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Machines
Volume 9
Issue 2
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Machines, Volume 9, Issue 2 (February 2021) – 24 articles

Cover Story (view full-size image): The study focuses on performance tests carried out on a low-cost and 3D printed prosthetic hand, named “Federica”. The prosthesis can perform an adaptive grasp function using a single servomotor, which actuates all the five fingers by inextensible tendons. A cylindrical handlebar with a built-in load cell was used to measure the prosthesis grip force. Force sensors were also applied on selected phalanxes for mapping the grasp force distribution. Moreover, by measuring the actuator tendon displacement and estimating its exerted force, the energy efficiency of the prosthesis and the works required for hand closing–opening were computed. The grip force was enough to support the user in daily life actions, and the hysteresis for a complete cycle of closing–opening was lower than that of many commercial prostheses. View this paper.
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16 pages, 6496 KiB  
Article
Design for the Automation of an AMBU Spur II Manual Respirator
by Carles Domènech-Mestres, Elena Blanco-Romero, Albert de la Fuente-Morató and Manuel Ayala-Chauvin
Machines 2021, 9(2), 45; https://doi.org/10.3390/machines9020045 - 21 Feb 2021
Cited by 1 | Viewed by 4055
Abstract
This article shows the design of a device to automatize an Ambu Spur II manual respirator. The aim of this compassionate medicine device is to provide an emergency alternative to conventional electric respirators—which are in much shortage—during the present COVID-19 pandemic. To develop [...] Read more.
This article shows the design of a device to automatize an Ambu Spur II manual respirator. The aim of this compassionate medicine device is to provide an emergency alternative to conventional electric respirators—which are in much shortage—during the present COVID-19 pandemic. To develop the device, the classical method of product design based on concurrent engineering has been employed. First, the specifications of the machine have been determined, including the function determining the air volume provided at every moment of the breathing cycle; second, an adequate compression mechanism has been designed; third, the control circuit of the motor has been determined, which can be operated via a touchscreen and which includes sensor feedback; fourth, the device has been materialized with readily available materials and market components, mostly of low cost; and fifth, the machine has been successfully tested, complying with sanitary regulations and operating within desirable ranges. The device has been already manufactured to supply respirators to several hospitals around the Catalan Autonomous Community in Spain, but can also be replicated in developing countries such as Ecuador. Full article
(This article belongs to the Section Automation and Control Systems)
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21 pages, 6240 KiB  
Article
Study of Tank Containers for Foodstuffs
by Aurelio Liguori, Andrea Formato, Arcangelo Pellegrino and Francesco Villecco
Machines 2021, 9(2), 44; https://doi.org/10.3390/machines9020044 - 21 Feb 2021
Cited by 33 | Viewed by 3562
Abstract
In this study, we examined a tank container for foodstuff that is generally used for the transport of foodstuffs. With the aid of the “ANSYS R17.0” program code, a numerical model of the tank container for foodstuffs was realized. Further, to validate the [...] Read more.
In this study, we examined a tank container for foodstuff that is generally used for the transport of foodstuffs. With the aid of the “ANSYS R17.0” program code, a numerical model of the tank container for foodstuffs was realized. Further, to validate the considered model, the tank container considered was submitted to the most important ISO tests concerning both its support frame and the tank. The results obtained from the FEM analysis, in terms of displacement for each test, were compared with those provided by the manufacturer and related to the tank container considered, evaluating the difference between the numerical results with the experimental ones. This allowed us to validate the model examined. Furthermore, the results obtained from each test, in terms of stress, have made it possible to locate the areas with the highest equivalent stress and quantify the maximum value, comparing it with the allowable stress. In this way, a better understanding of the structure was achieved, and it was detected that the most stressed area is that of the connections between the container and the frame. Furthermore, modal analysis was carried out, in which the natural frequencies relating to the most dangerous modes of vibrations were found, that is, with the lowest frequency values. Finally, changes for the considered tank container were examined, and it was found that, by changing parameters, such as the thickness of the plate and skirt, and subsequently acting on the arrangement of the corner supports, the highest value of the stresses generated by the loads related to the ISO tests, it is significantly lowered, resulting in a better distributed stiffening of the structure and a reduction, although minimal, of weight. It is evident that this modeling and validation method, suitably integrated by further calculation modules, can be used in an iterative optimization process. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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32 pages, 14193 KiB  
Article
Design and Control System Setup of an E-Pattern Omniwheeled Cellular Conveyor
by Joe Siang Keek, Ser Lee Loh and Shin Horng Chong
Machines 2021, 9(2), 43; https://doi.org/10.3390/machines9020043 - 20 Feb 2021
Cited by 19 | Viewed by 4687
Abstract
The addition of omnidirectional capability and modularization to conveyor systems is an exciting and trending topic in current conveyor research. The implementation of omnidirectional modular conveyors is foreseen as mandatory in the future of conveyor technologies due to their flexibility and efficiency. In [...] Read more.
