Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.4.234-240
Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, Sebastian Gonzalez
Several studies have reported the design of kinematics parallel mechanisms based on behavioral features; however, the design of this kind of system with six degrees of freedom considering parallelly volumetric behavior together with control effort remains to be accomplished. This work addresses the design of one type of these mechanisms based on two aspects: workspace and control effort. All aspects are considering and optimizing simultaneously through a multiobjective optimization technique based on a bio-inspired algorithm named Elitist Non-Dominated Sorting Differential Evolution Algorithm, which brings about a Pareto front. The workspace is determined using the inverse kinematics constrained boundaries analysis and a mono-objective optimization method. On the other hand, control effort is resolved by calculating the Euclidian norm of each torque signal of the system, which is controlled by a hybrid technique consisting of sliding modes and differential flatness. Finally, relations between the two studied aspects are depicted and analyzed.
{"title":"Optimal Design of Kinematics Parallel Manipulator Considering Workspace and Control Effort","authors":"Diego A. Nunez, Mauricio Mauledoux, Oscar Aviles, Juan Guacheta, Sebastian Gonzalez","doi":"10.18178/ijmerr.11.4.234-240","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.234-240","url":null,"abstract":"Several studies have reported the design of kinematics parallel mechanisms based on behavioral features; however, the design of this kind of system with six degrees of freedom considering parallelly volumetric behavior together with control effort remains to be accomplished. This work addresses the design of one type of these mechanisms based on two aspects: workspace and control effort. All aspects are considering and optimizing simultaneously through a multiobjective optimization technique based on a bio-inspired algorithm named Elitist Non-Dominated Sorting Differential Evolution Algorithm, which brings about a Pareto front. The workspace is determined using the inverse kinematics constrained boundaries analysis and a mono-objective optimization method. On the other hand, control effort is resolved by calculating the Euclidian norm of each torque signal of the system, which is controlled by a hybrid technique consisting of sliding modes and differential flatness. Finally, relations between the two studied aspects are depicted and analyzed.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496790","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 : 2022-01-01DOI: 10.18178/ijmerr.11.4.248-254
A. Amanov, G. Bahadirov, Gerasim N. Tsoy, Ayder Nabiev
An experimental study was carried out to substantiate the simultaneous removal of excess moisture from two layers of wet leather semi-finished products. For the experiment, a multilayer package was compiled, consisting of two layers of wet leather semi-finished products and two layers of permeable cloth, laid between them. The selection of samples of semi-finished leather products for the experiment were selected from chromeplated bovine hide of medium weight, double. The excess moisture content from the wet leather semi-finished products was squeezed out by means of a vertical chain transmission on the base plate under pressure between the rotating shafts. The working shafts are covered with a permeable cloth. The experiment used the second-order Doptimal planning method. On the basis of the obtained experimental results, mathematical equations were obtained expressing the amount of moisture removed from the first and second layers of leather semi-finished products, depending on different feed rates and clamping forces of the working shafts. The main parameters of the technological process of two-layer processing of wet leather semi-finished products with their vertical feeding on the base plate between the shafts are experimentally substantiated. The parameters of the feed rate, the pressing force of the working shafts and the values of the residual moisture of the processed wet leather semi-finished products have been determined. In the future, the results obtained will serve to determine the maximum (permissible) number of layers of wet capillary-porous materials during their simultaneous processing, taking into account the provision of the necessary residual moisture in each of them.
