Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.5.324-331
Edisson A. Naula Duchi, Brian Ismael Chávez Viveros, Santiago Pérez Burciaga, Luis E. Garza-Castañón, J. Israel Martínez-López
—The conditions for the operation of Point-of-Care sensors on water bodies are complicated to meet. The limited energy resources and footprint onboard are additional limitations of remote sensing devices. To provide a platform to perform a sufficient number of samples, the customization of Underwater Vehicles involves an integral optimization of space distribution, operation of the sensing mechanisms, and navigation. In this paper, we showcase the design and manufacturing of an Underwater Vehicle towards integration of a microfluidic device platform with a biomimetic approach. To develop this design Fusion 360 was used to sketch the internal components, including the fluid handling unit of the Lab-On-a-Chip biosensor and the reagent reservoirs, hull, and the submarine propulsion system (propeller and dorsal and pectoral fins). Furthermore, we have compared the numerical performance of three different pectoral fins for a shark, devil fish, and a drag reduction evaluating the lift and drag forces using COMSOL Multiphysics for different angles of attacks, demonstrating that a design with more cross-sectional area has 5 times greater drag and up to 3 times greater lift than a balanced and slim design. the final design will depend on the maneuverability requirements of the vehicle. The modularized design was manufactured and integrated successfully using Fusion Deposition Modelling and Stereolithography.
{"title":"Design of Modular Underwater Vehicle Biomimetic Hull Towards Onboard Lab-On-a-Chip Devices","authors":"Edisson A. Naula Duchi, Brian Ismael Chávez Viveros, Santiago Pérez Burciaga, Luis E. Garza-Castañón, J. Israel Martínez-López","doi":"10.18178/ijmerr.12.5.324-331","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.324-331","url":null,"abstract":"—The conditions for the operation of Point-of-Care sensors on water bodies are complicated to meet. The limited energy resources and footprint onboard are additional limitations of remote sensing devices. To provide a platform to perform a sufficient number of samples, the customization of Underwater Vehicles involves an integral optimization of space distribution, operation of the sensing mechanisms, and navigation. In this paper, we showcase the design and manufacturing of an Underwater Vehicle towards integration of a microfluidic device platform with a biomimetic approach. To develop this design Fusion 360 was used to sketch the internal components, including the fluid handling unit of the Lab-On-a-Chip biosensor and the reagent reservoirs, hull, and the submarine propulsion system (propeller and dorsal and pectoral fins). Furthermore, we have compared the numerical performance of three different pectoral fins for a shark, devil fish, and a drag reduction evaluating the lift and drag forces using COMSOL Multiphysics for different angles of attacks, demonstrating that a design with more cross-sectional area has 5 times greater drag and up to 3 times greater lift than a balanced and slim design. the final design will depend on the maneuverability requirements of the vehicle. The modularized design was manufactured and integrated successfully using Fusion Deposition Modelling and Stereolithography.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136208448","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.6.385-395
Alarazah Hussein Abdulwahab, Ahmad Zhafran Ahmad Mazlan, Ahmad Faizul Hawary, Nabil Hassan Hadi
—Recently developed quadruped robots have more efficient dynamic performance and adaptation to environments than before. They have already been used in the building of infrastructure, Military tracking, and emergency disposal. To predict future work on quadruped robots, it is first necessary to examine the frequently used mechanism and structure of the quadruped robot. The optimization of energy usage is then covered as well. The stability and gait techniques of the quadruped robot are then reviewed, and the benefits and drawbacks in terms of gait movement, environment adaptation
{"title":"Quadruped Robots Mechanism, Structural Design, Energy, Gait, Stability, and Actuators: A Review Study","authors":"Alarazah Hussein Abdulwahab, Ahmad Zhafran Ahmad Mazlan, Ahmad Faizul Hawary, Nabil Hassan Hadi","doi":"10.18178/ijmerr.12.6.385-395","DOIUrl":"https://doi.org/10.18178/ijmerr.12.6.385-395","url":null,"abstract":"—Recently developed quadruped robots have more efficient dynamic performance and adaptation to environments than before. They have already been used in the building of infrastructure, Military tracking, and emergency disposal. To predict future work on quadruped robots, it is first necessary to examine the frequently used mechanism and structure of the quadruped robot. The optimization of energy usage is then covered as well. The stability and gait techniques of the quadruped robot are then reviewed, and the benefits and drawbacks in terms of gait movement, environment adaptation","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134888211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.2.121-130
