Pub Date : 2025-06-01Epub Date: 2025-04-29DOI: 10.1016/j.mechatronics.2025.103319
Marc-Philip Ecker , Bernhard Bischof , Minh Nhat Vu , Christoph Fröhlich , Tobias Glück , Wolfgang Kemmetmüller
Efficient, collision-free motion planning is a crucial building block for autonomous timber cranes. These machines present unique challenges, such as hydraulic actuation constraints and passive joints — factors that are seldom addressed by current motion planning methods. This paper presents efficient global kinodynamic motion planning for timber cranes using the recently introduced via-point-based stochastic trajectory optimization (VP-STO) algorithm. We demonstrate the effectiveness by comparing the approach to LQR-RRT*, a sampling-based kinodynamic planner for underactuated systems, and a geometric RRT*, which solves a simplified geometric planning problem without kinodynamic constraints.
{"title":"Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization","authors":"Marc-Philip Ecker , Bernhard Bischof , Minh Nhat Vu , Christoph Fröhlich , Tobias Glück , Wolfgang Kemmetmüller","doi":"10.1016/j.mechatronics.2025.103319","DOIUrl":"10.1016/j.mechatronics.2025.103319","url":null,"abstract":"<div><div>Efficient, collision-free motion planning is a crucial building block for autonomous timber cranes. These machines present unique challenges, such as hydraulic actuation constraints and passive joints — factors that are seldom addressed by current motion planning methods. This paper presents efficient global kinodynamic motion planning for timber cranes using the recently introduced via-point-based stochastic trajectory optimization (VP-STO) algorithm. We demonstrate the effectiveness by comparing the approach to LQR-RRT*, a sampling-based kinodynamic planner for underactuated systems, and a geometric RRT*, which solves a simplified geometric planning problem without kinodynamic constraints.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103319"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143882466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-23DOI: 10.1016/j.mechatronics.2025.103330
Hanqing Liu , Jinhao Duan , Zhufeng Shao , Stéphane Caro
To fabricate high speed, vast workspace, energy saving, and light weight of the logistics equipment, this paper proposes geometric and trajectory optimization methods for the cable-suspended parallel robot (CSPR), which is a two-degree-of-freedom (2-DOF) robot with a parallelogram cable loop, realizing the efficient palletizing operation with dynamic trajectories. Based on kinematic and dynamic models, the Torsion Resistance Ability Index (TRAI) and Torsion Resistance Consumption Index (TRCI) are proposed to indicate the torsion resistance performance of the CSPR with the parallelogram cable loop. A geometric optimization method is established with the reference dynamic trajectory, which provides an approach to carry out the optimal design of the CSPRs considering dynamic trajectories for the first time. For industrial palletizing, a planning method on the dynamic trajectory is proposed considering the obstacle avoidance based on the Fourier and Polynomial models. A prototype of the 2-DOF CSPR is established, and the palletizing experiments are carried out, providing a novel high-efficiency palletizing robot and technology.
