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Closed-Form Equations for the Vibrations of a Flexure-Based Scott-Russell Mechanism

Closed-Form Equations for the Vibrations of a Flexure-Based ...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, Pages 477-948

作者： Yanling Tian Bijan Shirinzadeh Yongmin Zhong Dawei Zhang Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9781424424948

This paper presents the closed-form equations for the vibrations of a flexure-based Scott-Russell mechanism driven by a piezoelectric actuator. This mechanism is used for the nano-manipulation. To overcome the displacement limitation of the piezoelectric actuator, the proposed Scott-Russell mechanism is also used to enlarge the working range of the entire system with high positioning accuracy. With consideration for the effect of the driving circuit, the dynamic model of the flexure-based Scott-Russell mechanism is established. The closed-form transient response of the flexure-based Scott-Russell mechanism to the slope command signal is derived based on the Laplace transform method. The influence of the rising time on the dynamic characteristics of the mechanism is investigated. Compared with the step signal, the slope command signal can generate vibration-free motion and thus improve the dynamic performance of the flexure-based Scott-Russell mechanism.

关键词： flexure hinge piezoelectric actuator Scott-Russell mechanism

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Dynamic Stability of Off-Road Vehicles: Quasi-3D Analysis

Dynamic Stability of Off-Road Vehicles: Quasi-3D Analysis

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2008 IEEE International Conference on robotics and Automation (ICRA 2008), vol.6

作者： Moshe Mann Zvi Shiller Department of Mechanical Engineering and Mechatronics Paslin Robotics Research Laboratory Ariel University Center of Samaria Ariel Israel

This paper presents a method to determine the stability of off-road vehicles moving on rough terrain. The measures of stability are defined as the maximum speed and acceleration under which the vehicle does not slide or tip over. To compute these stability measures, we propose a quasi 3D analysis by decomposing the vehicle dynamics into three separate planes: the yaw, pitch, and roll planes. In each plane, we compute the set of admissible speeds and acceleration for the planar vehicle model, contact model, and ground force constraints. The intersection of the admissible sets provides the total range of feasible speeds and accelerations along the vehicle's path, from which we obtain the stability margins. Numerical results for a vehicle traversing a simulated terrain demonstrate the effectiveness of the approach.

关键词： Vehicle dynamics Stability analysis Acceleration Robot kinematics Road vehicles Angular velocity Symmetric matrices Velocity measurement robotics and automation USA Councils

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Development of a control system for supporting to grow human skill of a unicycle

Development of a control system for supporting to grow human...

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SICE Annual Conference

作者： Hiroshi Ohsaki Masaya Kinoshita Yoshiaki Sugimoto Kohei Yoshida Hideo Yoshida Masami Iwase Shoshiro Hatakeyama Department of Computers and System Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Japan

ISBN: (纸本)9784907764296

The riding operation of a unicycle attract attention, because it improves the balance sense and trains the coordinate ability to move the body dexterously according to a situation. This study regards a unicycle as the subject of research, and analyzes the process of achievement of the balance sense and the coordinate ability for riding the unicycle. Thus, we derive a motion equation of a system which considered a force and a torque to the system by the operator using the projection method. We develop a dynamic unicycle simulator, using the equation of motion, which prepare an environment for analysis, training, teaching, and assist of the unicycle operation.

关键词： Dynamic unicycle simulator Projection method

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Human dexterity analysis in stabilizing operation of inverted pendulum

Human dexterity analysis in stabilizing operation of inverte...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Kazuhide Ura Toshiya Tajiri Hiroshi Ohsaki Hiroki Takase Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

A final purpose of this study is to design a dexterity assistance system for operating a machine. In order to design a dexterity assistance system, analysis of human characteristics is necessary. And the study of stabilizing operation of an inverted pendulum is important for understanding the neural control of balance and skill acquisition. Therefore, this study focuses on stabilizing operation of an inverted pendulum, and analyzes the dexterity process of human operation. This paper assumes that the human operation is PD control. And feedback gains are identified at each danger in the operation, and relationship between the results of identification and skill level is discussed. Furthermore, we verify the proposed operation analysis technique by the variation of the order of the human controller.

