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}
Pub Date : 2022-01-01DOI: 10.18178/ijmerr.11.7.479-485
T. Tho, Nguyen Truong Thinh
The kinematic problem of Cable Driven Parallel Robots is not like that of other conventional robots due to the transmission mechanisms are the cables that can only exert the pulling force on the moving frame because the cable cannot be used to push. Therefore, the robot can only perform the task if the tensions in all cables are positive. The calculation of the kinematics and control for these types of robots as well as calculating the tension distribution to ensure the equilibrium for the moving frame at the nodes have to be done simultaneously. This paper described analysis and experiments of a planar cable driven parallel robot, in which, the inverse kinematics of the robot is solved based on a cable tension distribution model with a quadratic cost function, the values of tensions of cables are preferred to follow the mean value of the cable tension limit. A force feedback controller is also designed to control the robot based on calculated data, then the experimental results are analyzed to evaluate the effectiveness of this model.
{"title":"A Study of Tension Distribution for Control of Planar Cable Driven Parallel Robot Using Quadratic Programming Algorithm","authors":"T. Tho, Nguyen Truong Thinh","doi":"10.18178/ijmerr.11.7.479-485","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.479-485","url":null,"abstract":"The kinematic problem of Cable Driven Parallel Robots is not like that of other conventional robots due to the transmission mechanisms are the cables that can only exert the pulling force on the moving frame because the cable cannot be used to push. Therefore, the robot can only perform the task if the tensions in all cables are positive. The calculation of the kinematics and control for these types of robots as well as calculating the tension distribution to ensure the equilibrium for the moving frame at the nodes have to be done simultaneously. This paper described analysis and experiments of a planar cable driven parallel robot, in which, the inverse kinematics of the robot is solved based on a cable tension distribution model with a quadratic cost function, the values of tensions of cables are preferred to follow the mean value of the cable tension limit. A force feedback controller is also designed to control the robot based on calculated data, then the experimental results are analyzed to evaluate the effectiveness of this model.","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":"67497040","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.11.8.583-591
Isam E. Yousif, Tolin S. Othman, M. Z. Hasan
—The paper aims to study the thermal stresses on an exhaust valve body with and without using the Thermal Barrier Coating technique (TBC) in the valve face region. A 2-dimensional model is created for the numerical analysis. The work is carried out with the aid of the ANSYS- APDL package. The procedure of the numerical analysis is divided into two processes. The first process is the thermal analysis to obtain the temperature values, which are set up as thermal loads for the structural analysis in the second process. The coating of the valve is carried out through three steps of analysis by selecting a single layer of TBC, a double layer of TBC, and a triple layer of TBC. Three types of TBC materials are taken in this work, which are SiO 2 , Al 2 O 3 , and ZrO 2 . The location of TBC type for the double and triple cases is taken into consideration, in the steps of analysis of double and triple design of exhaust vale coating is done by changing of the material type of TBC which it is on the upper or lower concerning the valve face. The results showed that using the SiO 2 material as a TBC in the case of single, double, and triple coating of the exhaust valve face gives a low value of thermal deformations and thermal stresses. The stresses in steel alloy in cases without and with TBCs as compared to titanium valve showed a good reduction in thermal stresses for the titanium aluminide exhaust valve.