{"title":"Optimal design and dynamic trajectory planning of a 2-DOF cable-suspended palletizing robot with parallelogram cable loop","authors":"Hanqing Liu , Jinhao Duan , Zhufeng Shao , Stéphane Caro","doi":"10.1016/j.mechatronics.2025.103330","DOIUrl":"10.1016/j.mechatronics.2025.103330","url":null,"abstract":"<div><div>To fabricate high speed, vast workspace, energy saving, and light weight of the logistics equipment, this paper proposes geometric and trajectory optimization methods for the cable-suspended parallel robot (CSPR), which is a two-degree-of-freedom (2-DOF) robot with a parallelogram cable loop, realizing the efficient palletizing operation with dynamic trajectories. Based on kinematic and dynamic models, the Torsion Resistance Ability Index (TRAI) and Torsion Resistance Consumption Index (TRCI) are proposed to indicate the torsion resistance performance of the CSPR with the parallelogram cable loop. A geometric optimization method is established with the reference dynamic trajectory, which provides an approach to carry out the optimal design of the CSPRs considering dynamic trajectories for the first time. For industrial palletizing, a planning method on the dynamic trajectory is proposed considering the obstacle avoidance based on the Fourier and Polynomial models. A prototype of the 2-DOF CSPR is established, and the palletizing experiments are carried out, providing a novel high-efficiency palletizing robot and technology.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103330"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143860221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-24DOI: 10.1016/j.mechatronics.2025.103316
Augusto H.B.M. Tavares , Saulo O.D. Luiz , Tiago P. Nascimento , Antonio M.N. Lima
This paper studies analytically and quantitatively the influence of the power source on the dynamic performance of the altitude control system of a quadrotor powered by an electrochemical battery. This paper also proposes the formulation of the altitude control system design as a constrained optimization problem in which the drone, actuators, control law, and electrochemical battery models are considered, to define a trade-off between the power consumption rate and the closed-loop dynamic performance loss. An analytical representation of the effect of the battery discharge over the altitude dynamics is obtained through a linear approximation, enabling an analysis of the system poles. The problem of designing an altitude controller is then posed as a constrained optimization problem that can include the battery as a factor. A comparison of the error transient response between the cases of the battery-unaware controller design and the battery-aware controller design is performed in simulations and experimental flight tests. The results lead to the following conclusions: i. the analytical demonstration agrees with the worse performance observed in the in-flight dynamics as the battery discharges and ii. through a battery-aware controller design approach this effect can be diminished, at the cost of a trade-off in the battery discharge rate.
{"title":"Trade-off between flight performance and energy consumption of a quadrotor","authors":"Augusto H.B.M. Tavares , Saulo O.D. Luiz , Tiago P. Nascimento , Antonio M.N. Lima","doi":"10.1016/j.mechatronics.2025.103316","DOIUrl":"10.1016/j.mechatronics.2025.103316","url":null,"abstract":"<div><div>This paper studies analytically and quantitatively the influence of the power source on the dynamic performance of the altitude control system of a quadrotor powered by an electrochemical battery. This paper also proposes the formulation of the altitude control system design as a constrained optimization problem in which the drone, actuators, control law, and electrochemical battery models are considered, to define a trade-off between the power consumption rate and the closed-loop dynamic performance loss. An analytical representation of the effect of the battery discharge over the altitude dynamics is obtained through a linear approximation, enabling an analysis of the system poles. The problem of designing an altitude controller is then posed as a constrained optimization problem that can include the battery as a factor. A comparison of the error transient response between the cases of the battery-unaware controller design and the battery-aware controller design is performed in simulations and experimental flight tests. The results lead to the following conclusions: i. the analytical demonstration agrees with the worse performance observed in the in-flight dynamics as the battery discharges and ii. through a battery-aware controller design approach this effect can be diminished, at the cost of a trade-off in the battery discharge rate.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103316"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-27DOI: 10.1016/j.mechatronics.2025.103312
Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang
This letter proposes a novel cooperative adaptive optimal control (CAOC) algorithm for networked direct current servo (DCS) systems to achieve tracking synchronization in a cooperative system, where the leader generates the desired speed and the DCS followers track its output and synchronize with their own neighbors according to the communication graph topology in real time. As consensus tracking error dynamics is affected by the control inputs of the neighboring agents, the cost function for each agent includes not only its consensus tracking error and energy, but also the energies of the neighbors. Firstly, based on the Lyapunov theory and backstepping techniques, we design feedforward controllers that generate augmented control inputs to transform local consensus tracking dynamics in strict feedback form into affine form. Secondly, based on adaptive dynamic programming (ADP), we design the CAOC algorithm to minimize the performance index function. Finally, we conduct the simulation and experiment on the STM32F103 microcontrollers to validate the effectiveness of the proposed algorithm.