{"title":"Effect of Multilayer Processing of Semi-finished Leather Products","authors":"A. Amanov, G. Bahadirov, Gerasim N. Tsoy, Ayder Nabiev","doi":"10.18178/ijmerr.11.4.248-254","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.248-254","url":null,"abstract":"An experimental study was carried out to substantiate the simultaneous removal of excess moisture from two layers of wet leather semi-finished products. For the experiment, a multilayer package was compiled, consisting of two layers of wet leather semi-finished products and two layers of permeable cloth, laid between them. The selection of samples of semi-finished leather products for the experiment were selected from chromeplated bovine hide of medium weight, double. The excess moisture content from the wet leather semi-finished products was squeezed out by means of a vertical chain transmission on the base plate under pressure between the rotating shafts. The working shafts are covered with a permeable cloth. The experiment used the second-order Doptimal planning method. On the basis of the obtained experimental results, mathematical equations were obtained expressing the amount of moisture removed from the first and second layers of leather semi-finished products, depending on different feed rates and clamping forces of the working shafts. The main parameters of the technological process of two-layer processing of wet leather semi-finished products with their vertical feeding on the base plate between the shafts are experimentally substantiated. The parameters of the feed rate, the pressing force of the working shafts and the values of the residual moisture of the processed wet leather semi-finished products have been determined. In the future, the results obtained will serve to determine the maximum (permissible) number of layers of wet capillary-porous materials during their simultaneous processing, taking into account the provision of the necessary residual moisture in each of them.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496860","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 : 2022-01-01DOI: 10.18178/ijmerr.11.4.269-274
K. Zawadzki, Anna Baszczyńska, Angela Fliszewska, Szymon Molenda, J. Bobrowski, M. Sikorski
Blades are the elements of a wind turbine which are the most vulnerable to destruction. Facing the unstable wind (one that changes its speed and direction), they are subjected to cyclic and fluctuating loads. This problem is particularly pronounced in case of small wind turbine (SWT) blades or blades for wind tunnel tests in scale, which are oftentimes made of anisotropic materials or manufactured in a way leading to anisotropy, like 3D-printing. SWT blades have to be designed in a way which will allow them to operate for a long time without any fracture. Hence, the fatigue strength is a key parameter, which determines their operation time and should be tested before putting a wind turbine into operation. The aim of this paper is to describe the methodology of fatigue tests of the small wind turbine blades. Next, the construction of the fatigue test stand and results of the experiment will be examined.
{"title":"Fatigue Testing of the Small Wind Turbine Blade","authors":"K. Zawadzki, Anna Baszczyńska, Angela Fliszewska, Szymon Molenda, J. Bobrowski, M. Sikorski","doi":"10.18178/ijmerr.11.4.269-274","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.269-274","url":null,"abstract":"Blades are the elements of a wind turbine which are the most vulnerable to destruction. Facing the unstable wind (one that changes its speed and direction), they are subjected to cyclic and fluctuating loads. This problem is particularly pronounced in case of small wind turbine (SWT) blades or blades for wind tunnel tests in scale, which are oftentimes made of anisotropic materials or manufactured in a way leading to anisotropy, like 3D-printing. SWT blades have to be designed in a way which will allow them to operate for a long time without any fracture. Hence, the fatigue strength is a key parameter, which determines their operation time and should be tested before putting a wind turbine into operation. The aim of this paper is to describe the methodology of fatigue tests of the small wind turbine blades. Next, the construction of the fatigue test stand and results of the experiment will be examined.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496997","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 : 2022-01-01DOI: 10.18178/ijmerr.11.8.569-574
Pham Quoc Thai, V. Tai, Huynh Duc Tri, Vo Trong Nam
— Electric vehicles and hybrid electric vehicles are practical solutions to solve increasing global energy demand and environmental problems. The paper describes the design of an electric bus based on a conventional bus. According to the vehicle performance index, the parameters of the designed electric vehicle were calculated and configurated. The AVL CRUISE flatform was used to simulate and analyze the vehicle performance based on the New European Driving Cycle and Japan mode 1 Urban cycle. The simulation results reveal that the designed vehicle has good dynamic performance and economic performance.
{"title":"A Study of Converting a Conventional Vehicle into an Electric Vehicle","authors":"Pham Quoc Thai, V. Tai, Huynh Duc Tri, Vo Trong Nam","doi":"10.18178/ijmerr.11.8.569-574","DOIUrl":"https://doi.org/10.18178/ijmerr.11.8.569-574","url":null,"abstract":"— Electric vehicles and hybrid electric vehicles are practical solutions to solve increasing global energy demand and environmental problems. The paper describes the design of an electric bus based on a conventional bus. According to the vehicle performance index, the parameters of the designed electric vehicle were calculated and configurated. The AVL CRUISE flatform was used to simulate and analyze the vehicle performance based on the New European Driving Cycle and Japan mode 1 Urban cycle. The simulation results reveal that the designed vehicle has good dynamic performance and economic performance.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"41 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497264","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 : 2022-01-01DOI: 10.18178/ijmerr.11.9.653-661
E. S. Ghith, F. A. Tolba
—Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between eight meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), Multi-Verse Optimizer (MVO) Grey Wolf Optimization (GWO), Sine-Cosine Algorithm (SCA), and Whale Optimization Algorithm (WOA). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error ( (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. . It is observed that the GWO technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.
