Pub Date : 2023-01-01DOI: 10.18178/ijmerr.12.1.1-7
Bibiana Fariña, J. Toledo, L. Acosta
—This paper compares two sensorial fusion algorithms based on their characteristics and performance when applied to a localization system for an autonomous wheelchair in dynamic environments. The mobile robot localization module is composed by three sensors: Encoders attached to the wheels, LIDAR and IMU. The information provided by each one is combined according to their covariance obtaining the most reliable pose estimation possible. For this purpose, it focuses on the study of two fusion algorithms, the Extended and Unscented Kalman filters, detailing their properties and operation. Both methods are implemented in the wheelchair for its comparison. The experiments carried out demonstrate how the localization results with UKF are more precise than using the EKF in a non-linear system and shows similar pose estimation when using a constant velocity model, despite the fact that the UKF needs longer execution time than the EKF.
{"title":"Sensor Fusion Algorithm Selection for an Autonomous Wheelchair Based on EKF/UKF Comparison","authors":"Bibiana Fariña, J. Toledo, L. Acosta","doi":"10.18178/ijmerr.12.1.1-7","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.1-7","url":null,"abstract":"—This paper compares two sensorial fusion algorithms based on their characteristics and performance when applied to a localization system for an autonomous wheelchair in dynamic environments. The mobile robot localization module is composed by three sensors: Encoders attached to the wheels, LIDAR and IMU. The information provided by each one is combined according to their covariance obtaining the most reliable pose estimation possible. For this purpose, it focuses on the study of two fusion algorithms, the Extended and Unscented Kalman filters, detailing their properties and operation. Both methods are implemented in the wheelchair for its comparison. The experiments carried out demonstrate how the localization results with UKF are more precise than using the EKF in a non-linear system and shows similar pose estimation when using a constant velocity model, despite the fact that the UKF needs longer execution time than the EKF.","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":"67497812","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.12.1.32-39
Thanh Nguyen Truong, A. Vo, Hee-Jun Kang
— Our article mainly focuses on dealing with several limitations of conventional sliding mode control (SMC), proportional-integral-derivative SMC (PID-SMC), and integral SMC (ISMC) for 3-DOF robotic manipulators at the same time. The paper focuses on three main points: improving the control accuracy, reducing chattering phenomena, and the convergence speed of the system states. Therefore, we develop a novel adaptive neural sliding mode control (ANSMC) algorithm for 3-DOF parallel robotic manipulators which has a complicated dynamic model, including modeling uncertainties, frictional uncertainties, and external disturbances. The control method is designed from three main control techniques, including ISMC, Radial Basis Function Neural Network (RBFNN), and the adaptive technique. First, a new integral terminal sliding mode (ITSM) surface is proposed to enhance the response rate and convergence rate. Second, RBFNN is employed to address disturbances and uncertainties. Besides, RBFNN also plays the role in reducing chattering behavior. While the adaptive technique is integrated into the reaching control law to remove the need for the upper bound values. Consequently, the proposed control system provides a high tracking accuracy and fast convergence rate. The chattering phenomena are significantly diminished in control signals. Simulation results on a 3-DOF parallel manipulator have confirmed the effectiveness of the proposed control method.