{"title":"CAOC: Cooperative adaptive optimal control algorithm for networked direct current servo systems","authors":"Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang","doi":"10.1016/j.mechatronics.2025.103312","DOIUrl":"10.1016/j.mechatronics.2025.103312","url":null,"abstract":"<div><div>This letter proposes a novel cooperative adaptive optimal control (CAOC) algorithm for networked direct current servo (DCS) systems to achieve tracking synchronization in a cooperative system, where the leader generates the desired speed and the DCS followers track its output and synchronize with their own neighbors according to the communication graph topology in real time. As consensus tracking error dynamics is affected by the control inputs of the neighboring agents, the cost function for each agent includes not only its consensus tracking error and energy, but also the energies of the neighbors. Firstly, based on the Lyapunov theory and backstepping techniques, we design feedforward controllers that generate augmented control inputs to transform local consensus tracking dynamics in strict feedback form into affine form. Secondly, based on adaptive dynamic programming (ADP), we design the CAOC algorithm to minimize the performance index function. Finally, we conduct the simulation and experiment on the STM32F103 microcontrollers to validate the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103312"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-26DOI: 10.1016/j.mechatronics.2025.103320
Kotaro Takijiri, Kazuki Nakata, Daisuke Hayashi
In the semiconductor manufacturing, process gas switching during atomic layer deposition and etching is critical for improving throughput. Thermal mass flow controller (MFC) used in this process requires a fast flow response. However, the slow response of thermal flow sensor leads to issue under transient conditions. Specifically, the observable flow value and the actual flow deviate, resulting in overshoot in the flow supplied to the chamber. To mitigate this issue, thermal flow response lag can be compensated through deviation operation. However, this method amplifies sensor noise and degrades flow stability, creating a trade-off between response time and stability. To address these challenges, this study proposes a feedback control system that employs an estimated output instead of direct sensor measurements, enabling a fast response with reduced noise and eliminating steady-state errors. The effectiveness of the proposed control scheme is validated experimentally.
{"title":"Mass flow control using estimated output feedback in semiconductor processes","authors":"Kotaro Takijiri, Kazuki Nakata, Daisuke Hayashi","doi":"10.1016/j.mechatronics.2025.103320","DOIUrl":"10.1016/j.mechatronics.2025.103320","url":null,"abstract":"<div><div>In the semiconductor manufacturing, process gas switching during atomic layer deposition and etching is critical for improving throughput. Thermal mass flow controller (MFC) used in this process requires a fast flow response. However, the slow response of thermal flow sensor leads to issue under transient conditions. Specifically, the observable flow value and the actual flow deviate, resulting in overshoot in the flow supplied to the chamber. To mitigate this issue, thermal flow response lag can be compensated through deviation operation. However, this method amplifies sensor noise and degrades flow stability, creating a trade-off between response time and stability. To address these challenges, this study proposes a feedback control system that employs an estimated output instead of direct sensor measurements, enabling a fast response with reduced noise and eliminating steady-state errors. The effectiveness of the proposed control scheme is validated experimentally.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103320"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143873577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-12DOI: 10.1016/j.mechatronics.2025.103313
Chunxin Li, Jianhua Wu, Zhenhua Xiong
Collaborative robots play an indispensable role in both industrial and service sectors. Kinesthetic teaching technology allows users to program robots through intuitive hand-guiding actions, endowing collaborative robots with convenient deployment capabilities. However, such manual guidance may bring the robot close to singularities, as users primarily focus on the motion of the end-effector, which leads to performance degradation and poses a challenge to task reliability. This paper proposes a kinesthetic teaching method that avoids singularities in Cartesian space. The advantage of this method is that it only restrains the robot from approaching singularities while having no effects in the rest of the workspace by asymmetrically adjusting the mapping relationship between hand-guiding force and end-effector velocity. Experiments have been conducted on all possible singularities of a 6-DOF robot. The results indicate that the proposed method effectively mitigates uncoordinated motion, and the operational performance of the robot has been enhanced.
