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1 – 10 of 252
Article
Publication date: 20 March 2024

Shufeng Tang, Yongsheng Kou, Guoqing Zhao, Huijie Zhang, Hong Chang, Xuewei Zhang and Yunhe Zou

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power…

Abstract

Purpose

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

Design/methodology/approach

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Findings

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

Originality/value

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 8 December 2023

Han Sun, Song Tang, Xiaozhi Qi, Zhiyuan Ma and Jianxin Gao

This study aims to introduce a novel noise filter module designed for LiDAR simultaneous localization and mapping (SLAM) systems. The primary objective is to enhance pose…

Abstract

Purpose

This study aims to introduce a novel noise filter module designed for LiDAR simultaneous localization and mapping (SLAM) systems. The primary objective is to enhance pose estimation accuracy and improve the overall system performance in outdoor environments.

Design/methodology/approach

Distinct from traditional approaches, MCFilter emphasizes enhancing point cloud data quality at the pixel level. This framework hinges on two primary elements. First, the D-Tracker, a tracking algorithm, is grounded on multiresolution three-dimensional (3D) descriptors and adeptly maintains a balance between precision and efficiency. Second, the R-Filter introduces a pixel-level attribute named motion-correlation, which effectively identifies and removes dynamic points. Furthermore, designed as a modular component, MCFilter ensures seamless integration into existing LiDAR SLAM systems.

Findings

Based on rigorous testing with public data sets and real-world conditions, the MCFilter reported an increase in average accuracy of 12.39% and reduced processing time by 24.18%. These outcomes emphasize the method’s effectiveness in refining the performance of current LiDAR SLAM systems.

Originality/value

In this study, the authors present a novel 3D descriptor tracker designed for consistent feature point matching across successive frames. The authors also propose an innovative attribute to detect and eliminate noise points. Experimental results demonstrate that integrating this method into existing LiDAR SLAM systems yields state-of-the-art performance.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 20 March 2024

Heji Zhang, Dezhao Lu, Wei Pan, Xing Rong and Yongtao Zhang

The purpose of this study is to design a closed hydrostatic guideway has the ability to resist large-side load, pitch moments and yaw moments, has good stiffness and damping…

Abstract

Purpose

The purpose of this study is to design a closed hydrostatic guideway has the ability to resist large-side load, pitch moments and yaw moments, has good stiffness and damping characteristics, and provides certain beneficial guidance for the design of large-span closed hydrostatic guideway on the basis of providing a large vertical load bearing capacity.

Design/methodology/approach

The Reynolds’ equation and flow continuity equation are solved simultaneously by the finite difference method, and the perturbation method and the finite disturbance method is used for calculating the dynamic characteristics. The static and dynamic characteristics, including recess pressure, flow of lubricating oil, carrying capacity, pitch moment, yaw moment, dynamic stiffness and damping, are comprehensively analyzed.

Findings

The designed closed hydrostatic guideway has the ability to resist large lateral load, pitch moment and yaw moment and has good stiffness and damping characteristics, on the basis of being able to provide large vertical carrying capacity, which can meet the application requirements of heavy two-plate injection molding machine (TPIMM).

Originality/value

This paper researches static and dynamic characteristics of a large-span six-slider closed hydrostatic guideway used in heavy TPIMM, emphatically considering pitch moment and yaw moment. Some useful guidance is given for the design of large-span closed hydrostatic guideway.

Details

Industrial Lubrication and Tribology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0036-8792

Keywords

Article
Publication date: 25 July 2023

Gerasimos G. Rigatos, Masoud Abbaszadeh, Bilal Sari and Jorge Pomares

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated…

Abstract

Purpose

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

Design/methodology/approach

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

Findings

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

Research limitations/implications

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

Practical implications

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

Social implications

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

Originality/value

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

Details

International Journal of Intelligent Unmanned Systems, vol. 12 no. 1
Type: Research Article
ISSN: 2049-6427

Keywords

Article
Publication date: 13 February 2024

Yi Xia, Yonglong Li, Hongbin Zang, Yanpian Mao, Haoran Wang and Jialong Li

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the…

Abstract

Purpose

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

Design/methodology/approach

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

Findings

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

Practical implications

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

Originality/value

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 9 January 2024

Zujin Jin, Zixin Yin, Siyang Peng and Yan Liu

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy…

Abstract

Purpose

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy. This abstract introduces a novel approach, the nonlinear subsystem adaptive dispersed fuzzy compensation control (ADFCC) method, aimed at enhancing the precision of LOMPSs.

Design/methodology/approach

The ADFCC model for LOMPS is developed through a nonlinear fuzzy adaptive algorithm. This model incorporates control parameters and disturbance terms (such as those arising from the external environment, friction and correlation) between subsystems to facilitate ADFCC. Error analysis is performed using the subsystem output parameters, and the resulting errors are used as feedback for compensation control.

Findings

Experimental analysis is conducted, specifically under the commonly used concentric circle processing trajectory in LOMPS. This analysis validates the effectiveness of the control model in enhancing processing accuracy.

Originality/value

The ADFCC strategy is demonstrated to significantly improve the accuracy of LOMPS output, offering a promising solution to the problem of correlated disturbances. This work holds the potential to benefit a wide range of practical applications.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 16 October 2023

Peng Wang and Renquan Dong

To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based…

Abstract

Purpose

To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based on the fuzzy impedance controller of the rehabilitation robot is propose.

Design/methodology/approach

First, the impaired limb’s damping and stiffness parameters for evaluating its physical recovery condition are online estimated by using weighted least squares method based on recursive algorithm. Second, the fuzzy impedance control with the rule has been designed with the optimal impedance parameters. Finally, the membership function learning rate online optimization strategy based on Takagi-Sugeno (TS) fuzzy impedance model was proposed to improve the position tracking speed of fuzzy impedance control.