{"title":"A Novel ANSMC Algorithm for Tracking Control of 3-DOF Planar Parallel Manipulators","authors":"Thanh Nguyen Truong, A. Vo, Hee-Jun Kang","doi":"10.18178/ijmerr.12.1.32-39","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.32-39","url":null,"abstract":"— Our article mainly focuses on dealing with several limitations of conventional sliding mode control (SMC), proportional-integral-derivative SMC (PID-SMC), and integral SMC (ISMC) for 3-DOF robotic manipulators at the same time. The paper focuses on three main points: improving the control accuracy, reducing chattering phenomena, and the convergence speed of the system states. Therefore, we develop a novel adaptive neural sliding mode control (ANSMC) algorithm for 3-DOF parallel robotic manipulators which has a complicated dynamic model, including modeling uncertainties, frictional uncertainties, and external disturbances. The control method is designed from three main control techniques, including ISMC, Radial Basis Function Neural Network (RBFNN), and the adaptive technique. First, a new integral terminal sliding mode (ITSM) surface is proposed to enhance the response rate and convergence rate. Second, RBFNN is employed to address disturbances and uncertainties. Besides, RBFNN also plays the role in reducing chattering behavior. While the adaptive technique is integrated into the reaching control law to remove the need for the upper bound values. Consequently, the proposed control system provides a high tracking accuracy and fast convergence rate. The chattering phenomena are significantly diminished in control signals. Simulation results on a 3-DOF parallel manipulator have confirmed the effectiveness of the proposed control 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":"67497866","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.12.1.40-47
Ahmed M. El-Dalatony, Tamer Attia, H. Ragheb, A. M. Sharaf
—This paper presents a cascaded Proportional Integral Derivative (PID) trajectory tracking controller to control the foot's tip of a quadruped robotic leg. The proposed robotic leg is designed and developed using electric Quasi-Direct Drive (QDD) actuators with high efficiency and torque density. Both the forward and inverse kinematics of the robotic leg are introduced to generate the desired path with the associated velocity of the foot's tip. Furthermore, the cascaded PID trajectory tracking controller is developed as a low-level controller to control the position and angular velocity of each leg's joint. Both the numerical simulation and experimental results showed that the proposed controller succeeded in tracking the desired trajectory with high accuracy and robustness of two different types of trajectories.
{"title":"Cascaded PID Trajectory Tracking Control for Quadruped Robotic Leg","authors":"Ahmed M. El-Dalatony, Tamer Attia, H. Ragheb, A. M. Sharaf","doi":"10.18178/ijmerr.12.1.40-47","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.40-47","url":null,"abstract":"—This paper presents a cascaded Proportional Integral Derivative (PID) trajectory tracking controller to control the foot's tip of a quadruped robotic leg. The proposed robotic leg is designed and developed using electric Quasi-Direct Drive (QDD) actuators with high efficiency and torque density. Both the forward and inverse kinematics of the robotic leg are introduced to generate the desired path with the associated velocity of the foot's tip. Furthermore, the cascaded PID trajectory tracking controller is developed as a low-level controller to control the position and angular velocity of each leg's joint. Both the numerical simulation and experimental results showed that the proposed controller succeeded in tracking the desired trajectory with high accuracy and robustness of two different types of trajectories.","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":"67497887","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.12.3.145-150
T. D. Chuyen, Hoa Van Doan, P. Minh, Vu Viet Thong
—Today, industrial robots play an important role in industrial production lines. One of the most important problems in motion control of industrial robot systems is the tracking of reference motion trajectories. However, in designing the controller, it is difficult to build an accurate mathematical model for the robot. Especially in the real-time working process, the industrial robot is always affected by external noise, variable load, nonlinear friction, and unexpected changes in model parameters. To solve this problem, the paper which is built a robust adaptive controller based on the sliding mode controller and the RBF neural network. In the controller, the RBF neural network is used to approximate the unknown dynamics and the adaptive update law of the parameters of the network is built based on Lyapunov stability theory. The results of the controller are verified on Matlab Simulink software and show good tracking and high robustness.
{"title":"Design of Robust Adaptive Controller for Industrial Robot Based on Sliding Mode Control and Neural Network","authors":"T. D. Chuyen, Hoa Van Doan, P. Minh, Vu Viet Thong","doi":"10.18178/ijmerr.12.3.145-150","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.145-150","url":null,"abstract":"—Today, industrial robots play an important role in industrial production lines. One of the most important problems in motion control of industrial robot systems is the tracking of reference motion trajectories. However, in designing the controller, it is difficult to build an accurate mathematical model for the robot. Especially in the real-time working process, the industrial robot is always affected by external noise, variable load, nonlinear friction, and unexpected changes in model parameters. To solve this problem, the paper which is built a robust adaptive controller based on the sliding mode controller and the RBF neural network. In the controller, the RBF neural network is used to approximate the unknown dynamics and the adaptive update law of the parameters of the network is built based on Lyapunov stability theory. The results of the controller are verified on Matlab Simulink software and show good tracking and high robustness.","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":"67497928","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.12.1.57-63
H. H. Sutrisno, Triyono
— This study aims to provide the value of the cutting force coefficient on the rough 5 axis milling machining process using flat end 4 flute tools on the peek material. The cutting force coefficient is an experimental machining parameter obtained from modeling. The machining process with several spindle rotational speeds produces a morphology chip, which is then used as modeling information to form a cutting force coefficient graph from an experimental stage. Using 5 variations of spindle speed and constant depth of cut, the results obtained for the thickness of the chip resulted in differences in the coefficient of cutting force. At the highest spindle speed, the chip thickness resulting from the machining process is reduced compared to the lowest spindle rotation. Consequently, the value of the cutting force coefficient will increase compared to other lower spindle speeds.