{"title":"A singularity-restrained kinesthetic teaching method for collaborative robots","authors":"Chunxin Li, Jianhua Wu, Zhenhua Xiong","doi":"10.1016/j.mechatronics.2025.103313","DOIUrl":"10.1016/j.mechatronics.2025.103313","url":null,"abstract":"<div><div>Collaborative robots play an indispensable role in both industrial and service sectors. Kinesthetic teaching technology allows users to program robots through intuitive hand-guiding actions, endowing collaborative robots with convenient deployment capabilities. However, such manual guidance may bring the robot close to singularities, as users primarily focus on the motion of the end-effector, which leads to performance degradation and poses a challenge to task reliability. This paper proposes a kinesthetic teaching method that avoids singularities in Cartesian space. The advantage of this method is that it only restrains the robot from approaching singularities while having no effects in the rest of the workspace by asymmetrically adjusting the mapping relationship between hand-guiding force and end-effector velocity. Experiments have been conducted on all possible singularities of a 6-DOF robot. The results indicate that the proposed method effectively mitigates uncoordinated motion, and the operational performance of the robot has been enhanced.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103313"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143824340","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-06-01Epub Date: 2025-04-26DOI: 10.1016/j.mechatronics.2025.103317
Koki Hattori, Wataru Ohnishi, Takafumi Koseki
Pneumatic valves play a crucial role in controlling flow rates across various industrial applications. This study aims to achieve faster and more precise gas flow rate control to improve throughput and product quality. However, inherent nonlinearities such as solenoid hysteresis and compressible fluid dynamics degrade the control performance of pneumatic valves. To address these challenges, this study proposes a mass flow rate control system incorporating an inner feedback loop for valve body position control to compensate for nonlinear disturbances. Furthermore, a data-driven feedforward control approach based on iterative learning control (ILC) is implemented to mitigate repetitive disturbances and enhance flow rate response speed. Experimental validation demonstrates that the inner feedback loop effectively reduces steady-state error, while the proposed feedforward control achieves a 9 ms settling time, 98% faster than conventional industrial control using the same hardware.
{"title":"High-precision and high-speed flow rate control with nonlinear disturbance compensation using valve body position feedback","authors":"Koki Hattori, Wataru Ohnishi, Takafumi Koseki","doi":"10.1016/j.mechatronics.2025.103317","DOIUrl":"10.1016/j.mechatronics.2025.103317","url":null,"abstract":"<div><div>Pneumatic valves play a crucial role in controlling flow rates across various industrial applications. This study aims to achieve faster and more precise gas flow rate control to improve throughput and product quality. However, inherent nonlinearities such as solenoid hysteresis and compressible fluid dynamics degrade the control performance of pneumatic valves. To address these challenges, this study proposes a mass flow rate control system incorporating an inner feedback loop for valve body position control to compensate for nonlinear disturbances. Furthermore, a data-driven feedforward control approach based on iterative learning control (ILC) is implemented to mitigate repetitive disturbances and enhance flow rate response speed. Experimental validation demonstrates that the inner feedback loop effectively reduces steady-state error, while the proposed feedforward control achieves a 9<!--> <!-->ms settling time, 98% faster than conventional industrial control using the same hardware.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103317"},"PeriodicalIF":3.1,"publicationDate":"2025-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143873576","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-05-01Epub Date: 2025-02-27DOI: 10.1016/j.mechatronics.2025.103306
Diego Stutzer , André Lisibach , Martin Hofmann , Jürgen Burger , Thomas Niederhauser
Piezoelectric ultrasonic transducers are widely used and can offer great benefits, e.g., in ultrasonic machining, cleaning, and cutting. However, due to the resonance behavior of these transducers, feedback controllers that track the resonance frequency and regulate the vibration amplitude are often indispensable to ensure efficiency. This article presents a generic and efficient approach to designing proportional–integral controllers for piezoelectric ultrasonic transducers using the method of pole-zero cancellation based on a model of their vibration amplitude and phase dynamics. The parametric design method was experimentally applied to a piezoelectric ultrasonic periodontal scaler and compared with other tuning methods to demonstrate its advantages. The parametric design methodrequired ten times fewer experiments to parameterize the controller than the Ziegler–Nichols method, for instance, and resulted in a closed-loop system with better load rejection than the other tuning methods. The results document that the new method can considerably simplify and accelerate the development of performant feedback controllers for piezoelectric ultrasonic transducers.