Findings

This method provides a solution for improving the membership function learning rate of the fuzzy impedance controller of the upper limb rehabilitation robot. Compared with traditional TS fuzzy impedance controller in position control, the improved TS fuzzy impedance controller has reduced the overshoot stability time by 0.025 s, and the position error caused by simulating the thrust interference of the impaired limb has been reduced by 8.4%. This fact is verified by simulation and test.

Originality/value

The TS fuzzy impedance controller based on membership function online optimization learning strategy can effectively optimize control parameters and improve the position tracking speed of upper limb rehabilitation robots. This controller improves the auxiliary rehabilitation efficiency of the upper limb rehabilitation robot and ensures the stability of auxiliary rehabilitation training.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 December 2023

Zhe Du, Changjie Chen and Xinhou Wang

Stab-resistant body armor (SRBA) is used to protect the body from sharp knives. However, most SRBA materials currently have the disadvantages of large weight and thickness. This…

Abstract

Purpose

Stab-resistant body armor (SRBA) is used to protect the body from sharp knives. However, most SRBA materials currently have the disadvantages of large weight and thickness. This paper aims to prepare lightweight and high-performance SRBA by 3D printing truss structure and resin-filling method.

Design/methodology/approach

The stab resistance truss structure was prepared by the fused deposition modeling method, and the composite structure was formed after filling with resin for dynamic and quasi-static stab tests. The optimized structural plate can meet the standard GA68-2019. Digital image correlation technology was used to analyze the local strain changes during puncture. The puncture failure mode was summarized by the final failure morphologies. The explicit dynamics module in ANSYS Workbench was used to analyze the design of the overlapped structure stab resistance process in this paper.

Findings

The stab resistance performance of the 3D-printed structural plate is affected by the internal filling pattern. The stab resistance performance of 3D-printed structural parts was significantly improved after resin filling. The 50%-diamond-PLA-epoxy, with a thickness of only 5 mm was able to meet the stab resistance standard. Resins are used to increase the strength and hardness of the material but also to increase crack propagation and reduce the toughness of the material. The overlapping semicircular structure was inspired by the exoskeleton structure of the demon iron beetle, which improved the stab resistance between gaps. The truss structure can effectively disperse stress for toughening. The filled resin was reinforced by absorbing impact energy.

Originality/value

The 3D-printed resin-filled truss structure can be used to prepare high-performance stab resistance structural plates, which balance the toughness and strength of the overall structure and ultimately reduce the thickness and weight of the SRBA.

Article
Publication date: 26 March 2024

Cong Ding, Zhizhao Qiao and Zhongyu Piao

The purpose of this study is to design and process the optimal V-shaped microstructure for 7075 aluminum alloy and reveal its wear resistance mechanism and performance.

Abstract

Purpose

The purpose of this study is to design and process the optimal V-shaped microstructure for 7075 aluminum alloy and reveal its wear resistance mechanism and performance.

Design/methodology/approach

The hydrodynamic pressure lubrication models of the nontextured, V-shaped, circular and square microtextures are established. The corresponding oil film pressure distributions are explored. The friction and wear experiments are conducted on a rotating device. The effects of the microstructure shapes and sizes on the wear mechanisms are investigated via the friction coefficients and surface morphologies.

Findings

In comparison, the V-shaped microtexture has the largest oil film carrying capacity and the lowest friction coefficient. The wear mechanism of the V-shaped microtexture is dominated by abrasive and adhesive wear. The V-shaped microtexture has excellent wear resistance under a side length of 300 µm, an interval of 300 µm and a depth of 20 µm.

Originality/value

This study is conductive to the design of wear-resistant surfaces for friction components.

Details

Industrial Lubrication and Tribology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0036-8792

Keywords

Article
Publication date: 13 December 2023

Ferhat Ceritbinmez, Yusuf Kanca, Ahmet Tuna and Erdoğan Kanca

FeNi36 (Invar-36) alloy is widely used in the fabrication of molding tools in aerospace industries but there remains a need to improve its wear and friction performance due to its…

Abstract

Purpose

FeNi36 (Invar-36) alloy is widely used in the fabrication of molding tools in aerospace industries but there remains a need to improve its wear and friction performance due to its relatively low hardness. The formation of a heat affected zone (HAZ) on the surface of Invar-36 cut by wire electric discharge machining (WEDM) is promising to enhance its tribological properties. This study aims to investigate the tribological performance of WEDM-treated Invar-36 via a ball-on-disk tribometer in dry-sliding conditions.

Design/methodology/approach

The untreated and WEDM-treated Invar-36 surfaces were reciprocated against an alumina ball at a sliding velocity of 40 mm/s, a stroke length of 10 mm and a sliding duration of 125 min under loads of 5, 10 and 20 N. The worn surfaces were characterized using a 2D profilometry and a scanning electron microscope equipped with energy-dispersive spectroscopy.

Findings

The results showed that the WEDM-treated surface had a superior friction coefficient and wear resistance in comparison to the untreated surface, due to the grown HAZ. There was found to be a 9.3%–11.4% decrease in the friction coefficient and a 47%–57% reduction in the wear volume after the WEDM treatment. Both the untreated and WEDM-treated Invar-36 surfaces found abrasion and plastic deformation as the dominant wear mechanisms.

Originality/value

Previous works have not focused on the tribological performance of the WEDM-treated Invar-36 extensively used for molding tools in aerospace industries. Our findings provide compelling evidence that the WEDM treatment improved the wear and friction performance of Invar-36 alloy because of the grown HAZ.

Details

Aircraft Engineering and Aerospace Technology, vol. 96 no. 1
Type: Research Article
ISSN: 1748-8842

Keywords

1 – 10 of 252