A study on a hybrid actuator

Kireçci, Ali; Dülger, L. Canan

doi:10.1016/s0094-114x(99)00059-2

Cited by 45 publications

(21 citation statements)

References 3 publications

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“…Position control accuracy of motion determines the profile accuracy of hybrid actuator. Many studies can be found applications using proportionalderivative-integral (PID) controllers on servo systems of hybrid actuator [4] [5]. The objective of PID control action is to improve the transient and steady-state responses of the system.…”

Section: Cuihong Wang Department Of Electrical Engineeringmentioning

confidence: 99%

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Study on High Accuracy Control System for a Hybrid Seven-Bar Actuator

Zhang

Wang

2007

2007 IEEE International Conference on Control and Automation

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Hybrid seven bar actuator is a typical planar parallel robot. It remains with position control following system. Position control accuracy of system determines the profile accuracy of hybrid actuator. According to the characteristics of the hybrid seven bar actuator, incorporating the grey prediction, repetitive control and the conventional PID control, a design method of the Grey prediction Repetitive PID control algorithm (GRPID) is presented for the first time. The hybrid control algorithm can estimate unsure parameters and disturbance of system using grey prediction, and compensate control in terms of the prediction results, and this may improve control quality and robustness of repetitive control for controlling periodic motion. The simulation results show that this algorithm has better performances than that of the conventional repetitive control system. It indicates the control method has better application effect for hybrid actuator taking on a characteristic of periodic motion.

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Section: Cuihong Wang Department Of Electrical Engineeringmentioning

confidence: 99%

“…Cut to length machine, printing machine, injection moulding machine and stamping press are the industrial examples [4] [5]. Hybrid seven bar actuator remains with position control This work is partially supported by Science Foundation of Shanghai Institute of Technology.…”

Section: Introductionmentioning

confidence: 99%

Study on High Accuracy Control System for a Hybrid Seven-Bar Actuator

Zhang

Wang

2007

2007 IEEE International Conference on Control and Automation

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“…Yan and Chen (14)(15)(16) designed the input speeds of slider-crank mechanisms to make the output motion passing the desired trajectory as well as to optimize the output characteristics. Kirecci (17) studied a linkage mechanism with two degrees of freedom driven by a servomotor and a constant speed motor, in which the servomotor takes charge of changing the output motion while the other motor provides the main torque. Yan and Soong (18) developed a design approach with variable input speed for four-bar linkage, which integrates kinematic synthesis, dynamic design and servo control to obtain the expected output motion characteristics and dynamic balancing performance.…”

Section: Introductionmentioning

confidence: 99%

A Variable-Speed Approach for Preventing Cam-Follower Separation

Yan

Tsai

2008

JAMDSM

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The follower separation is a major impediment to the operating speed increase of force-closed cam mechanisms. This problem traditionally is solved by increasing the spring preload or spring rate to enlarge the return force. An alternative approach with variable cam speed is proposed to prevent follower separation and thereby to raise the average operating speed. By properly designing the cam speed to change the follower motion, the critical motion characteristics leading to follower separation can be avoided. The cam speed trajectory is expressed using the Bezier function. A mathematical model is developed for analyzing the cycle time and the critical times of follower separation. Then a design model for optimizing the critical average cam speed without follower separation is developed to specify the design parameters of this trajectory. Two design examples with different cam motion programs are given for demonstrating the feasibility of this approach.

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“…Furthermore, they assumed the speed of the CV motor be constant and ignored the speed fluctuation in the CV motor. Kirecci and Dulger [5] discussed a hybrid actuation mechanism where a seven-bar linkage mechanism with 2 DOF was used as an example to verify the hybrid actuation concept. But in the implementation of their study, the servomotor was used to "mimic" the CV motor by prescribing a constant velocity trajectory profile.…”

Section: Introductionmentioning

confidence: 99%

Experimental study on a hybrid actuation system

Ouyang

Zhang

Moazed

2008

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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A major challenge in developing next generation intelligent mechatronic systems lies in the complexity of integrating an enormous number of requirements including high performance, multi-functionality, low cost, and complicated physical structures. Hybridization is a promising approach for developing next generation intelligent mechatronic systems. In this paper, a hybrid actuation system is developed where a controllable servomotor and an uncontrollable constant velocity motor are integrated to form a closed-loop two degrees of freedom hybrid mechanism. An experimental prototype of the hybrid actuation system is built. To fulfill a desired trajectory tracking, a sophisticated control system is developed for controlling the hybrid actuation system. After that, experimental studies are conducted using the proposed control algorithm. Experimental results demonstrate the controllability of the hybrid actuation system and the effectiveness of the designed control algorithm. Finally, some issues for improving the tracking performance are discussed in this paper.

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A study on a hybrid actuator

Cited by 45 publications

References 3 publications

Study on High Accuracy Control System for a Hybrid Seven-Bar Actuator

Study on High Accuracy Control System for a Hybrid Seven-Bar Actuator

A Variable-Speed Approach for Preventing Cam-Follower Separation

Experimental study on a hybrid actuation system

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