The addition of omnidirectional capability and modularization to conveyor systems is an exciting and trending topic in current conveyor research. The implementation of omnidirectional modular conveyors is foreseen as mandatory in the future of conveyor technologies due to their flexibility and efficiency. In this paper, an E-pattern omniwheeled cellular conveyor (EOCC) is first introduced. Camera and image processing techniques are utilized to achieve a centralized system, which is more robust than conventional decentralized systems. In order for cartons to maneuver across the EOCC, a unique method for activation of the actuators is subsequently designed. Next, the nominal characteristic of the EOCC is analyzed based on the step responses, which then inspire the proposal of four simple controllers, namely the P–P–P–P controller, tTS + P–P–P–P controller, P–P–PD–PD controller, and tTS + P–P–PD–PD controller (P for proportional, D for derivative and tTS for time-shifting), which are used to evaluate the tracking performance of the EOCC in diagonal-shaped, ∞-shaped (horizontal lemniscus), and 8-shaped (vertical lemniscus) trajectories. The results show that there is no clear winner among the controllers, with each having its own advantages and disadvantages. Nevertheless, such findings provide clearer insight into the EOCC, which is vital for future works. After all, the introduction of the EOCC system in this paper is also anticipated to elevate the benchmarks and competitiveness in the current field of modern conveyor technologies. Full article
(This article belongs to the Section Automation and Control Systems)
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17 pages, 6867 KiB  
Article
Design, Manufacture, and Performance Testing of Extrusion–Pultrusion Machine for Fiber-Reinforced Thermoplastic Pellet Production
by Cahyo Budiyantoro, Heru S. B. Rochardjo and Gesang Nugroho
Machines 2021, 9(2), 42; https://doi.org/10.3390/machines9020042 - 17 Feb 2021
Cited by 8 | Viewed by 4813
Abstract
This study aimed to develop an extrusion and pultrusion system for producing carbon fiber-filled thermoplastic pellets. The extruder delivers a plastic melt to an impregnation die in sufficient volume and is pulled out along with the fibers. The fibers pass in a sideways [...] Read more.
This study aimed to develop an extrusion and pultrusion system for producing carbon fiber-filled thermoplastic pellets. The extruder delivers a plastic melt to an impregnation die in sufficient volume and is pulled out along with the fibers. The fibers pass in a sideways stretched condition through spreader pins attached in the melt pool, which can then be wetted optimally. The wetting effect was also improved by immersing fiber in a coupling agent solution at an elevated temperature before feeding to the extruder die. For machine performance testing, polypropylene was used as a matrix resin with the following parameters: a screw speed of 5 rpm, a die temperature of 210 °C, and a pulling speed of 56 mm/s. The pull-out test was conducted to assess the interfacial shear strength (IFSS) between fibers and matrix. Scanning electron microscopy (SEM) was applied to characterize the quality of fiber impregnation. SEM characterized a good bonding performance between carbon fiber and the matrix. The average IFSS of the results indicated a good resistance of fiber–matrix bonding against a pulling force. It proved that the combination of the extrusion–pultrusion system can produce high-quality filaments as a raw material of composite pellets. Full article
(This article belongs to the Section Machine Design and Theory)
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16 pages, 4110 KiB  
Article
On the Benefits of Using Object-Oriented Programming for the Objective Evaluation of Vehicle Dynamic Performance in Concurrent Simulations
by Michele Perrelli, Francesco Cosco, Giuseppe Carbone, Basilio Lenzo and Domenico Mundo
Machines 2021, 9(2), 41; https://doi.org/10.3390/machines9020041 - 15 Feb 2021
Cited by 6 | Viewed by 3997
Abstract
Assessing passenger cars’ dynamic performance is a critical aspect for car industries, due to its impact on the overall vehicle safety evaluation and the subjective nature of the involved handling and comfort metrics. Accordingly, ISO standards, such as ISO 4138 and ISO 3888, [...] Read more.