{"title":"LabVIEW Implementation of Tuning PID Controller Using Advanced Control Optimization Techniques for Micro-robotics System","authors":"E. S. Ghith, F. A. Tolba","doi":"10.18178/ijmerr.11.9.653-661","DOIUrl":"https://doi.org/10.18178/ijmerr.11.9.653-661","url":null,"abstract":"—Microparticles have the potentials to be used for many medical purposes in-side the human body such as drug delivery and other operations. This paper attempts to provide a thorough comparison between eight meta-heuristic search algorithms: Sparrow Search Algorithm (SSA), Flower Pollination Algorithm (FPA), Slime Mould Algorithm (SMA), Marine Predator Algorithm (MPA), Multi-Verse Optimizer (MVO) Grey Wolf Optimization (GWO), Sine-Cosine Algorithm (SCA), and Whale Optimization Algorithm (WOA). These approaches were used to calculate the PID controller optimal indicators with the application of different functions, including Integral Absolute Error (IAE), Integral of Time Multiplied by Square Error (ITSE), Integral Square Time multiplied square Error (ISTES), Integral Square Error (ISE), Integral of Square Time multiplied by square Error ( (ISTSE), and Integral of Time multiplied by Absolute Error (ITAE). Every method of controlling was presented in a MATLAB Simulink numerical model, and LABVIEW software was used to run the experimental tests. . It is observed that the GWO technique achieves the highest values of settling error for both simulation and experimental results among other control approaches, while the SSA approach reduces the settling error by 50% compared to former experiments. The results indicate that SSA is the best method among all approaches and that ISTES is the best choice of PID for optimizing the controlling parameters.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497535","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 : 2022-01-01DOI: 10.18178/ijmerr.11.7.507-512
B. Hichri, Francesco Giovannini, Sławomir Kędziora
The goal of this paper is to propose an optimal positioning of robotic hand fingers, for a generic 3D object, to ensure stable grasping for an industrial pick and place process. The proposed strategy for optimal positioning based on genetic algorithms is presented. The grasping configuration is determined under several criteria that ensure the object stability. One criterion is based on Static Stability Margin (SSM) that takes into consideration the position of object center of mass in the polygon of support and a second criterion based on the Force Closure Grasping (FCG) taking into consideration the contact forces applied by the robotic hand fingertips. The optimal positioning algorithm results are presented to validate our proposal for a different kind of products.
{"title":"Genetic Algorithms for Stable Robot Grasping","authors":"B. Hichri, Francesco Giovannini, Sławomir Kędziora","doi":"10.18178/ijmerr.11.7.507-512","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.507-512","url":null,"abstract":"The goal of this paper is to propose an optimal positioning of robotic hand fingers, for a generic 3D object, to ensure stable grasping for an industrial pick and place process. The proposed strategy for optimal positioning based on genetic algorithms is presented. The grasping configuration is determined under several criteria that ensure the object stability. One criterion is based on Static Stability Margin (SSM) that takes into consideration the position of object center of mass in the polygon of support and a second criterion based on the Force Closure Grasping (FCG) taking into consideration the contact forces applied by the robotic hand fingertips. The optimal positioning algorithm results are presented to validate our proposal for a different kind of products.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"8 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496655","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 : 2022-01-01DOI: 10.18178/ijmerr.11.7.549-555
Zheng Shuai
This study investigates the variation in the NURBS shape caused by knot vectors produced by various algorithms to minimise the influence of knot vectors on the NURBS interpolation. The differences in shape variations of NURBS curves computed by knot vectors generated by the Hartley–Judd, Riesenfeld and Rogers algorithms are compared and analysed; an error function is defined to analyse the mathematical features of the differences caused by the three calculations and a weighted average calculation method beyond the classical algorithm is proposed. Additionally, the study introduces a combinatorial algorithm for optimising the computing process and increasing computing efficiency. The experimental results show that the new method produces a more accurate NURBS curve than the classical method does, making it more suitable for CNC interpolation.
