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...

Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offe...

To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the tradi...

Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear....

Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic...

This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scena...

In this paper, adaptive fuzzy fault-tolerant control (AFFTC) for the attitude control system of a hypersonic gliding vehicle (HGV) experiencing an actuator fault is proposed. Actuator faults of the HGV are considered with respect to its actual struct...

This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important f...

To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW)...

For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device b...

To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a...

Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient...

Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master&ndash...

This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset perfor...

To improve the effectiveness of model predictive control (MPC) in dynamic traffic signal control strategies, it has been combined with graph convolutional networks (GCNs) and deep reinforcement learning (DRL) technologies. In this study, a neural-net...

This study focuses on the decentralized stabilization issue of high-order large-scale nonlinear systems with unknown disturbances. A novel decentralized semi-global finite-time control approach is suggested by constructing a Lyapunov function with bo...

The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM...

In order to solve the problem of unstable fluid supply pressure and serious impact caused by the complicated and changeable working condition of a fully mechanized mining face in coal mines and the sluggish response of the fluid supply system to the...

In this paper, a novel three-degree-of-freedom piezoelectric-driven micro-positioning platform based on a lever combination compound bridge-type displacement amplification mechanism is proposed. The micro-positioning platform proposed in this paper a...

To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-prec...

This paper addresses the active target protection problem in a three-player (Target–Attacker–Defender, TAD) conflict by proposing a cooperative integrated guidance and control (IGC) strategy. Unlike previous studies that have designed gui...

In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to ide...

The interior permanent magnet synchronous motor (IPMSM) is known for its high output torque, strong overload capacity, and high power density, making it a popular choice in the electric vehicle industry. This paper proposes an improved multi-objectiv...

Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surg...

The aim of this study is to propose a damper based on magnetorheological (MR) fluid and elastomer for application in vehicle engine mounting systems to dissipate the vibration energy transferred from the engine to the vehicle body. The magnetic circu...

This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-...

Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancement...

This paper presents the design and implementation of the hardware and control strategies of an electrohydraulic air load simulation system for testing aerospace actuators. The system is part of an Iron Bird, which is an energy management research pla...

This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint an...

Despite advances in wearable robots across various fields, there is no consensus definition or design framework for the application of this technology in rehabilitation or musculoskeletal (MSK) injury prevention. This paper aims to define wearable ro...

This study proposes a guidance strategy based on human–machine transition (HMT) for cooperative adaptive cruise control (CACC) truck platoon actuator failures. Existing research on the CACC platoon mainly focuses on upper-level planning and rar...

The loader is one of the most widely used pieces of engineering machinery in the world for soil transportation, loading and unloading materials, and low-intensity shovel digging operations in harsh and complex operating conditions; it requires very f...

Solid-state electromechanical smart material actuators are versatile as they permit diverse shapes and designs and can exhibit different actuation modes. An important advantage of these actuators compared to conventional ones is that they can be easi...

In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller e...

In light of the heavy load applied by traditional air spring test equipment and its complex structural system design, a lever-type torque loading air spring test system is designed. It adopts the principle of Chinese scales to apply the load on the a...