{"title":"Cutting Force Coefficient for 5 Axis Rough Machining Process on PEEK Material","authors":"H. H. Sutrisno, Triyono","doi":"10.18178/ijmerr.12.1.57-63","DOIUrl":"https://doi.org/10.18178/ijmerr.12.1.57-63","url":null,"abstract":"— This study aims to provide the value of the cutting force coefficient on the rough 5 axis milling machining process using flat end 4 flute tools on the peek material. The cutting force coefficient is an experimental machining parameter obtained from modeling. The machining process with several spindle rotational speeds produces a morphology chip, which is then used as modeling information to form a cutting force coefficient graph from an experimental stage. Using 5 variations of spindle speed and constant depth of cut, the results obtained for the thickness of the chip resulted in differences in the coefficient of cutting force. At the highest spindle speed, the chip thickness resulting from the machining process is reduced compared to the lowest spindle rotation. Consequently, the value of the cutting force coefficient will increase compared to other lower spindle speeds.","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":"67497957","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.12.3.175-183
K. Tangudomkit, P. Smithmaitrie
—A butterfly is a unique flying insect that can fly at a low flapping frequency of 10-15 Hz. Therefore, it consumes little energy while flying. However, the mechanism of low-frequency wing beat has not been thoroughly explained. In this work, it was found that the synchronized flap-and-twist motion enhances the positive lift during both upstroke and downstroke. Models of butterfly forewings were made and tested to investigate the effects of flapping and twisting motions on the generation of thrust and lift. The active flapping and passive twisting mechanisms are proposed. Different ranges of flapping and twisting angles of the wings were investigated. The experimental result shows that the large symmetric twist angle [-75°, 75°] has a unique 3-cycle repetition of flapping force, which generates positive lift in a range of 0-0.06 N most of the time, with strong thrust fluctuations in a range of ±0.10 N. This synchronized flapping and twisting motion with positive lift generation is one explanation for butterfly flight in nature and reveals how butterflies can lift themselves with such a low flapping frequency.
{"title":"Effects of the Butterfly Forewing Flap-and-twist Motion on the Generation of Thrust and Lift","authors":"K. Tangudomkit, P. Smithmaitrie","doi":"10.18178/ijmerr.12.3.175-183","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.175-183","url":null,"abstract":"—A butterfly is a unique flying insect that can fly at a low flapping frequency of 10-15 Hz. Therefore, it consumes little energy while flying. However, the mechanism of low-frequency wing beat has not been thoroughly explained. In this work, it was found that the synchronized flap-and-twist motion enhances the positive lift during both upstroke and downstroke. Models of butterfly forewings were made and tested to investigate the effects of flapping and twisting motions on the generation of thrust and lift. The active flapping and passive twisting mechanisms are proposed. Different ranges of flapping and twisting angles of the wings were investigated. The experimental result shows that the large symmetric twist angle [-75°, 75°] has a unique 3-cycle repetition of flapping force, which generates positive lift in a range of 0-0.06 N most of the time, with strong thrust fluctuations in a range of ±0.10 N. This synchronized flapping and twisting motion with positive lift generation is one explanation for butterfly flight in nature and reveals how butterflies can lift themselves with such a low flapping frequency.","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":"67498027","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.12.5.275-283
Tuan Nguyen Van, Phong Dinh Van, Tan Nguyen Cong, Hung Nguyen Chi
—Autonomous Underwater Vehicles (AUV) are automatic equipment that can move in 6 degrees of freedom according to the motion in the water. Modeling accurately AUV is very difficult because of the influence of factors such as hydrodynamic forces, time error, and environmental noise, etc. It is important that the controller designing needs to meet the requirements of stability and suitability to specific diving equipment models. The hydrodynamic equations are established with the assumed conditions. Controlling self-propelled diving equipment is a major challenge for researchers because of the complex, and nonlinear correlation between diving and operating environments. Therefore, high-quality control systems for the AUV should exhibit the ability to update the variability of the device's hydrodynamic coefficients to achieve the desired control quality. In this study, the authors focus on building a Hierarchical Sliding Mode Controller (HSMC) for Solar Autonomous Underwater Vehicles (S-AUV), the kinematics and dynamics of the underactuated attitude control adjusting system are analyzed. More precisely, the controller is designed based on the hydrodynamic model of the S-AUV. By employing the propulsion speed, the position of the steering blades as design variables, the dive of the S-AUV is stably controlled in location, velocity, and depth. For a given set of operating parameters, the simulation result shows that the developed controller exhibits errors within the allowed range of values.