Abderrahim Bahani, Moulay El houssine Ech-Chhibat, H. Samri, Hicham Ait Elattar
—This work aims at evaluating the inverse kinematics of a two-robot cooperative system using Matlab/SimMechanics-based simulations and artificial intelligence tools, namely the Levenberg-Marquardt (LM) optimization method. The artificial neural networks (ANN) thus constructed will replace the controllers of the six degrees of freedom (6-DOF) cooperative robots. Therefore, the entire cooperative system was designed in SolidWorks, taking into account all the dimensions necessary for kinematic modeling, then converted into Matlab/SimMechanics, and thanks to the manipulation of the model in this software, we will be able to extract the articulatory and operational data of the cooperative system in its workspace. The kinematic database of the robotic system is built in Matlab in order to train the ANN and implement it in Matlab/SimMechanics. Lastly, a test is performed in a collaborative task to evaluate the intelligent control error. The results obtained can be applied to and tested for the kinematic control of two real ABB IRB 120 cooperative robots.
{"title":"The Inverse Kinematics Evaluation of 6-DOF Robots in Cooperative Tasks Using Virtual Modeling Design and Artificial Intelligence Tools","authors":"Abderrahim Bahani, Moulay El houssine Ech-Chhibat, H. Samri, Hicham Ait Elattar","doi":"10.18178/ijmerr.12.2.121-130","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.121-130","url":null,"abstract":"—This work aims at evaluating the inverse kinematics of a two-robot cooperative system using Matlab/SimMechanics-based simulations and artificial intelligence tools, namely the Levenberg-Marquardt (LM) optimization method. The artificial neural networks (ANN) thus constructed will replace the controllers of the six degrees of freedom (6-DOF) cooperative robots. Therefore, the entire cooperative system was designed in SolidWorks, taking into account all the dimensions necessary for kinematic modeling, then converted into Matlab/SimMechanics, and thanks to the manipulation of the model in this software, we will be able to extract the articulatory and operational data of the cooperative system in its workspace. The kinematic database of the robotic system is built in Matlab in order to train the ANN and implement it in Matlab/SimMechanics. Lastly, a test is performed in a collaborative task to evaluate the intelligent control error. The results obtained can be applied to and tested for the kinematic control of two real ABB IRB 120 cooperative robots.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497616","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.3.131-136
Yang Zhang, V. Arakelian
—It is well known that conventional linear spring directly jointed with a rotating link cannot ensure a complete gravity balancing. In this case, the application of zero length springs is suggested. The zero length spring corresponds to a spring with special coils ensuring zero elastic force for zero length of the spring. This type of spring is often used in theoretical solutions or in academic studies but rarely in real robotic structures. The use of traditional linear springs leads to inclusion of the auxiliary mechanism. The associated mechanisms are different and each of them requires its study and improvement. The applied methods for their study are various. They depend on the structure of the auxiliary mechanism and locations of balancing forces. This paper deals with design and synthesis of the gravity compensator including an auxiliary two-link dyad added to the rotating link. The balancing spring is installed vertically at the base. The choice of a vertical installation is due not only to constructive practicality but also to the fact that the mass of the spring system does not affect the balancing conditions of the rotating link. The aim of the study is to propose an analytically tractable solution permitting to synthesize such link lengths of the additional dyad that will provide a more optimal generation of the balancing moment. The efficiency of the suggested mechanism design is illustrated via numerical simulations. It is shown that by using a non-zero length spring a quasi-perfect balancing has been achieved.