Assessing passenger cars’ dynamic performance is a critical aspect for car industries, due to its impact on the overall vehicle safety evaluation and the subjective nature of the involved handling and comfort metrics. Accordingly, ISO standards, such as ISO 4138 and ISO 3888, define several specific driving tests to assess vehicle dynamics performance objectively. Consequently, proper evaluation of the dynamic behaviour requires measuring several physical quantities, including accelerations, speed, and linear and angular displacements obtained after instrumenting a vehicle with multiple sensors. This experimental activity is highly demanding in terms of hardware costs, and it is also significantly time-consuming. Several approaches can be considered for reducing vehicle development time. In particular, simulation software can be exploited to predict the approximate behaviour of a vehicle using virtual scenarios. Moreover, motion platforms and detail-scalable numerical vehicle models are widely implemented for the purpose. This paper focuses on a customized simulation environment developed in C++, which exploits the advantages of object-oriented programming. The presented framework strives to perform concurrent simulations of vehicles with different characteristics such as mass, tyres, engine, suspension, and transmission systems. Within the proposed simulation framework, we adopted a hierarchical and modular representation. Vehicles are modelled by a 14 degree-of-freedom (DOF) full-vehicle model, capable of capturing the dynamics and complemented by a set of scalable-detail models for the remaining sub-systems such as tyre, engine, and steering system. Furthermore, this paper proposes the usage of autonomous virtual drivers for a more objective evaluation of vehicle dynamic performances. Moreover, to further evaluate our simulator architecture’s efficiency and assess the achieved level of concurrency, we designed a benchmark able to analyse the scaling of the performances with respect to the number of different vehicles during the same simulation. Finally, the paper reports the proposed simulation environment’s scalability resulting from a set of different and varying driving scenarios. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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24 pages, 2800 KiB  
Article
Segmented Embedded Rapid Defect Detection Method for Bearing Surface Defects
by Linjian Lei, Shengli Sun, Yue Zhang, Huikai Liu and Hui Xie
Machines 2021, 9(2), 40; https://doi.org/10.3390/machines9020040 - 14 Feb 2021
Cited by 15 | Viewed by 3339
Abstract
The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. [...] Read more.
The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. Thus, an original defect detection method: Segmented Embedded Rapid Defect Detection Method for Surface Defects (SERDD) is proposed in this paper. This method realizes the two-way fusion of image processing and defect detection, which can efficiently and accurately detect surface defects such as depression, scratches, notches, oil, shallow characters, abnormal dimensions, etc. Besides, the character recognition method based on Spatial Pyramid Character Proportion Matching (SPCPM) is used to identify the engraved characters on the bearing dust cover. Moreover, the problem of characters being cut in coordinate transformation is solved through Image Self-Stitching-and-Cropping (ISSC). This paper adopts adequate real image data to verify and compare the methods and proves the effectiveness and advancement through detection accuracy, missing alarm rate, and false alarm rate. This method can provide machine vision technical support for bearing surface defect detection in its real sense. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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27 pages, 8982 KiB  
Article
Probabilistic Condition Monitoring of Azimuth Thrusters Based on Acceleration Measurements
by Riku-Pekka Nikula, Mika Ruusunen, Joni Keski-Rahkonen, Lars Saarinen and Fredrik Fagerholm
Machines 2021, 9(2), 39; https://doi.org/10.3390/machines9020039 - 10 Feb 2021
Cited by 7 | Viewed by 6941
Abstract
Drill ships and offshore rigs use azimuth thrusters for propulsion, maneuvering and steering, attitude control and dynamic positioning activities. The versatile operating modes and the challenging marine environment create demand for flexible and practical condition monitoring solutions onboard. This study introduces a condition [...] Read more.
Drill ships and offshore rigs use azimuth thrusters for propulsion, maneuvering and steering, attitude control and dynamic positioning activities. The versatile operating modes and the challenging marine environment create demand for flexible and practical condition monitoring solutions onboard. This study introduces a condition monitoring algorithm using acceleration and shaft speed data to detect anomalies that give information on the defects in the driveline components of the thrusters. Statistical features of vibration are predicted with linear regression models and the residuals are then monitored relative to multivariate normal distributions. The method includes an automated shaft speed selection approach that identifies the normal distributed operational areas from the training data based on the residuals. During monitoring, the squared Mahalanobis distance to the identified distributions is calculated in the defined shaft speed ranges, providing information on the thruster condition. The performance of the method was validated based on data from two operating thrusters and compared with reference classifiers. The results suggest that the method could detect changes in the condition of the thrusters during online monitoring. Moreover, it had high accuracy in the bearing condition related binary classification tests. In conclusion, the algorithm has practical properties that exhibit suitability for online application. Full article
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23 pages, 8684 KiB  
Article
Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle
by Antonio Tota, Enrico Galvagno and Mauro Velardocchia
Machines 2021, 9(2), 38; https://doi.org/10.3390/machines9020038 - 9 Feb 2021
Cited by 19 | Viewed by 8238
Abstract
Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding [...] Read more.
Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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3 pages, 154 KiB  
Editorial
Advances and Trends in Non-Conventional, Abrasive and Precision Machining
by Mariusz Deja and Angelos P. Markopoulos
Machines 2021, 9(2), 37; https://doi.org/10.3390/machines9020037 - 8 Feb 2021
Cited by 3 | Viewed by 2831
Abstract
n/a Full article
(This article belongs to the Special Issue Advances and Trends in Non-conventional, Abrasive and Precision Machining)
16 pages, 2285 KiB  
Review
Human–Machine Interface in Transport Systems: An Industrial Overview for More Extended Rail Applications
by Simon Enjalbert, Livia Maria Gandini, Alexandre Pereda Baños, Stefano Ricci and Frederic Vanderhaegen
Machines 2021, 9(2), 36; https://doi.org/10.3390/machines9020036 - 8 Feb 2021
Cited by 9 | Viewed by 6502
Abstract
This paper provides an overview of Human Machine Interface (HMI) design and command systems in commercial or experimental operation across transport modes. It presents and comments on different HMIs from the perspective of vehicle automation equipment and simulators of different application domains. Considering [...] Read more.
This paper provides an overview of Human Machine Interface (HMI) design and command systems in commercial or experimental operation across transport modes. It presents and comments on different HMIs from the perspective of vehicle automation equipment and simulators of different application domains. Considering the fields of cognition and automation, this investigation highlights human factors and the experiences of different industries according to industrial and literature reviews. Moreover, to better focus the objectives and extend the investigated industrial panorama, the analysis covers the most effective simulators in operation across various transport modes for the training of operators as well as research in the fields of safety and ergonomics. Special focus is given to new technologies that are potentially applicable in future train cabins, e.g., visual displays and haptic-shared controls. Finally, a synthesis of human factors and their limits regarding support for monitoring or driving assistance is proposed. Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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18 pages, 8244 KiB  
Article
Numerical and Experimental Study of a Device for Electrical Power Lines Probing for a Tunnel-Boring Complex Control System
by Andrew V. Zhivodernikov, Alexander V. Pavlenko and Vladimir S. Puzin
Machines 2021, 9(2), 35; https://doi.org/10.3390/machines9020035 - 7 Feb 2021
Cited by 1 | Viewed by 2708
Abstract
The article considers the problems of the magnetic field distribution, generated by a power electric cable at the micro-tunnel-boring shield arrangement site by numerical modeling with a further full-scale device model experiment. The impact of foreign magnetic field sources on readings of three-component [...] Read more.
The article considers the problems of the magnetic field distribution, generated by a power electric cable at the micro-tunnel-boring shield arrangement site by numerical modeling with a further full-scale device model experiment. The impact of foreign magnetic field sources on readings of three-component sensors was established in the process of the study. The considerable existence of parasitic noises, conditioned by external magnetic fields and high sensitivity of the probes, which will require the use of additional filters, was established. When using three-component ferroprobes, the most informative is the probe component coinciding with the tunnel shield longitudinal axis Z. The study showed that with current values greater than 200 A and changes in cable location during the experiment, it is possible to record signals from other sensor components and subsequently determine the location and orientation of the current-carrying cable. The experimental results obtained confirm the feasibility of a multi-sensor probing device for the micro-tunneling machine shield movement control system. Full article
(This article belongs to the Special Issue Mechatronic System for Automatic Control)
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12 pages, 1814 KiB  
Communication
Chip Appearance Inspection Method for High-Precision SMT Equipment
by Huiyan Zhang, Hao Sun and Peng Shi
Machines 2021, 9(2), 34; https://doi.org/10.3390/machines9020034 - 7 Feb 2021
Cited by 7 | Viewed by 4073
Abstract
In order to meet the defect-detection requirements of chips in high-precision surface mount technology (SMT) equipment widely used in the electronic industry, a chip appearance defect-detection method based on multi-order fractional discrete wavelet packet decomposition (DWPD) is proposed in this paper. First, lead [...] Read more.
