performance of the developed compliant mechanism. Experiments are implemented to cross validate the characteristics of the developed flexure-based mechanism.

关键词： Kinematics Fasteners Manipulators mechatronics Fabrication Piezoelectric actuators Finite element methods Performance analysis Hysteresis Robotic assembly

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Development of a flexure-based 3-RRR parallel mechanism for nano-manipulation

Development of a flexure-based 3-RRR parallel mechanism for ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Yanling Tian Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical and AeroSpace Engineering Monash University Clayton VIC Australia

This paper presents the mechanical design methodologies of a 3-DOF flexure-based mechanism. A 3-RRR parallel mechanism is utilized to implement planar motions which are general requirements for micro/nano manipulation. Flexure hinges are used as the revolute joints to provide smooth motion in the range of micrometer. Three high performance piezoelectric actuators are utilized to drive the active links of the flexure-based mechanism. Finite element analysis is employed to validate the performance of the proposed 3-DOF flexure-based parallel mechanism. A novel empirical displacement mapping model is established based on the finite element analysis. This kinematic model can provide more accurate position prediction than the theoretical model where the offsets of the flexure hinges are not taken into consideration. The interaction between the actuators and the flexure-based mechanism is extensively investigated based on the established model. Experiments are carried out to verify the dynamic performance of the 3-DOF flexure-based mechanism.

关键词： Fasteners Piezoelectric actuators Aerodynamics Servomotors Kinematics Atomic force microscopy mechatronics Finite element methods Hysteresis motors Machining

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Implementing Ethernet in Computer Integrated Manufacturing system

Implementing Ethernet in Computer Integrated Manufacturing s...

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International Symposium on mechatronics and Its Applications, ISMA

作者： Hairulazwan Hashim Herdawatie AbdulKadir Department of Mechatronics and Robotics Engineering University of Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia

As the number of field devices in manufacturing systems grows and the functions of the system need to be more intelligent, these devices need to exchange the rapidly increasing amount of data among them. Implementing Ethernet even at the lowest level is suitable for a better interface and offer advantages of direct access of information and equipment diagnostic. This paper proposes the integration between the industrial communications network based on the Ethernet protocol and Computer Integrated Manufacturing (CIM) system. The Ethernet module is installed onto supervisory OMRON PLC to integrate several stations in the CIM-70A system to overcome real-time communication in terms of retrieving data from other stations. The workability of this communication technique is analyzed and compared with the conventional serial communication which is widely used in automation networking systems. It is found that, the Ethernet protocol approach through the communication and integration of CIM system can be accessed easily and available to be upgraded at the management and enterprise levels of industrial automation system.

关键词： Ethernet networks Computer integrated manufacturing Communication industry Access protocols Automation Manufacturing systems Computer industry Manufacturing industries Communication networks Programmable control

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Positioning Control of a Capsule Robot Using Sliding Mode Control

Positioning Control of a Capsule Robot Using Sliding Mode Co...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Namkon Lee Jun Ishikawa Norihiro Kamamichi Katsuhisa Furuta Department of Advanced Multidisciplinary Engineering Tokyo Denki UniversityJAPAN Department of Robotics and Mechatronics Tokyo Denki UniversityJAPAN

ISBN: (纸本)9781424447749

In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is twomass sustem and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop control, same results are not guaranteed if the Capsubot is placed in a rough surface condition and circumstance. Then, sliding mode control method is derived in this paper because of its robustness to a parameter changes. The validity of the proposed method is verified by numerical simulations.

关键词： Position control Variable structure systems control input CAPSULES Robot Optimal control simulating OPEN-LOOP SURFACE CONDITIONS Control Methods

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A Comparative Study of Indirect and Direct Workspace Representation in Human-Robot Interaction

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IFAC Proceedings Volumes 2009年第4期42卷 1730-1735页

作者： Ildar Farkhatdinov Vadim Balashov Jee-Hwan Ryu Jury Poduraev School of Mechanical Engineering Korea University of Technology and Education Cheonan Korea Department of Robotics and Mechatronics Moscow State University of Technology “STANKIN” Moscow Russia

This paper presents a comparative study of indirect and direct workspace representation in human-robot interaction. Most of previous researches were using indirect workspace representation or were restricted to mobile robot applications. We extended human-robot interface with direct workspace representation for control of manipulator. Touch screen with representation of manipulators’ task space was used as an input/output device with direct workspace representation. Experimental study showed that usage of direct workspace representation significantly improves accuracy and productivity of control in human-robot interaction. Proposed human-robot interface was tested with manipulator. Possible application areas were described.

关键词：

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Impact absorption of a dual-crawler-driven robot

Impact absorption of a dual-crawler-driven robot

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IEEE International Conference on robotics and Biomimetics

作者： Qiquan Quan Shugen Ma Rongqiang Liu Bin Li Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator.

关键词： Absorption Actuators Crawlers robotics and automation Switches Gears Tracking Mobile robots Parallel robots Control systems

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