{"title":"Design and Synthesis of the Gravity Compensator with a Non-zero Length Spring","authors":"Yang Zhang, V. Arakelian","doi":"10.18178/ijmerr.12.3.131-136","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.131-136","url":null,"abstract":"—It is well known that conventional linear spring directly jointed with a rotating link cannot ensure a complete gravity balancing. In this case, the application of zero length springs is suggested. The zero length spring corresponds to a spring with special coils ensuring zero elastic force for zero length of the spring. This type of spring is often used in theoretical solutions or in academic studies but rarely in real robotic structures. The use of traditional linear springs leads to inclusion of the auxiliary mechanism. The associated mechanisms are different and each of them requires its study and improvement. The applied methods for their study are various. They depend on the structure of the auxiliary mechanism and locations of balancing forces. This paper deals with design and synthesis of the gravity compensator including an auxiliary two-link dyad added to the rotating link. The balancing spring is installed vertically at the base. The choice of a vertical installation is due not only to constructive practicality but also to the fact that the mass of the spring system does not affect the balancing conditions of the rotating link. The aim of the study is to propose an analytically tractable solution permitting to synthesize such link lengths of the additional dyad that will provide a more optimal generation of the balancing moment. The efficiency of the suggested mechanism design is illustrated via numerical simulations. It is shown that by using a non-zero length spring a quasi-perfect balancing has been achieved.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
—This article describes the novel design and implementation of the Robot Operating System (ROS) for the autonomous quadrotor landing on ArUco marker application. On a Raspberry Pi 4 companion computer, the ROS was set up using Ubuntu Mate 18.04. Then, to create communication between program nodes, ROS was put into practice together with autonomous landing. In the control approach, the Visual Inertial Odometry (VIO) technique, which uses vision-based localization, is employed to estimate the 3D posture. For computing the command control to direct movement quadrotor to landing on ArUco marker, the autolanding application is built. In experimental, 25 landing experiment trials were completed. The distance between the Drone’s camera’s center and the ArUco marker's center was calculated. In the results, the average distance accuracy during experimental validation was 11.12 cm, with a standard deviation of 3.67 cm.
本文描述了机器人操作系统(ROS)的新颖设计和实现，用于自主四旋翼着陆ArUco标记应用。在Raspberry Pi 4配套电脑上，ROS是使用Ubuntu Mate 18.04设置的。然后，为了创建程序节点之间的通信，将ROS与自主着陆结合起来。在控制方法中，采用基于视觉定位的视觉惯性里程计(VIO)技术来估计三维姿态。为了计算指挥运动四旋翼飞行器在ArUco标志上着陆的命令控制，建立了自动着陆应用程序。试验中完成了25次着陆试验。计算无人机相机中心与ArUco标记中心之间的距离。结果表明，实验验证期间的平均距离精度为11.12 cm，标准差为3.67 cm。
{"title":"Implementation of Robot Operating System in Raspberry Pi 4 for Autonomous Landing Quadrotor on ArUco Marker","authors":"Atcha Daspan, Anukoon Nimsongprasert, Prathan Srichai, Pijirawuch Wiengchanda","doi":"10.18178/ijmerr.12.4.210-215","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.210-215","url":null,"abstract":"—This article describes the novel design and implementation of the Robot Operating System (ROS) for the autonomous quadrotor landing on ArUco marker application. On a Raspberry Pi 4 companion computer, the ROS was set up using Ubuntu Mate 18.04. Then, to create communication between program nodes, ROS was put into practice together with autonomous landing. In the control approach, the Visual Inertial Odometry (VIO) technique, which uses vision-based localization, is employed to estimate the 3D posture. For computing the command control to direct movement quadrotor to landing on ArUco marker, the autolanding application is built. In experimental, 25 landing experiment trials were completed. The distance between the Drone’s camera’s center and the ArUco marker's center was calculated. In the results, the average distance accuracy during experimental validation was 11.12 cm, with a standard deviation of 3.67 cm.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.5.297-305
Mohamed Aly Abdel Kader, Abdeslam Aannaque
— This paper proposes a method for identifying isomorphisms between different kinematic chains that is highly efficient, reliable, and simple, with a short CPU running time (KC). In contrast to many methods proposed by researchers in this field, which require significant computing time, particularly in kinematic chains with a large number of bars. Isomorphism identification is critical for designers in order to avoid duplicate solutions and focus all of their energy and creativity on novel, independent kinematic chain solutions. The shortest path between non-binary bars is primarily used in this article to solve the problem of isomorphism identification. The computational complexity and efficiency of the method are evaluated and compared to existing published methods for a variety of cases, including 8-bar, 10-bar, 12-bar, three-complex 13-bar, 15-bar, 28-bar, and 42-bar single-joint kinematic chains. These comparisons demonstrate the superiority of the proposed method.