{"title":"Parametric design of PI controllers for piezoelectric ultrasonic transducers","authors":"Diego Stutzer , André Lisibach , Martin Hofmann , Jürgen Burger , Thomas Niederhauser","doi":"10.1016/j.mechatronics.2025.103306","DOIUrl":"10.1016/j.mechatronics.2025.103306","url":null,"abstract":"<div><div>Piezoelectric ultrasonic transducers are widely used and can offer great benefits, e.g., in ultrasonic machining, cleaning, and cutting. However, due to the resonance behavior of these transducers, feedback controllers that track the resonance frequency and regulate the vibration amplitude are often indispensable to ensure efficiency. This article presents a generic and efficient approach to designing proportional–integral controllers for piezoelectric ultrasonic transducers using the method of pole-zero cancellation based on a model of their vibration amplitude and phase dynamics. The parametric design method was experimentally applied to a piezoelectric ultrasonic periodontal scaler and compared with other tuning methods to demonstrate its advantages. The parametric design methodrequired ten times fewer experiments to parameterize the controller than the Ziegler–Nichols method, for instance, and resulted in a closed-loop system with better load rejection than the other tuning methods. The results document that the new method can considerably simplify and accelerate the development of performant feedback controllers for piezoelectric ultrasonic transducers.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103306"},"PeriodicalIF":3.1,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143510309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-05-01Epub Date: 2025-03-05DOI: 10.1016/j.mechatronics.2025.103308
Maíra M. da Silva , Emanuel A.R. Camacho , André R.R. Silva , Flávio D. Marques
Fish-like robots are used in various fields, such as environmental monitoring and underwater exploration. These devices are designed to emulate the motion of a real fish. They can have flexible bodies to mimic body/caudal-based locomotion patterns or fins to mimic median/paired fin-based locomotion patterns. Standard propulsion methods include oscillating fins, flapping tails, and body undulations. This work investigates a robotic fish with a flexible tail actuated by a Macro-Fiber Composite (MFC) pair in a bi-morph configuration. This device is designed to mimic body/caudal-based locomotion patterns; therefore, it should present propulsion capabilities due to its body undulations. These propulsion capabilities are assessed using the Unsteady Panel Method for different sinusoidal inputs. This method requires the device’s kinematics, which is derived using an analytical model based on the Euler–Bernoulli beam theory, considering the electro-mechanical coupling of the actuators. The mean thrust force derived using the Unsteady Panel Method is compared with the actual mean thrust acquired during an experimental campaign. The experimental and numerical results indicated that higher thrust forces can be achieved when the device is excited in its second resonance frequency. These results are in line with Lighthill’s findings.