{"title":"Investigation of Thermal Behaviour of (Steel Alloy (44K2), Titanium Aluminide, SiO2, Al2O3, ZrO2) Materials on Internal Combustion Engine Valves","authors":"Isam E. Yousif, Tolin S. Othman, M. Z. Hasan","doi":"10.18178/ijmerr.11.8.583-591","DOIUrl":"https://doi.org/10.18178/ijmerr.11.8.583-591","url":null,"abstract":"—The paper aims to study the thermal stresses on an exhaust valve body with and without using the Thermal Barrier Coating technique (TBC) in the valve face region. A 2-dimensional model is created for the numerical analysis. The work is carried out with the aid of the ANSYS- APDL package. The procedure of the numerical analysis is divided into two processes. The first process is the thermal analysis to obtain the temperature values, which are set up as thermal loads for the structural analysis in the second process. The coating of the valve is carried out through three steps of analysis by selecting a single layer of TBC, a double layer of TBC, and a triple layer of TBC. Three types of TBC materials are taken in this work, which are SiO 2 , Al 2 O 3 , and ZrO 2 . The location of TBC type for the double and triple cases is taken into consideration, in the steps of analysis of double and triple design of exhaust vale coating is done by changing of the material type of TBC which it is on the upper or lower concerning the valve face. The results showed that using the SiO 2 material as a TBC in the case of single, double, and triple coating of the exhaust valve face gives a low value of thermal deformations and thermal stresses. The stresses in steel alloy in cases without and with TBCs as compared to titanium valve showed a good reduction in thermal stresses for the titanium aluminide exhaust valve.","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":"67497322","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.11.9.698-704
Kiran Ms, Rabijit Dutta, Pritanshu Ranjan
— In the present work, single-spouted fluidized bed with non-spherical particle geometries was studied using Computational Fluid Dynamics–Discrete Element Modeling (CFD-DEM) coupling technique. CFD-DEM is an effective tool for modeling multi-phase flows in industrial applications such as fluidized bed reactors, spouted bed etc. Most DEM force-displacement models are based on particles with spherical geometry while many particles encountered in nature of non-spherical geometry. Three different shapes: Cylinder, Square and Hexagon were considered and the results are matched with the circular shaped particles. Multi-sphere method is used to model the force-displacement behavior. Open source software LIGGGHTS-DEM and OpenFOAM were used to perform the simulations. It was observed that the complex interactions of the multi-sphere particles give rise to greater instability in the fluidizing bed, as seen in strong fluctuations in particle properties. Also, these particles exhibited a tendency to agglomerate, thereby offering stronger resistance to shearing flows. As per the findings, it was concluded that the particle geometry has a significant influence on the performance of the fluidizing bed; failure to accurately represent an actual particle would result in erroneous results.
{"title":"Coupled CFD-DEM Simulations for Modelling Non-Spherical Particles","authors":"Kiran Ms, Rabijit Dutta, Pritanshu Ranjan","doi":"10.18178/ijmerr.11.9.698-704","DOIUrl":"https://doi.org/10.18178/ijmerr.11.9.698-704","url":null,"abstract":"— In the present work, single-spouted fluidized bed with non-spherical particle geometries was studied using Computational Fluid Dynamics–Discrete Element Modeling (CFD-DEM) coupling technique. CFD-DEM is an effective tool for modeling multi-phase flows in industrial applications such as fluidized bed reactors, spouted bed etc. Most DEM force-displacement models are based on particles with spherical geometry while many particles encountered in nature of non-spherical geometry. Three different shapes: Cylinder, Square and Hexagon were considered and the results are matched with the circular shaped particles. Multi-sphere method is used to model the force-displacement behavior. Open source software LIGGGHTS-DEM and OpenFOAM were used to perform the simulations. It was observed that the complex interactions of the multi-sphere particles give rise to greater instability in the fluidizing bed, as seen in strong fluctuations in particle properties. Also, these particles exhibited a tendency to agglomerate, thereby offering stronger resistance to shearing flows. As per the findings, it was concluded that the particle geometry has a significant influence on the performance of the fluidizing bed; failure to accurately represent an actual particle would result in erroneous results.","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":"67497701","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.11.2.79-85
B. Khuzhayorov, T. O. Dzhiyanov, Z. Z. Eshdavlatov
The paper considers the solute transport in a heterogeneous porous medium consisting of well-permeable and poorly permeable zones, taking into account nonequilibrium adsorption in the zones. In a well-permeable zone, there are two areas, in each of which there is an adsorption of a substance with reversible nonequilibrium kinetics. The exchange of solute with the second zone is modeled by the source term in the form of a fractional time derivative of the concentration of the substance in the first zone. The numerical implementation of the model is carried out and the effect of mass transfer to the second zone on the characteristics of the solute transport in the first zone is estimated. Nonlinear kinetics of particle deposition in both sections of the first zone is considered. It is shown that, within the framework of the assumptions made, the nonlinearity of the kinetics at unchanged values of the remaining parameters of the model leads to an intensification of particle deposition. As a consequence of this, the spread of solute in the mobile zone slows down.