{"title":"Identification of Kinematic Chains Isomorphism Based on the Distance between Non-binary Vertices","authors":"Mohamed Aly Abdel Kader, Abdeslam Aannaque","doi":"10.18178/ijmerr.12.5.297-305","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.297-305","url":null,"abstract":"— This paper proposes a method for identifying isomorphisms between different kinematic chains that is highly efficient, reliable, and simple, with a short CPU running time (KC). In contrast to many methods proposed by researchers in this field, which require significant computing time, particularly in kinematic chains with a large number of bars. Isomorphism identification is critical for designers in order to avoid duplicate solutions and focus all of their energy and creativity on novel, independent kinematic chain solutions. The shortest path between non-binary bars is primarily used in this article to solve the problem of isomorphism identification. The computational complexity and efficiency of the method are evaluated and compared to existing published methods for a variety of cases, including 8-bar, 10-bar, 12-bar, three-complex 13-bar, 15-bar, 28-bar, and 42-bar single-joint kinematic chains. These comparisons demonstrate the superiority of the proposed method.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136207601","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.4.223-230
Le Minh Nhut, L. H. Quan
— As the economy, population, and industry have grown in recent years, more and more water chiller systems have been installed in many buildings throughout the world. However, faults can appear during operation, leading to a reduction in the life of a system and increased energy consumption. As a result, it is necessary to identify and overcome these faults. This paper proposes a chiller fault detection and diagnosis (FDD) method based on the K-nearest neighbors (KNN) algorithm and an analysis of variance (ANOVA) to reduce the number of sensors in a real system and to improve the performance of chiller FDD. A Python program based on the KNN and ANOVA models was developed to simulate and validate the chiller fault detection and diagnosis. The results showed that the correct rates (CRs) of stages 1 and 2 in Case 1 were 99.53% and 99.60%, respectively, whereas the CRs of stages 1 and 2 in Case 2 were 99.08% and 99.48%, respectively. The highest performance of the proposed chiller FDD method was achieved when compared to the CBA method, the EBD-DBN method, and the GDW-SVDD method for Case 2 with slight-severity levels 1 and 2. Furthermore, this method was validated using real data under normal operating conditions and the condenser fouling fault of a centrifugal water-cooled chiller from the Saigon Center building in Vietnam. The results showed that the overall performance of chiller FDD was 97.61%, and the hit rate of the condenser fouling fault was 93.46%. This demonstrated that chiller FDD based on KNN and ANOVA has high reliability and can be used in industry.
{"title":"Study on Chiller Fault Detection and Diagnosis Method Based on KNN Algorithm and ANOVA","authors":"Le Minh Nhut, L. H. Quan","doi":"10.18178/ijmerr.12.4.223-230","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.223-230","url":null,"abstract":"— As the economy, population, and industry have grown in recent years, more and more water chiller systems have been installed in many buildings throughout the world. However, faults can appear during operation, leading to a reduction in the life of a system and increased energy consumption. As a result, it is necessary to identify and overcome these faults. This paper proposes a chiller fault detection and diagnosis (FDD) method based on the K-nearest neighbors (KNN) algorithm and an analysis of variance (ANOVA) to reduce the number of sensors in a real system and to improve the performance of chiller FDD. A Python program based on the KNN and ANOVA models was developed to simulate and validate the chiller fault detection and diagnosis. The results showed that the correct rates (CRs) of stages 1 and 2 in Case 1 were 99.53% and 99.60%, respectively, whereas the CRs of stages 1 and 2 in Case 2 were 99.08% and 99.48%, respectively. The highest performance of the proposed chiller FDD method was achieved when compared to the CBA method, the EBD-DBN method, and the GDW-SVDD method for Case 2 with slight-severity levels 1 and 2. Furthermore, this method was validated using real data under normal operating conditions and the condenser fouling fault of a centrifugal water-cooled chiller from the Saigon Center building in Vietnam. The results showed that the overall performance of chiller FDD was 97.61%, and the hit rate of the condenser fouling fault was 93.46%. This demonstrated that chiller FDD based on KNN and ANOVA has high reliability and can be used in industry.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.4.231-238