{"title":"Thrust force assessment of a MFC-actuated tail-like robotic fish using Unsteady Panel Method","authors":"Maíra M. da Silva , Emanuel A.R. Camacho , André R.R. Silva , Flávio D. Marques","doi":"10.1016/j.mechatronics.2025.103308","DOIUrl":"10.1016/j.mechatronics.2025.103308","url":null,"abstract":"<div><div>Fish-like robots are used in various fields, such as environmental monitoring and underwater exploration. These devices are designed to emulate the motion of a real fish. They can have flexible bodies to mimic body/caudal-based locomotion patterns or fins to mimic median/paired fin-based locomotion patterns. Standard propulsion methods include oscillating fins, flapping tails, and body undulations. This work investigates a robotic fish with a flexible tail actuated by a Macro-Fiber Composite (MFC) pair in a bi-morph configuration. This device is designed to mimic body/caudal-based locomotion patterns; therefore, it should present propulsion capabilities due to its body undulations. These propulsion capabilities are assessed using the Unsteady Panel Method for different sinusoidal inputs. This method requires the device’s kinematics, which is derived using an analytical model based on the Euler–Bernoulli beam theory, considering the electro-mechanical coupling of the actuators. The mean thrust force derived using the Unsteady Panel Method is compared with the actual mean thrust acquired during an experimental campaign. The experimental and numerical results indicated that higher thrust forces can be achieved when the device is excited in its second resonance frequency. These results are in line with Lighthill’s findings.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103308"},"PeriodicalIF":3.1,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143551239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-05-01Epub Date: 2025-02-13DOI: 10.1016/j.mechatronics.2025.103298
Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu
Based on rotating magnetic coaxial effect of a suspended magnet rotor within the spatial universal rotating magnetic field(SURMF), a novel two-degree-of-freedom permanent magnet spherical motor (PMSM) and its lateral drive method using the rotating coaxial magnetic moment(RCMM) of the magnet rotor are proposed to address the complex electromagnetic driving structure, redundancy of control variables, complex coupled magnetic fields, and singularity of magnetic moments in current spherical motors. In terms of motor structure, the orthogonal kinematic decoupling and posture measuring of the PMSM output axis along yaw and pitch directions are realized by the universal follower mechanism (UFM) with a suspended magnet rotor. In terms of driving mechanism, with triaxial orthogonal combination coils (TOCC) as the stator, the orthogonal orientation decoupling control of the SURMF axis is adopted to realize the orthogonal decoupling of the RCMM in yaw and pitch directions, so as to realize the two-degree-of-freedom active drive of the PMSM by double decoupling of the magnetic moment and kinematics. For reducing magnetic moment orientation and motion path deviations caused by a slip angle, a compensation control method of the SURMF axis is proposed, which realizes the precise control of magnetic moment decoupling, ensures the precision and stability control of the motion path of the PMSM and lays a foundation for the application of the rotating coaxial driving theory of the PMSM.
{"title":"Novel permanent magnet spherical motor driven by coaxial magnetic moment of rotating magnetic field","authors":"Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu","doi":"10.1016/j.mechatronics.2025.103298","DOIUrl":"10.1016/j.mechatronics.2025.103298","url":null,"abstract":"<div><div>Based on rotating magnetic coaxial effect of a suspended magnet rotor within the spatial universal rotating magnetic field(SURMF), a novel two-degree-of-freedom permanent magnet spherical motor (PMSM) and its lateral drive method using the rotating coaxial magnetic moment(RCMM) of the magnet rotor are proposed to address the complex electromagnetic driving structure, redundancy of control variables, complex coupled magnetic fields, and singularity of magnetic moments in current spherical motors. In terms of motor structure, the orthogonal kinematic decoupling and posture measuring of the PMSM output axis along yaw and pitch directions are realized by the universal follower mechanism (UFM) with a suspended magnet rotor. In terms of driving mechanism, with triaxial orthogonal combination coils (TOCC) as the stator, the orthogonal orientation decoupling control of the SURMF axis is adopted to realize the orthogonal decoupling of the RCMM in yaw and pitch directions, so as to realize the two-degree-of-freedom active drive of the PMSM by double decoupling of the magnetic moment and kinematics. For reducing magnetic moment orientation and motion path deviations caused by a slip angle, a compensation control method of the SURMF axis is proposed, which realizes the precise control of magnetic moment decoupling, ensures the precision and stability control of the motion path of the PMSM and lays a foundation for the application of the rotating coaxial driving theory of the PMSM.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103298"},"PeriodicalIF":3.1,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143403537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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