{"title":"Analysis and Optimisation Strategy on Influence of Knot Vector to NURBS Curve","authors":"Zheng Shuai","doi":"10.18178/ijmerr.11.7.549-555","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.549-555","url":null,"abstract":"This study investigates the variation in the NURBS shape caused by knot vectors produced by various algorithms to minimise the influence of knot vectors on the NURBS interpolation. The differences in shape variations of NURBS curves computed by knot vectors generated by the Hartley–Judd, Riesenfeld and Rogers algorithms are compared and analysed; an error function is defined to analyse the mathematical features of the differences caused by the three calculations and a weighted average calculation method beyond the classical algorithm is proposed. Additionally, the study introduces a combinatorial algorithm for optimising the computing process and increasing computing efficiency. The experimental results show that the new method produces a more accurate NURBS curve than the classical method does, making it more suitable for CNC interpolation.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67497143","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 : 2022-01-01DOI: 10.18178/ijmerr.11.10.745-754
R. Sugin Elankavi, D. Dinakaran, R. Chetty, M. M. Ramya, D. Samuel
—Research in In-Pipe Inspection Robots (IPIRs) has gained interest over recent years. Pipeline inspection robots bring reliability and repeatability to various pipeline inspection and maintenance processes. IPIRs are categorized based on their type of locomotion, and this study aims to analyze their advantages and limitations. Among all the IPIRs, the wheeled type IPIR has seen a tremendous change in its design, steering mechanism, and the way they use different wheels to pass through pipelines easily. This study compares and analyses an up-to-date review on wheeled type IPIRs in detail. This review helps the researchers to select the optimal wheeled type IPIR for inspection. The review concludes with the future research directions that the researchers need to focus on for the development of pipeline inspection robots. Developing an effective IPIR ensures human safety and improves the inspection process.
{"title":"A Review on Wheeled Type In-Pipe Inspection Robot","authors":"R. Sugin Elankavi, D. Dinakaran, R. Chetty, M. M. Ramya, D. Samuel","doi":"10.18178/ijmerr.11.10.745-754","DOIUrl":"https://doi.org/10.18178/ijmerr.11.10.745-754","url":null,"abstract":"—Research in In-Pipe Inspection Robots (IPIRs) has gained interest over recent years. Pipeline inspection robots bring reliability and repeatability to various pipeline inspection and maintenance processes. IPIRs are categorized based on their type of locomotion, and this study aims to analyze their advantages and limitations. Among all the IPIRs, the wheeled type IPIR has seen a tremendous change in its design, steering mechanism, and the way they use different wheels to pass through pipelines easily. This study compares and analyses an up-to-date review on wheeled type IPIRs in detail. This review helps the researchers to select the optimal wheeled type IPIR for inspection. The review concludes with the future research directions that the researchers need to focus on for the development of pipeline inspection robots. Developing an effective IPIR ensures human safety and improves the inspection process.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496030","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 : 2022-01-01DOI: 10.18178/ijmerr.11.4.215-226
Y. Khedkar, S. Bhat, H. Adarsha
Many vehicle systems and industrial equipment face the issue of vibrations. As such, vibration control devices like classical hydraulic dampers are utilized to minimize vibrations. In this context, magenetorheological fluid is introduced as a damper fluid to improve the damper's vibration reduction capability. This damper is known as the MR damper in which the magnetic field required to activate MR fluid is produced by using an electromagnet over the piston inside the damper cylinder. However, some severe problems are observed due to internal electromagnetic piston configuration in the conventional MR damper. Therefore, modification is suggested in the damper in the form of an external permanent magnet assembly's fitment.The proposed model consists of a damper cylinder filled with MR fluid and an external assembly of permanent magnets positioned near the cylinder. The conventional and modified MR dampers have been tested on a test rig by changing the MR fluid configuration, excitation frequency of exciter, and excitation current. The MR effect on velocity and damping force in conventional and modified dampers has been recorded and compared. The results convincingly indicate that the modified MR damper delivers good performance by generating sufficient damping capacity that can be utilized for necessary applications. Importantly, it resolves the problems associated with conventional MR dampers like electric current unavailability at field, clumping, hard cake formation, remanence phenomenon, and excessive heat formation.
