Dynamic modeling and robust vibration control of a high-speed macro-micro gripping system

Wu, Gao-hua; Yang, Yi-ling; Wang, Shuai; Cui, Yu-guo; Wei, Yan-ding

doi:10.1016/j.ymssp.2023.110801

Cited by 3 publications

(1 citation statement)

References 51 publications

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“…In recent years, Port-Hamiltonian Systems (PHS) formulations have emerged as a powerful framework for the modeling and control of distributed parameter systems [1,2,3,4,5]. This formalism is particularly well suited to describe the dynamics of large-scale (multi)physics systems, such as those arising in fluid mechanics [6], heat transfer [7], and structural mechanics [8]. The Port-Hamiltonian approach makes it possible to highlight and take advantage of the physical properties of the considered systems through a well-defined geometric structure.…”

Section: Introductionmentioning

confidence: 99%

In Domain Dissipation Assignment of Boundary Controlled Port-Hamiltonian Systems Using Backstepping

Redaud¹,

Auriol

Gorrec³

2023

Preprint

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Section: Introductionmentioning

confidence: 99%

In Domain Dissipation Assignment of Boundary Controlled Port-Hamiltonian Systems Using Backstepping

Redaud¹,

Auriol

Gorrec³

2023

Preprint

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Electroelastic wave dispersion in the rotary piezoelectric NEMS sensors/actuators via nonlocal strain gradient theory

Guo,

Maalla,

Habibi

et al. 2024

Mechanical Systems and Signal Processing

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Soft Grippers in Robotics: Progress of Last 10 Years

Dzedzickis,

Petronienė,

Petkevičius

et al. 2024

Machines

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This paper is dedicated to soft grippers, robot tools with a wide application area in various activities where an accurate and delicate grabbing movement is required such as routine manipulation tasks with fragile objects, operation in unknown or dangerous environments, and manipulation with unknown shape objects, as well as exploring the depths of the sea or harvesting vegetables in agriculture. The main goal of this paper is to review and systematize the main ideas about and achievements of soft grippers published from 2015 to 2024. The paper provides a statistical analysis of the performed research and systematized advancements of soft grippers according to their operating principle, forces and effects that enable their operation, and the properties of potential manipulation objects. Grippers inspired by nature are also discussed, as most successful solutions are based on ideas derived from nature. This study discusses the latest achievements of soft grippers and their various applications and presents a unique distribution of soft grippers according to the physical principle of the forces they act on, according to the size of the object to be grasped, and according to technological realizations. The results of this analysis can be useful for practical gripper users aiming to improve their workplace and find optimal design solutions, for gripper manufacturers or developers, or for scientists of material sciences looking for applications for their products.

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Dynamic modeling and robust vibration control of a high-speed macro-micro gripping system

Cited by 3 publications

References 51 publications

In Domain Dissipation Assignment of Boundary Controlled Port-Hamiltonian Systems Using Backstepping

In Domain Dissipation Assignment of Boundary Controlled Port-Hamiltonian Systems Using Backstepping

Electroelastic wave dispersion in the rotary piezoelectric NEMS sensors/actuators via nonlocal strain gradient theory

Soft Grippers in Robotics: Progress of Last 10 Years

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