In order to meet the defect-detection requirements of chips in high-precision surface mount technology (SMT) equipment widely used in the electronic industry, a chip appearance defect-detection method based on multi-order fractional discrete wavelet packet decomposition (DWPD) is proposed in this paper. First, lead and body regions were extracted from chip images using the image segmentation algorithm with asymmetric Laplace mixture model and connected-component labelling algorithm; then, the texture feature of the region to be inspected was extracted with the multi-order fractional DWPD algorithm and the geometric and gradient features were combined to form image features of the region to be inspected before the subset of features was selected from image features with the feature selection algorithm based on the variational Bayesian Gaussian mixture model; and finally, the support vector machine was used to determine whether the region to be inspected was defective. An experiment was conducted on a data set captured in high-precision SMT equipment. The accuracy of the proposed chip appearance defect-detection method is about 93%, which is more accurate than existing ones. Full article
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10 pages, 1413 KiB  
Communication
Analysis of Motion Errors of Linear Guide Pair Based on Parallel Mechanism
by Peng-Hao Hu, Ying-Jun Lei and Yang-Kai Ou
Machines 2021, 9(2), 33; https://doi.org/10.3390/machines9020033 - 5 Feb 2021
Cited by 4 | Viewed by 3174
Abstract
This paper systematically summarized the technical state of art and research results on the motion error of a linear guideway, corrected some misconceptions, and further clarified the relationship between the straightness error of the guide rail itself and the motion error of the [...] Read more.
This paper systematically summarized the technical state of art and research results on the motion error of a linear guideway, corrected some misconceptions, and further clarified the relationship between the straightness error of the guide rail itself and the motion error of the linear stage. Moreover, a new method based on parallel mechanism is provided to study the motion errors of the linear guide pair. The basic idea is to abstract the structural relationship between the stage and the guide rail into a 4-bar parallel mechanism. Thus, the stage can be considered as a moving platform in the parallel mechanism. Its motion error analysis is also transferred to moving platform position analysis in the parallel mechanism. The straightness motion error and angular motion error of the stage can be analyzed simultaneously by using the theory of parallel mechanism. Some experiments were conducted on the linear guideway of a self-developed parallel coordinate measuring machine. The experimental data and analysis verify the feasibility and correctness of this method. Full article
(This article belongs to the Section Machine Design and Theory)
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38 pages, 14218 KiB  
Article
Development and Research of Crosshead-Free Piston Hybrid Power Machine
by Viktor Shcherba, Viktor Shalay, Evgeniy Nosov, Evgeniy Pavlyuchenko and Ablai-Khan Tegzhanov
Machines 2021, 9(2), 32; https://doi.org/10.3390/machines9020032 - 5 Feb 2021
Cited by 7 | Viewed by 3167
Abstract
This article considers the development and research of a new design of crosshead-free piston hybrid power machine. After verification of a system of simplifying assumptions based on the fundamental laws of energy, mass, and motion conservation, as well as using the equation of [...] Read more.
This article considers the development and research of a new design of crosshead-free piston hybrid power machine. After verification of a system of simplifying assumptions based on the fundamental laws of energy, mass, and motion conservation, as well as using the equation of state, mathematical models of the work processes of the compressor section, pump section, and liquid flow in a groove seal have been developed. In accordance with the patent for the invention, a prototype of a crosshead-free piston hybrid power machine (PHPM) was developed; it was equipped with the necessary measuring equipment and a stand for studying the prototype. Using the developed mathematical model, the physical picture of the ongoing work processes in the compressor and pump sections is considered, taking into account their interaction through a groove seal. Using the developed plan, a set of experimental studies was carried out with the main operational parameters of the crosshead-free PHPM: operating processes, temperature of the cylinder–piston group and integral parameters (supply coefficient of the compressor section, volumetric efficiency of the pump section, etc.). As a result of numerical and experimental studies, it was determined that this PHPM design has better cooling of the compressor section (decrease in temperature of the valve plate is from 10 to 15 K; decrease in temperature of intake air is from 6 to 8 K, as well as there is increase in compressor and pump section efficiency up to 5%). Full article
(This article belongs to the Section Machines Testing and Maintenance)
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18 pages, 5030 KiB  
Article
A Design Method for a Variable Combined Brake System for Motorcycles Applying the Adaptive Control Method
by Yuan-Ting Lin, Chyuan-Yow Tseng, Jao-Hwa Kuang and Yeong-Maw Hwang
Machines 2021, 9(2), 31; https://doi.org/10.3390/machines9020031 - 5 Feb 2021
Cited by 5 | Viewed by 4485
Abstract
The variable combined brake system (VCBS) is a mechanism for motorcycles to simultaneously activate the front and rear brake systems by using one brake lever or pedal. The purpose is to reduce the risk of rollover accidents due to misuse of the front [...] Read more.