{"title":"Modeling and Designing Hierarchical Sliding Mode Controller for a 4-DOF Solar Autonomous Underwater Vehicles","authors":"Tuan Nguyen Van, Phong Dinh Van, Tan Nguyen Cong, Hung Nguyen Chi","doi":"10.18178/ijmerr.12.5.275-283","DOIUrl":"https://doi.org/10.18178/ijmerr.12.5.275-283","url":null,"abstract":"—Autonomous Underwater Vehicles (AUV) are automatic equipment that can move in 6 degrees of freedom according to the motion in the water. Modeling accurately AUV is very difficult because of the influence of factors such as hydrodynamic forces, time error, and environmental noise, etc. It is important that the controller designing needs to meet the requirements of stability and suitability to specific diving equipment models. The hydrodynamic equations are established with the assumed conditions. Controlling self-propelled diving equipment is a major challenge for researchers because of the complex, and nonlinear correlation between diving and operating environments. Therefore, high-quality control systems for the AUV should exhibit the ability to update the variability of the device's hydrodynamic coefficients to achieve the desired control quality. In this study, the authors focus on building a Hierarchical Sliding Mode Controller (HSMC) for Solar Autonomous Underwater Vehicles (S-AUV), the kinematics and dynamics of the underactuated attitude control adjusting system are analyzed. More precisely, the controller is designed based on the hydrodynamic model of the S-AUV. By employing the propulsion speed, the position of the steering blades as design variables, the dive of the S-AUV is stably controlled in location, velocity, and depth. For a given set of operating parameters, the simulation result shows that the developed controller exhibits errors within the allowed range of values.","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":"136208222","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.12.2.113-120
A. Yazdani, Soroush Abyaneh
—This paper provides an approach based on the genetic algorithm for the dimensional synthesis of a six-bar mechanism for a shaper machine. The main purpose of the optimization algorithm is to maintain the velocity of the mechanism’s slider constant within a specified range of the rotational motion of the input link. Therefore, first, an objective function is defined for the slider. Then, the velocity function of the slider is calculated using a set of mathematical relationships and the mechanism’s kinematic constraints. In order for this function to reach the objective function, a cost function is defined. This cost function is minimized, and the output approaches the objective function by selecting the appropriate parameters for the mechanism. To this end, four accuracy points are selected within a specific range of motion of the input link. Subsequently, the distances between the points on the velocity function of the slider and the predetermined function are calculated at these four points. The goal is to minimize these four distances. Hence, a cost function is defined in the form of the squares of the sums of these distances and is minimized using the genetic algorithm. Therefore, this cost function is used to minimize the error between the desired points and the points generated by the mechanism and can be affected by factors such as the lengths of the links, the transmission angles, the Grashof condition, and the mechanism type. In the genetic algorithm, the population, crossover, or mutation determines the accuracy of the results. The purpose of this research is to find the optimal dimensions of the links in order to minimize the error between the ideal and actual slider velocity functions. Ultimately, a numerical example is provided where the optimal dimensions are suggested by the optimization algorithm.
