May 2022 - 26 articles
Machine learning algorithms are effective in realizing the programming of robots that behave autonomously for various tasks. For example, reinforcement learning (RL) does not require supervision or data sets; the RL agent explores solutions by itself...
In order to solve the trajectory-tracking-control problem of the state-constrained flexible manipulator systems, a finite-time back-stepping control method based on command filtering is presented in this paper. Considering that the virtual signal req...
The focus of this work is to design a control strategy with the dynamic characteristics of spring damping to realize the virtual flexibility and softness of a rigid-joint exoskeleton without installing real, physical elastic devices. The basic idea o...
In this study, the performance of a vortex array gripper was numerically investigated based on the pressure distribution on the surface of a gripped object and the resulting suction force. An analysis of the suction force generated by a single-vortex...
This paper presents a novel parallel dual-stage compliant nanopositioning system (PDCNS), aimed at nanoscale positioning for microscale manipulation. In the developed PDCNS, the coarse stage actuated by the voice coil motor and the fine stage driven...
Decreasing the system weight while maintaining the assistance performance can help reduce the metabolic penalty in exosuits. Various researchers have proposed a bi-directional cable-driven actuator that can provide two degrees of freedom (2-DOF) assi...
Ongoing interests in high-speed precision actuation continuously sparks great attention on developing fast amplified piezoelectric actuators (APAs) with compliant mechanisms. A new type of APA with enhanced resonance frequency is herein reported base...
The vibration problem influences the precision of the equipment. However, some vibration isolation systems (VISs) with the perfect theoretical and simulation results are still unable to suppress the vibration well, resulting in the damage during the...
In order to study pressure fluctuation characteristics of a centrifugal pump as turbine (PAT) in its start-up process, Fluent was used to do numerical simulation of the PAT start-up process. Time and frequency domain analyses were performed on the da...
Industrial robotic manipulators in pick-and-place applications require short settling times to achieve high productivity. The fluctuating reaction forces and moments on the base of a dynamically unbalanced manipulator, however, cause base vibrations,...
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