The variable combined brake system (VCBS) is a mechanism for motorcycles to simultaneously activate the front and rear brake systems by using one brake lever or pedal. The purpose is to reduce the risk of rollover accidents due to misuse of the front brake when panic braking. Due to its ability in a wide variation range of braking force distribution (BFD) ratios between the front and rear wheels, the VCBS can simultaneously achieve high braking effort and driving comfort performances, provided that the BFD ratio is designed appropriately. This paper aimed to develop the design method for the VCBS. A mathematical model of the VCBS mechanism is derived, and a parameter matching design method that applies adaptive control theory is proposed. A prototype of VCBS is designed and built based on the proposed method. The straight-line braking test results show that the motorcycle equipped with the VCBS prototype effectively obtained a high braking performance in deceleration. The obtained maximum deceleration is an average of 6.37 m/s2 (0.65 g) under an average handbrake lever force of 154.29 N. For front brake failure, maximum deceleration is obtained at an average of 3.38 m/s2 (0.34 g), which is higher than the homologation requirement of 2.9 m/s2. Full article
(This article belongs to the Section Vehicle Engineering)
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16 pages, 5085 KiB  
Article
A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories
by Cecilia Scoccia, Giacomo Palmieri, Matteo Claudio Palpacelli and Massimo Callegari
Machines 2021, 9(2), 30; https://doi.org/10.3390/machines9020030 - 4 Feb 2021
Cited by 29 | Viewed by 4316
Abstract
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s [...] Read more.
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system. Full article
(This article belongs to the Special Issue Italian Advances on MMS)
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13 pages, 5227 KiB  
Article
Design and Experiment of a Lifting Tool for Hoisting Offshore Single-Pile Foundations
by Bo Zhang, Hexuan Chen, Tao Wang and Zhuo Wang
Machines 2021, 9(2), 29; https://doi.org/10.3390/machines9020029 - 3 Feb 2021
Cited by 1 | Viewed by 3197
Abstract
Experiments with a cam-type clamp tool were carried out to overcome the difficulty of transporting and installing large-diameter mono-piles for offshore wind turbines. Using the experiments method to design a small wedge-type clamping mechanism and using cam teeth made of 40Cr material resulted [...] Read more.
Experiments with a cam-type clamp tool were carried out to overcome the difficulty of transporting and installing large-diameter mono-piles for offshore wind turbines. Using the experiments method to design a small wedge-type clamping mechanism and using cam teeth made of 40Cr material resulted in the maximum friction for the mechanism. A single clamping design was created for the cam-type clamp tool to hoist mono-piles for offshore wind turbines. Through force analysis and Automatic Dynamics Analysis of Mechanical System (ADAMS) dynamic simulation of the lifting tool, it was calculated that the clamping force of the lifting tool meets application requirements. A prototype was built in order to carry out an experiment in which the lifting tool hoisted a mono-pile. It was concluded from the experiment that the proposed design of the lifting tool is feasible in practical applications. Full article
(This article belongs to the Section Machines Testing and Maintenance)
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21 pages, 3323 KiB  
Article
Machine Learning-Based Cognitive Position and Force Controls for Power-Assisted Human–Robot Collaborative Manipulation
by S. M. Mizanoor Rahman
Machines 2021, 9(2), 28; https://doi.org/10.3390/machines9020028 - 3 Feb 2021
Cited by 20 | Viewed by 5031
Abstract
Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects. Hence, we proposed human–robot systems, such as [...] Read more.
Manipulation of heavy objects in industries is very necessary, but manual manipulation is tedious, adversely affects a worker’s health and safety, and reduces efficiency. On the contrary, autonomous robots are not flexible to manipulate heavy objects. Hence, we proposed human–robot systems, such as power assist systems, to manipulate heavy objects in industries. Again, the selection of appropriate control methods as well as inclusion of human factors in the controls is important to make the systems human friendly. However, existing power assist systems do not address these issues properly. Hence, we present a 1-DoF (degree of freedom) testbed power assist robotic system for lifting different objects. We also included a human factor, such as weight perception (a cognitive cue), in the robotic system dynamics and derived several position and force control strategies/methods for the system based on the human-centric dynamics. We developed a reinforcement learning method to predict the control parameters producing the best/optimal control performance. We also derived a novel adaptive control algorithm based on human characteristics. We experimentally evaluated those control methods and compared the system performance between the control methods. Results showed that both position and force controls produced satisfactory performance, but the position control produced significantly better performance than the force controls. We then proposed using the results to design control methods for power assist robotic systems for handling large and heavy materials and objects in various industries, which may improve human–robot interactions (HRIs) and system performance. Full article
(This article belongs to the Special Issue Collaborative Robotics and Adaptive Machines)
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15 pages, 2974 KiB  
Article
Influence-Coefficient Method for Identifying Maximum-Load Configurations and Variable-Load Issues in Manipulators
by Raffaele Di Gregorio and Erkan Yilmaz
Machines 2021, 9(2), 27; https://doi.org/10.3390/machines9020027 - 2 Feb 2021
Viewed by 2718
Abstract
The dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. [...] Read more.