{"title":"Dimensional Synthesis of a Six-bar Shaper Mechanism with the Genetic Algorithm Optimization Approach","authors":"A. Yazdani, Soroush Abyaneh","doi":"10.18178/ijmerr.12.2.113-120","DOIUrl":"https://doi.org/10.18178/ijmerr.12.2.113-120","url":null,"abstract":"—This paper provides an approach based on the genetic algorithm for the dimensional synthesis of a six-bar mechanism for a shaper machine. The main purpose of the optimization algorithm is to maintain the velocity of the mechanism’s slider constant within a specified range of the rotational motion of the input link. Therefore, first, an objective function is defined for the slider. Then, the velocity function of the slider is calculated using a set of mathematical relationships and the mechanism’s kinematic constraints. In order for this function to reach the objective function, a cost function is defined. This cost function is minimized, and the output approaches the objective function by selecting the appropriate parameters for the mechanism. To this end, four accuracy points are selected within a specific range of motion of the input link. Subsequently, the distances between the points on the velocity function of the slider and the predetermined function are calculated at these four points. The goal is to minimize these four distances. Hence, a cost function is defined in the form of the squares of the sums of these distances and is minimized using the genetic algorithm. Therefore, this cost function is used to minimize the error between the desired points and the points generated by the mechanism and can be affected by factors such as the lengths of the links, the transmission angles, the Grashof condition, and the mechanism type. In the genetic algorithm, the population, crossover, or mutation determines the accuracy of the results. The purpose of this research is to find the optimal dimensions of the links in order to minimize the error between the ideal and actual slider velocity functions. Ultimately, a numerical example is provided where the optimal dimensions are suggested by the optimization algorithm.","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":"67497562","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.12.3.137-144
P. Luangpaiboon, Napatchya Kantaputra, Natchira Chongsawad, P. Aungkulanon, L. Ruekkasaem, W. Atthirawong
—The selection of appropriate levels of machining parameters is an important consideration that determines machinability or other quality measures. In this study, the CNC machining process was designed to optimize the effects of machining parameters such as feed rate, spindle speed
{"title":"Estimation of CNC Machining Parameter Levels for Brass Union Using an Adaptive Constrained Response Surface Optimization Model","authors":"P. Luangpaiboon, Napatchya Kantaputra, Natchira Chongsawad, P. Aungkulanon, L. Ruekkasaem, W. Atthirawong","doi":"10.18178/ijmerr.12.3.137-144","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.137-144","url":null,"abstract":"—The selection of appropriate levels of machining parameters is an important consideration that determines machinability or other quality measures. In this study, the CNC machining process was designed to optimize the effects of machining parameters such as feed rate, spindle speed","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":"67497915","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.12.3.159-168
Mohamed Aly Abdel Kader, A. Aannaque
—There has always been a need to develop simple, reliable, and efficient methods for identifying isomorphic kinematic chains (KCs). Discriminating against a large number of KCs in a short period of time is a complex and difficult task at the moment. Most isomorphism identification techniques involve complex concepts and intermediate parameter comparisons, especially as the number of bars increases. The proposed method identifies isomorphism in KCs by generating an invariant from the rows and columns of the distance matrix. All of the results obtained using this method on 8-bar, 10-bar, and 12-bar, three complex 13-bar, 15-bar, and 28-bar simple joint planar kinematic chains, as well as 10-bar and 12-bar simple joint non-planar kinematic chains, agree with the published results. The method's reliability and efficiency are confirmed when the results are compared to previously published works.
{"title":"Using Rows and Columns of Distance Matrix to Identify Isomorphisms in Kinematic Chains","authors":"Mohamed Aly Abdel Kader, A. Aannaque","doi":"10.18178/ijmerr.12.3.159-168","DOIUrl":"https://doi.org/10.18178/ijmerr.12.3.159-168","url":null,"abstract":"—There has always been a need to develop simple, reliable, and efficient methods for identifying isomorphic kinematic chains (KCs). Discriminating against a large number of KCs in a short period of time is a complex and difficult task at the moment. Most isomorphism identification techniques involve complex concepts and intermediate parameter comparisons, especially as the number of bars increases. The proposed method identifies isomorphism in KCs by generating an invariant from the rows and columns of the distance matrix. All of the results obtained using this method on 8-bar, 10-bar, and 12-bar, three complex 13-bar, 15-bar, and 28-bar simple joint planar kinematic chains, as well as 10-bar and 12-bar simple joint non-planar kinematic chains, agree with the published results. The method's reliability and efficiency are confirmed when the results are compared to previously published works.","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":"67497978","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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