Ibrahim M. Al-Adwan, Ahmad Awwad, Mohamed S. Gaith, F. Alfaqs, Z. Haddadin, Abdulah Wahbe, Mahmoud Hamam, Mahmoud Qunees, M. A. Khatib, Mohammad Bsaileh, Abdalla A. Jaber, Ahmad Aqra’a
—The crack is one of the most common types of failure in pipelines that convey fluid, and early detection of the crack may assist to avoid the piping system from experiencing catastrophic damage, which would otherwise be fatal. The influence of flow velocity and the presence of a crack on the performance of a tapered simply supported pipe containing moving fluid is explored using the finite element approach in this study. ANSYS software is used to simulate the pipe as Bernoulli's beam theory. In this paper, the fluctuation of natural frequencies and matching mode shapes for various scenarios owing to changes in fluid speed and the presence of damage is discussed in detail. The findings demonstrated that the presence of a fracture reduces the stiffness of the systems, resulting in a decrease in the basic natural frequencies. This loss is more pronounced when the fracture is further away from the nodal locations for each mode. Finally, it is demonstrated that increasing flow velocity reduces natural frequencies.
{"title":"Modal Analysis of Simply Supported Tapered Pipe Transporting Fluid with an Edge Crack Using Finite Element Method","authors":"Ibrahim M. Al-Adwan, Ahmad Awwad, Mohamed S. Gaith, F. Alfaqs, Z. Haddadin, Abdulah Wahbe, Mahmoud Hamam, Mahmoud Qunees, M. A. Khatib, Mohammad Bsaileh, Abdalla A. Jaber, Ahmad Aqra’a","doi":"10.18178/ijmerr.12.4.231-238","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.231-238","url":null,"abstract":"—The crack is one of the most common types of failure in pipelines that convey fluid, and early detection of the crack may assist to avoid the piping system from experiencing catastrophic damage, which would otherwise be fatal. The influence of flow velocity and the presence of a crack on the performance of a tapered simply supported pipe containing moving fluid is explored using the finite element approach in this study. ANSYS software is used to simulate the pipe as Bernoulli's beam theory. In this paper, the fluctuation of natural frequencies and matching mode shapes for various scenarios owing to changes in fluid speed and the presence of damage is discussed in detail. The findings demonstrated that the presence of a fracture reduces the stiffness of the systems, resulting in a decrease in the basic natural frequencies. This loss is more pronounced when the fracture is further away from the nodal locations for each mode. Finally, it is demonstrated that increasing flow velocity reduces natural frequencies.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67498376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.4.200-209
N. Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thành, N. Quang
—When a robot manipulator operates at high speeds, the elastic vibration of its links is inevitable. To study this vibration phenomenon, the present paper deals with the problem of modelling, the dynamic stability control and calculating inverse dynamics of a single-link flexible manipulator. An algorithm to study dynamic stability and calculate inverse dynamics of flexible manipulators is proposed. The proposed algorithm is demonstrated and verified by the model of a flexible single-link manipulator. Through numerical simulation, the efficiency and usefulness of the proposed algorithm were demonstrated as well.
{"title":"Dynamic Stability Control and Calculating Inverse Dynamics of a Single-link Flexible Manipulator","authors":"N. Quyen, Bui Thi Hai Linh, Duong Quoc Tuan, Nguyen Trung Thành, N. Quang","doi":"10.18178/ijmerr.12.4.200-209","DOIUrl":"https://doi.org/10.18178/ijmerr.12.4.200-209","url":null,"abstract":"—When a robot manipulator operates at high speeds, the elastic vibration of its links is inevitable. To study this vibration phenomenon, the present paper deals with the problem of modelling, the dynamic stability control and calculating inverse dynamics of a single-link flexible manipulator. An algorithm to study dynamic stability and calculate inverse dynamics of flexible manipulators is proposed. The proposed algorithm is demonstrated and verified by the model of a flexible single-link manipulator. Through numerical simulation, the efficiency and usefulness of the proposed algorithm were demonstrated as well.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497641","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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