The dimensioning of general-purpose machines such as manipulators involves the solution of a number of preliminary issues. The determination of reference external loads and the identification of machine configurations that give the maximum internal load for each component are two of these issues. These two problems are commonly addressed through trial-and-error procedures based on dynamic modelling, which are implemented with the support of simulation software, since static analyses are commonly considered inadequate to solve them. Despite this, here, a technique based on influence coefficients and static analyses is presented which solves them. Such technique is also able to foresee and justify dynamic issues (i.e., possible vibrations, etc.) that could heavily affect the machine behavior. The effectiveness of the proposed technique is proved by implementing it on a 3T1R parallel manipulator. The presented design method is general and applicable to any type of non-overconstrained manipulator or mechanism. Full article
(This article belongs to the Section Machine Design and Theory)
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22 pages, 3240 KiB  
Article
Operator-Based Nonlinear Control for a Miniature Flexible Actuator Using the Funnel Control Method
by Keisuke Ueno, Shuhei Kawamura and Mingcong Deng
Machines 2021, 9(2), 26; https://doi.org/10.3390/machines9020026 - 1 Feb 2021
Cited by 15 | Viewed by 2852
Abstract
Recently, the studies of soft actuators have been getting increased attention among various fields. Soft actuators are very safe for fragile objects and have an affinity to humans because they are composed of flexible materials. A miniature flexible actuator is a kind of [...] Read more.
Recently, the studies of soft actuators have been getting increased attention among various fields. Soft actuators are very safe for fragile objects and have an affinity to humans because they are composed of flexible materials. A miniature flexible actuator is a kind of pneumatically driven soft actuator. It has a bellowed shape and asymmetrical structure. This shape can generate a curling motion in two ways under positive and negative pressures with only one air tube. In the previous article, a control system using adaptive λ-tracking control was proposed. This control gain can become too large as time tends to infinity because the adaptive law exhibits a non-decreasing gain. To solve this problem, the funnel control method is proposed. The adaptive gain of this method not only increases but also decreases; however, the design scheme of the boundary function which is needed to decide on adaptive gain is not proposed here. In this article, an operator-based nonlinear control system’s design and the design scheme of the boundary function using an observer are proposed. Then, the effectiveness of the proposed method is verified by a simulation and an experiment. Full article
(This article belongs to the Section Automation and Control Systems)
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19 pages, 8849 KiB  
Article
Evaluation of Grip Force and Energy Efficiency of the “Federica” Hand
by Daniele Esposito, Sergio Savino, Chiara Cosenza, Emilio Andreozzi, Gaetano Dario Gargiulo, Caitlin Polley, Giuseppe Cesarelli, Giovanni D’Addio and Paolo Bifulco
Machines 2021, 9(2), 25; https://doi.org/10.3390/machines9020025 - 27 Jan 2021
Cited by 27 | Viewed by 5748
Abstract
The actual grip force provided by a hand prosthesis is an important parameter to evaluate its efficiency. To this end, a split cylindrical handlebar embedding a single-axis load cell was designed, 3D printed and assembled. Various measurements were made to evaluate the performances [...] Read more.
The actual grip force provided by a hand prosthesis is an important parameter to evaluate its efficiency. To this end, a split cylindrical handlebar embedding a single-axis load cell was designed, 3D printed and assembled. Various measurements were made to evaluate the performances of the “Federica” hand, a simple low-cost hand prosthesis. The handlebar was placed at different angular positions with respect to the hand palm, and the experimental data were processed to estimate the overall grip force. In addition, piezoresistive force sensors were applied on selected phalanxes of the prosthesis, in order to map the distribution of the grasping forces between them. The electrical current supplied to the single servomotor that actuates all the five fingers, was monitored to estimate the force exerted on the main actuator tendon, while tendon displacement was evaluated by a rotary potentiometer fixed to the servomotor shaft. The force transfer ratio of the whole system was about 12.85 %, and the mean dissipated energy for a complete cycle of closing-opening was 106.80 Nmm, resulting lower than that of many commercial prostheses. The mean grip force of the “Federica” hand was 8.80 N, that is enough to support the user in many actions of daily life, also considering the adaptive wrapping capability of the prosthesis. On average, the middle phalanges exerted the greatest grip force (2.65 N) on the handlebar, while the distal phalanges a force of 1.66 N. Full article
(This article belongs to the Section Robotics, Mechatronics and Intelligent Machines)
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9 pages, 2851 KiB  
Communication
Impact of Electronic Radiation on the Morphology of the Fine Structure of the Surface Layer of R6M5 Steel
by Bauyrzhan Rakhadilov, Aidar Kengesbekov, Laila Zhurerova, Rauan Kozhanova and Zhuldyz Sagdoldina
Machines 2021, 9(2), 24; https://doi.org/10.3390/machines9020024 - 27 Jan 2021
Cited by 7 | Viewed by 2370
Abstract
In recent decades, great efforts have been made to significantly improve the performance characteristics of high-speed steel using various surface hardening techniques. Electron beam modification is engaging because it has an exceptionally high thermal efficiency and can significantly improve steels’ physical and mechanical [...] Read more.
