Rigid Precision Reducers for Machining Industrial Robots

Pham, Anh-Duc; Ahn, Hyeong-Joon

doi:10.1007/s12541-021-00552-8

Cited by 42 publications

(14 citation statements)

References 82 publications

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“…The AVSA model in [12] include no time-delay however input time-delay is added to the EQTS and EETS based AVSA here and the simulations will be carried out in presence of time-delay. For simulation purpose, STSMC controllers (36) with equivalent controllers (35) and sliding surfaces (33) along with disturbance observers (25) and (30) using model parameters in Table 1 are where the units of torques and times are in Nm and second, respectively. The final time of simulation is 20s and sample time is supposed to be 1ms.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Traditional rigid robots are composed of actuators with possibly gearbox for altering delivered force/torque to the end effector. This feature enables rigid robots for high accuracy positioning applications such as industrial robots [35]. When the robots are required to work in collaboration with humans, use of rigid robots have various disadvantages.…”

Section: Introductionmentioning

confidence: 99%

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Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

Javadi

Chaichaowarat²

2022

Nonlinear Dyn

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Motor dynamics in Antagonistic Variable Stiffness Actuator (AVSA) is generally not considered in control system design. This ignorance can lead to an inaccurate system model and hence the performance of closed-loop system can be affected. The motor dynamics can be modeled as an input-delay in actuator model. For the first time, motor dynamics is modeled as input time-delay for an antagonistic variable stiffness actuator in this paper. Since the stiffness of AVSA is a nonlinear function of system states, stiffness tracking for AVSA is a challenging task. Especially when the model contains input delay, many of the existing delay compensation controllers cannot be used for stiffness tracking purpose. To handle this issue, a nonlinear transformation is introduced and then a super-twisting sliding mode control is utilized to reach position and stiffness tracking simultaneously. To compensate input time-delay, prediction-based feedback is involved together with disturbance observers for estimating external disturbance. Simulation results show that the proposed design approach is successful in position and stiffness tracking and at the same time in attenuating external disturbance effect.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

Javadi

Chaichaowarat²

2022

Nonlinear Dyn

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“…Varying the inner diameter of O-ring grooves. Precision machining technology has developed rapidly in recent years and now the precision of machining can be accurately controlled within the error range of only 0.1~1.0μm [28][29][30][31]. This research has attempted to explore the friction behavior between the sealing ring and the cylinder through precision machining technology.…”

Section: Plos Onementioning

confidence: 99%

Empirical research on the friction behavior of O-rings in hydraulic cylinders

Qin

et al. 2023

PLoS ONE

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Mechanical products are becoming more diversified with the continuous development of precision processing and materials technologies. The friction force generated by the O-ring seal in a hydraulic cylinder was once considered redundant. However, its utilization has recently been proposed. The hardness of the O-ring and the inner diameter of its groove directly affect the normal pressure between the O-ring and the inner wall of the cylinder, thereby affecting the friction behavior. In order to explore this friction behavior, a strain-based friction force measurement system is developed in this study, and the steady-state and dynamic friction values under different working conditions are studied and discussed in depth. This research on the friction behavior in the cylinder provides a theoretical basis for more convenient design and utilization of the friction force generated between the O-ring and the inner wall of the cylinder.

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“…Due to their fast response speed and high control precision, traditional rigid actuators are widely used in fields such as robotic arms and rigid robots . However, their rigidity limits their application in various unstructured environments and may pose risks in human–machine interactions.…”

Section: Introductionmentioning

confidence: 99%

Low-Voltage-Driven Soft Electrothermal Actuators Based on Phase-Change Materials

Wei,

Zhai,

Yang

2023

ACS Appl. Electron. Mater.

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Traditional pneumatic soft actuators have been widely used in the field of soft robotics owing to their high output force and large deformation capabilities. However, their bulky pumping systems pose limitations on their portability and miniaturization. In this study, we propose a method of PVA film-assisted manufacturing chamber and design an electrothermal soft actuator based on a phase change material. The actuator makes the phase change material filled in the chamber change into the vapor phase by heating from the embedded electrothermal wire, thus driving the actuator to deform. The actuator designed in this article can achieve a unilateral deformation of 17 mm and an output force of 0.265 N at a voltage of 5 V (the weight of the actuator itself is 1.5 g). In addition, based on the absolute node coordinate method, we adopt the hyperelastic material model, which can well describe the large deformation behavior of this soft structure, to model the actuator.

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Rigid Precision Reducers for Machining Industrial Robots

Cited by 42 publications

References 82 publications

Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

Position and stiffness control of an antagonistic variable stiffness actuator with input delay using super-twisting sliding mode control

Empirical research on the friction behavior of O-rings in hydraulic cylinders

Low-Voltage-Driven Soft Electrothermal Actuators Based on Phase-Change Materials

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