{"title":"Numerical Investigation of Solute Transport in A Non-Homogeneous Porous Medium Using Nonlinear Kinetics","authors":"B. Khuzhayorov, T. O. Dzhiyanov, Z. Z. Eshdavlatov","doi":"10.18178/ijmerr.11.2.79-85","DOIUrl":"https://doi.org/10.18178/ijmerr.11.2.79-85","url":null,"abstract":"The paper considers the solute transport in a heterogeneous porous medium consisting of well-permeable and poorly permeable zones, taking into account nonequilibrium adsorption in the zones. In a well-permeable zone, there are two areas, in each of which there is an adsorption of a substance with reversible nonequilibrium kinetics. The exchange of solute with the second zone is modeled by the source term in the form of a fractional time derivative of the concentration of the substance in the first zone. The numerical implementation of the model is carried out and the effect of mass transfer to the second zone on the characteristics of the solute transport in the first zone is estimated. Nonlinear kinetics of particle deposition in both sections of the first zone is considered. It is shown that, within the framework of the assumptions made, the nonlinearity of the kinetics at unchanged values of the remaining parameters of the model leads to an intensification of particle deposition. As a consequence of this, the spread of solute in the mobile zone slows down.","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":"67496226","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.11.6.379-388
Hiep Do Quang, Thang Le Tran, T. Manh, C. Manh, Toan Nguyen Nhu, Nam Bui Duy
—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.
{"title":"Design a Nonlinear MPC Controller for Autonomous Mobile Robot Navigation System Based on ROS","authors":"Hiep Do Quang, Thang Le Tran, T. Manh, C. Manh, Toan Nguyen Nhu, Nam Bui Duy","doi":"10.18178/ijmerr.11.6.379-388","DOIUrl":"https://doi.org/10.18178/ijmerr.11.6.379-388","url":null,"abstract":"—Navigation is an essential problem for self-propelled robots, in which the orbital control system plays a decisive role in the robot's behavior and navigating the robot to move in space. This paper presents the tutorial approach for the design and construction of the Nonlinear Model Predictive Control controller for the four-wheeled Omni robot in the orbital tracking problem. The designed controller is implemented in the navigation stack system for the robot to follow the specified trajectory smoothly and avoid collision with surrounding obstacles simultaneously. The results are presented in both theory and simulation cases owing to the ROS platform to illustrate the validity and effectiveness of the method for the trajectory tracking problem combined with the navigation stack system. Besides the advantage of the designed navigation stack is also demonstrated through comparison with the TEB planner.","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":"67496603","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.11.7.513-519
Nguyen Thi Thai Hoa, Ma Quan, Vu Ngoc Bich
This paper investigates the influence of phase angle of the Propeller Boss Cap Fins (PBCF) on the hydrodynamics performance of the propulsion system including the propeller, shaft, and PBCF by Computational Fluid Dynamic (CFD) method. The rotating reference frame approach was used to simulate propeller rotation. First, the well-known Potsdam Propeller in model scale was used as an initial propeller to verify and validate the propeller performance results obtained by CFD method with experimental data and then investigate the influence of phase angle on the performance of propeller. The best phase angle for PBCF is shown and the recommendations for choosing phase angle with respect to increase propeller performance are given. The commercial solver Star CCM+ is used to solve the flow around the PBCF and the propeller.