In recent decades, great efforts have been made to significantly improve the performance characteristics of high-speed steel using various surface hardening techniques. Electron beam modification is engaging because it has an exceptionally high thermal efficiency and can significantly improve steels’ physical and mechanical properties. This work is devoted to researching the fine structure and changing the structural phase state of the surface layer of R6M5 high-speed steel after exposure to an electron beam. Electron beam treatment of steel R6M5 was carried out on a vacuum installation. The structure and phase composition of P6M5 steel samples were studied by transmission electron microscopy. Determined that after electron irradiation, the steel structure as in the initial state consists of martensite, carbides and residual austenite. After electron irradiation, an increase in the volume fraction of lamellar martensite is observed: the fraction of lamellar martensite in the initial state is 80%, and after irradiation, it is ~90% of the total fraction of α′-martensite. The action of the electron beam led to an increase in internal stresses in α′-martensite. Revealed, the value of the scalar dislocation density in R6M5 steel after exposure to an electron beam is higher than in the initial state. A cardinal difference in the state of the material after exposure to an electron beam is the presence of bending extinction contours in all M6C carbide particles. Full article
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19 pages, 5227 KiB  
Article
Effect of Rotor Geometry on Bending Stiffness Variation
by Risto Viitala, Tuomas Tiainen and Raine Viitala
Machines 2021, 9(2), 23; https://doi.org/10.3390/machines9020023 - 26 Jan 2021
Cited by 1 | Viewed by 3508
Abstract
Bending stiffness variation (BSV) is a common problem causing vibration in large rotating machinery. BSV describes lateral bending stiffness and its variation as a function of the rotational angle. It has been observed that BSV causes excitation exactly twice per revolution, which leads [...] Read more.
Bending stiffness variation (BSV) is a common problem causing vibration in large rotating machinery. BSV describes lateral bending stiffness and its variation as a function of the rotational angle. It has been observed that BSV causes excitation exactly twice per revolution, which leads to vibration problems, especially at half critical speed. BSV is caused by rotor geometry errors if the material is assumed to be homogeneous and linearly elastic. Therefore, the study investigated BSV with harmonic roundness components, which are commonly used in industry to describe the geometry of a rotor. Hence, the results are easily applicable in the industry. The research was conducted primarily by analytical means, but also static simulations and numeric calculations were used. The results clearly showed that when the effect of single harmonic roundness components in rotor cross-sections were observed, only the second component could produce BSV. However, when component pairs were studied, they produced BSV also without the second component. If the second component was included, the profile produced BSV the most aggressively. A generated arbitrary roundness profile, including components 3–50 with random phases and amplitudes, indicated that BSV occurs always twice per revolution despite different components in the profile. The results improve the possibilities of eliminating excessive BSV in the industry, when certain components and component pairs can be avoided. Full article
(This article belongs to the Section Advanced Manufacturing)
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23 pages, 6925 KiB  
Article
Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm
by Xuyang Cao, Zhiwei Wang and Xingang Zhang
Machines 2021, 9(2), 22; https://doi.org/10.3390/machines9020022 - 20 Jan 2021
Cited by 10 | Viewed by 3695
Abstract
A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is [...] Read more.
A polar crane is a large-scale special lifting equipment operated in a nuclear power plant. To address the precise locating control problem of a polar crane with the center of gravity shifting, with cross-coupling, and with external disturbance, an effective control scheme is proposed in this paper. Firstly, a nonholonomic constraint dynamic model of the polar crane is established according to the Lagrange–Rouse equation. Then, an expansion state observer (ESO) of the active disturbance rejection control (ADRC) method is applied to estimate and compensate the cross-coupling disturbance in real-time. To improve the robustness and convergence speed of the control system, the nonsingular terminal sliding mode (NTSM) control method is incorporated with ADRC and the stability of the controller is proven by the Lyapunov function approach. Furthermore, to solve the problem of redundant actuation and to reduce trajectory deviation of the bridge truck, the contact forces of the horizontal guide device are introduced into the quadratic programming (QP) optimization algorithm. Finally, the effectiveness and superiority of the proposed control scheme are illustrated by simulation results. Full article
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