关键词： Humans mechatronics Force sensors PD control Computational modeling Force control Design engineering Systems engineering and theory Robots Neurofeedback

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Stiffness estimation of the flexure-based five-bar micro-manipulator

Stiffness estimation of the flexure-based five-bar micro-man...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yanling Tian Bijan Shirinzadeh Dawei Zhang Robotics & Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia Department of Mechanical Engineering Tianjin University TJU Tianjin China

This paper presents the forward kinematics and stiffness estimation methodologies of a flexure-based five-bar micro-manipulator. The mechanical design of the micro-manipulator is firstly descried. Base on the configuration of the proposed flexure-based micro-manipulator, the whole system has been divided into a five-bar parallel mechanism and an amplification mechanism. Two mathematical expressions describing the path traced by the tips of two passive links connected to each other are obtained. The Cartesian coordinates of the end-effector attached to one of the passive links is obtained according to the geometric relationship. The amplification factor of the lever mechanism is also derived based on the analytical solution of the four-bar linkage. By simplifying the flexure hinge as an ideal revolution joint with a linear torsional spring, the stiffness of the compliant five-bar mechanism is derived in both actuation and Cartesian spaces. It is noted that the stiffness of the compliant five-bar mechanism is positional dependant, and reaches up to infinite value at the singular configuration.

关键词： Kinematics Fasteners Laser modes robotics and automation Manipulator dynamics Robot vision systems Design methodology Couplings Springs Micromanipulators

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Development of a Compliant-Based Microgripper for Microassembly

Development of a Compliant-Based Microgripper for Microassem...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Mohd Nashrul Mohd Zubir Bijan Shirinzadeh Robotics and Mechatronics Research laboratory Department of Mechanical Engineering Monash University Clayton VIC Australia Monash University Clayton VIC AU

Micro-scaled parts with dimension below 1 mm need to be manipulated with high precision and consistency in order to guarantee successful microassembly process. Often these requirements are difficult to be achieved mainly due to the constraints imposed by the grasping mechanism which will affect the accuracy of the manipulation. Furthermore, the object's texture and fragility imply that small perturbation by the grasping mechanism can result in substantial damage to the object and downgrading its geometry, shape, and quality. Conventional grippers based on rigid hinges are not capable to meet the demand of high precision manipulation and control of micro objects due to prevalent backlash and coulomb friction problems inherited within their joints. An effective way to address these problems is by introducing flexure based joints which will produce fully-monolithic grasping mechanism. This paper provides a rigorous approach to develop a compliant-based microgripper for performing high precision manipulation of micro-objects. A combination of pseudo rigid body model (PRBM) and finite element analysis (FEA) has proven to expedite the prototyping procedure which effectively reduces the cost and modeling time. An electro discharge machining (EDM) technique was utilized for the fabrication of the device. Series of experimental studies were conducted for performance verification and the results were compared with the computational analysis results. A high displacement amplification and maximum stroke of 100 mum can be achieved.

关键词： Grippers Microassembly Geometry Shape Fasteners Friction Finite element methods Prototypes Costs Machining

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Safe manual control of assist system for stabilizing operation of pendulum by using EMG

Safe manual control of assist system for stabilizing operati...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Mitsuhiro Andoh Toshiya Tajiri Kazuhide Ura Masami Iwase Shoshiro Hatakeyama Department of Computers and Systems Engineering Tokyo Denki University Hatoyama Saitama Japan Department of Robotics and Mechatronics Tokyo Denki University Hatoyama Saitama Japan

This study presents the development of a dexterity support system for stabilizing operation of pendulum using electromyogram (EMG) as input signal. When muscles a joint is flexed or extended, EMG signals are generated in the muscles. In case of controlling unstable systems by using EMG, unskilled operations might cause serious instability and drastic accident. And it is difficult for beginners to keep the system stable for a long time and to train the operation successively. Thus, to overcome those problems, a support system utilizing the safe manual control is proposed. The effectiveness of the support system for beginners is discussed from the viewpoint of the operation support and the accident avoidance.