{"title":"Investigate the Influence of Phase Angle on the Performance of Propeller Boss Cap Fins Using CFD Method","authors":"Nguyen Thi Thai Hoa, Ma Quan, Vu Ngoc Bich","doi":"10.18178/ijmerr.11.7.513-519","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.513-519","url":null,"abstract":"This paper investigates the influence of phase angle of the Propeller Boss Cap Fins (PBCF) on the hydrodynamics performance of the propulsion system including the propeller, shaft, and PBCF by Computational Fluid Dynamic (CFD) method. The rotating reference frame approach was used to simulate propeller rotation. First, the well-known Potsdam Propeller in model scale was used as an initial propeller to verify and validate the propeller performance results obtained by CFD method with experimental data and then investigate the influence of phase angle on the performance of propeller. The best phase angle for PBCF is shown and the recommendations for choosing phase angle with respect to increase propeller performance are given. The commercial solver Star CCM+ is used to solve the flow around the PBCF and the propeller.","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":"67496697","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.11.6.399-404
Dinsha Vinod, P. S. Saikrishna
— This paper presents the modeling and Model Predictive Controller (MPC) design for an omni-directional robot during a single actuator failure. A fault estimation method is used to identify the actuator failure, and thereby, the kinematic model of the mobile robot is reformulated to account for the fault. The controllability of the modified model during a single actuator failure is verified using Lie algebra. Finally, in the event of unforeseen combinations of single actuator failures, a Nonlinear MPC is designed for trajectory tracking and obstacle avoidance. Simulation results are used to demonstrate the robustness of the system to actuator failure.
{"title":"MPC Based Navigation of an Omni-directional Mobile Robot under Single Actuator Failure","authors":"Dinsha Vinod, P. S. Saikrishna","doi":"10.18178/ijmerr.11.6.399-404","DOIUrl":"https://doi.org/10.18178/ijmerr.11.6.399-404","url":null,"abstract":"— This paper presents the modeling and Model Predictive Controller (MPC) design for an omni-directional robot during a single actuator failure. A fault estimation method is used to identify the actuator failure, and thereby, the kinematic model of the mobile robot is reformulated to account for the fault. The controllability of the modified model during a single actuator failure is verified using Lie algebra. Finally, in the event of unforeseen combinations of single actuator failures, a Nonlinear MPC is designed for trajectory tracking and obstacle avoidance. Simulation results are used to demonstrate the robustness of the system to actuator failure.","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":"67496715","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.11.7.466-478
K. Setty, T. V. Niekerk, R. Stopforth, Karina Sewsunker, A. Plessis
This paper reports on the kinematic design of the Touch Hand 4, which has been a continuous optimization of the first three iterations. The Touch Hand 4 is a low-cost myoelectric prosthetic terminal hand device designed to be used by transradial amputees. The paper investigates the mechanical design of the prosthetic hand and investigates the kinematics and static force analysis of the digits on the hands. Illustrative diagrams describe the kinematics and static force analysis. The analysis results are displayed and used to compare the different digits designed on the prosthetic hand. The final product is then tested and compared with other prosthetic hands. The Touch Hand 4 had shown in tests to perform significantly slower than other prosthetic hands but had similar grip strength to some prosthetic hands.
本文报道了Touch Hand 4的运动学设计，该设计是前三次迭代的连续优化。Touch Hand 4是一种低成本的肌电假肢终端手装置，设计用于经桡骨截肢者。本文对假手的机械设计进行了研究，并对假手手指的运动学和静力分析进行了研究。说明性图表描述了运动学和静力分析。分析结果显示，并用于比较不同的手指设计的假手。然后对最终产品进行测试，并与其他假手进行比较。在测试中，“触摸手”表现得比其他假手慢得多，但握力与一些假手相似。
{"title":"Design and Kinematic Analysis of a Multi-Grip Hand– Touch Hand 4","authors":"K. Setty, T. V. Niekerk, R. Stopforth, Karina Sewsunker, A. Plessis","doi":"10.18178/ijmerr.11.7.466-478","DOIUrl":"https://doi.org/10.18178/ijmerr.11.7.466-478","url":null,"abstract":"This paper reports on the kinematic design of the Touch Hand 4, which has been a continuous optimization of the first three iterations. The Touch Hand 4 is a low-cost myoelectric prosthetic terminal hand device designed to be used by transradial amputees. The paper investigates the mechanical design of the prosthetic hand and investigates the kinematics and static force analysis of the digits on the hands. Illustrative diagrams describe the kinematics and static force analysis. The analysis results are displayed and used to compare the different digits designed on the prosthetic hand. The final product is then tested and compared with other prosthetic hands. The Touch Hand 4 had shown in tests to perform significantly slower than other prosthetic hands but had similar grip strength to some prosthetic hands.","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":"67497027","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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