{"title":"Fabrication and Testing of Modified Magnetorheological Damper Fitted with External Permanent Magnet Assembly","authors":"Y. Khedkar, S. Bhat, H. Adarsha","doi":"10.18178/ijmerr.11.4.215-226","DOIUrl":"https://doi.org/10.18178/ijmerr.11.4.215-226","url":null,"abstract":"Many vehicle systems and industrial equipment face the issue of vibrations. As such, vibration control devices like classical hydraulic dampers are utilized to minimize vibrations. In this context, magenetorheological fluid is introduced as a damper fluid to improve the damper's vibration reduction capability. This damper is known as the MR damper in which the magnetic field required to activate MR fluid is produced by using an electromagnet over the piston inside the damper cylinder. However, some severe problems are observed due to internal electromagnetic piston configuration in the conventional MR damper. Therefore, modification is suggested in the damper in the form of an external permanent magnet assembly's fitment.The proposed model consists of a damper cylinder filled with MR fluid and an external assembly of permanent magnets positioned near the cylinder. The conventional and modified MR dampers have been tested on a test rig by changing the MR fluid configuration, excitation frequency of exciter, and excitation current. The MR effect on velocity and damping force in conventional and modified dampers has been recorded and compared. The results convincingly indicate that the modified MR damper delivers good performance by generating sufficient damping capacity that can be utilized for necessary applications. Importantly, it resolves the problems associated with conventional MR dampers like electric current unavailability at field, clumping, hard cake formation, remanence phenomenon, and excessive heat formation.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496199","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 : 2022-01-01DOI: 10.18178/ijmerr.11.12.915-922
N. Hiền, Dang Danh Hoang, Tran Xuan Minh
—This paper presents modelling and control for planar flexible-joint 2-DOF, an underactuated system. Thus designing to obtain stability of actuated joints and underactuated is a challenge for a control system. In the conventional sliding mode control method, the sliding surface is normally expressed based on the integer-order differentiation of the state variables. In the study, fractional order sliding mode control (FOSMC) algorithm is given, and then the sliding surface is designed by the fractional-order calculus,i.e, using fractional-order differentiation of the state variables. Thus, the fractional dimension accelerating the change rate of angle deviation is contained in the control output, which means that the control output of the FOSMC is sensitive to the change rate of angle deviation and provides a prompt control output for the system. From which, FOSMC based on Lyapunov theory and fractional calculus is proposed for the robot to achieve the global stability of two joints. The effectiveness and feasibility of the proposed method are demonstrated by MATLAB/SIMULINK simulation that the robot model considers parametric uncertainty and external disturbance.
{"title":"Fractional Order Sliding Mode Control for Planar Flexible-Joint Robot 2-DOF Considering Parametric Uncertainty and External Disturbance","authors":"N. Hiền, Dang Danh Hoang, Tran Xuan Minh","doi":"10.18178/ijmerr.11.12.915-922","DOIUrl":"https://doi.org/10.18178/ijmerr.11.12.915-922","url":null,"abstract":"—This paper presents modelling and control for planar flexible-joint 2-DOF, an underactuated system. Thus designing to obtain stability of actuated joints and underactuated is a challenge for a control system. In the conventional sliding mode control method, the sliding surface is normally expressed based on the integer-order differentiation of the state variables. In the study, fractional order sliding mode control (FOSMC) algorithm is given, and then the sliding surface is designed by the fractional-order calculus,i.e, using fractional-order differentiation of the state variables. Thus, the fractional dimension accelerating the change rate of angle deviation is contained in the control output, which means that the control output of the FOSMC is sensitive to the change rate of angle deviation and provides a prompt control output for the system. From which, FOSMC based on Lyapunov theory and fractional calculus is proposed for the robot to achieve the global stability of two joints. The effectiveness and feasibility of the proposed method are demonstrated by MATLAB/SIMULINK simulation that the robot model considers parametric uncertainty and external disturbance.","PeriodicalId":37784,"journal":{"name":"International Journal of Mechanical Engineering and Robotics Research","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67496519","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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