关键词： Human factors Electromyography Muscles mechatronics Signal generators Accidents Man machine systems Wrist Stability Automatic control

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Analysis of emotional expression of Finger Braille

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作者： Matsuda, Y. Sakuma, I. Jimbo, Y. Kobayashi, E. Arafune, T. Isomura, T. Department of Robotics and Mechatronics Kanagawa Institute of Technology Atsugi Japan Graduate School of Engineering University of Tokyo Tokyo Japan Graduate School of Frontier Sciences University of Tokyo Kashiwa Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (纸本)9783540790389

Finger Braille is one of tactual communication media of deafblind people. In two-handed Finger Braille, index finger, middle finger and ring finger of both hands are likened to keys of a Braille typewriter. A sender dots Braille code on the fingers of a receiver like whether he/she does the type of the Braille typewriter. Then the receiver recognizes the Braille code. In one-handed Finger Braille, the sender dots the left column of Braille code on the DIP joints of three fingers of the receiver, and then the sender dots the right column of Braille code on the PIP joints of them. Deafblind people who are skilled in Finger Braille can catch up with speech conversation and express various emotions. Because there are small nondisabled people who are skilled in Finger Braille, deafblind people communicate only with interpreters. Objective of this study is development of a Finger Braille supporting device which assists not only verbal communication but also nonverbal (emotional) communication between deafblind people and non-disabled people who are not skilled in Finger Braille. In this paper, an experiment of emotional expression of Finger Braille was carried out. And we analyzed features of emotional expression of Finger Braille and discussed algorithm of emotion recognition. The features of emotional expression were: (1) the durations of code of Joy were particularly shorter than other emotions;(2) the durations of code of Sadness were particularly longer than other emotions;(3) the finger loads of Anger were particularly bigger than other emotions. To develop emotion recognition system, we discussed algorithm of emotion recognition using the accelerometers worn by tester. According to the results of discriminant analysis, it was considered that emotion recognition using the discriminant functions and the average of posterior probabilities in a sentence was possible. © 2008 Springer-Verlag.

关键词： Emotion Recognition

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Decentralized controllers design for nonlinear uncertain systems with application on robotic systems

Decentralized controllers design for nonlinear uncertain sys...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： H. Ishak J.H.S Osman Electrical and Electronics Engineering Universiti Malaysia Pahang Kuantan Pahang Malaysia Department of Mechatronics & Robotics Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper presents investigation into the development of decentralized sliding mode control with application to trajectory tracking for hydraulically driven revolute robot manipulators. The control of hydraulically actuated robot manipulator is very challenging due to the highly nonlinearities in its dynamics, uncertainties parameters, and variations on payload. To overcome these problems, an integrated mathematical model of an N degree-of-freedom (dof) hydraulic robot manipulator is treated as a large-scale uncertain system models with bounded uncertainties where the bounds are known. This is then decomposed into interconnected uncertain subsystems in order to apply the decentralized tracking control strategy. Sliding mode control (SMC) and proportional-integral sliding mode control strategies will be utilized to overcome the inherent nonlinear dynamics under the decentralized frameworks. These approaches were adopted to ensure the stability of the system dynamics during the sliding mode and the insensitivity to the parameter variations and disturbances. The performance and robustness of the controllers were evaluated on a 3 dof hydraulically actuated manipulator through computer simulation. The results prove that the controllers have succeeded in forcing the 3 DOF hydraulic robot manipulators to track the predefined desired trajectory at all time.

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Learning process of bimanual coordination

Learning process of bimanual coordination

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Yukihito Suzuki Hiroki Takase Yaodong Pan Jun Ishikawa Katsuhisa Furuta Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan Tokyo Denki University Saitama Japan Department of AeroSpace Engineering Ryerson University Toronto Canada

There are many systems that need sophisticated skills for operation. Operators must practice very well before actually operating systems, such as cranes, helicopters, and so on. We focus on two hand (bimanual) operation of human in this research. In the bimanual operation, motion of one hand of a low-skilled operator tends to suffer interfering in motion of the other hand. We have already identified human bimanual dynamic characteristics based on experimental results. However, learning process during bimanual operation was not clarified in the previous research. Therefore, in this research, we clarified the learning process by a simple task, i.e., bimanually moving grips on XY - stages back and forth only. In the experiment, subjects simultaneously moved one hand back and forth at 0.3[Hz] and the other at 0.5[Hz]. We divided subjects into two groups: Learning process A (LP A) and learning process B (LP B). Subjects in LP A group conducts only manual operation without mechanical assistance, and those in LP B group conduct manual operation after a training guided by the XY - stages. It has been confirmed that subjects in LP B needed less number of trials than those in LP A to achieve the same performance trajectory.

关键词： Humans Manuals Force sensors mechatronics robotics and automation Force control Force measurement Automatic control Control systems Robot kinematics

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