Actuators, Volume 13, Issue 7

Due to assembling, manufacturing errors, and wear, irregular rough surfaces inevitably exist in joints, which will increase the contact stiffness nonlinearity at the joint of the spatial developable mechanism, and the traditional contact force model...

This paper presents an efficient inverse kinematics solution for redundant robotic arms. The proposed method combines the principles of continuation methods, improves the instability of the computation time by increasing the convergence of the kinema...

Rope-driven robots are increasingly used to safely and efficiently clean complex glass curtain walls. However, continuous global cleaning is difficult for most robots because of their poor performance in overcoming obstacles and adapting to curved su...

Most traditional rigid grippers can cause damage to the surface of objects in actual production processes and are susceptible to factors such as different shapes, sizes, materials, and positions of the product. This article studies a flexible finger...

Intelligent control algorithms have been extensively utilized for adaptive controller parameter adjustment. While the Particle Swarm Optimization (PSO) algorithm has several issues: slow convergence speed requiring a large number of iterations, a ten...

This paper presents the design of a sliding mode controller to compensate hysteresis nonlinearity and achieve precision motion tracking for a novel piezoelectric tip/tilt platform driven by a PZT actuator. The sliding mode control scheme is based on...

The control strategy of the gas supply subsystem is very important to ensure the performance and stability of the fuel cell system. However, due to the inherent nonlinear characteristics of the fuel cell gas supply subsystem, the traditional control...

This paper studies an adaptive fault tolerant control (AFTC) scheme for a continuum robot subjected to unknown actuator faults, dynamics uncertainties, unknown disturbances, and prescribed performance. Specifically, to deal with uncertainties, a func...

Origami exhibits the remarkable ability to transform into diverse shapes, including quadrilaterals, triangles, and more complex polygons. This unique property has inspired the integration of origami principles into engineering design, particularly in...

Soft continuum robots, characterized by their dexterous and compliant nature, often face limitations due to buckling under small loads. This study explores the enhancement of axial performance in soft robots intrinsically actuated with extensile flui...