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High precision overlay alignment is of great importance to guarantee the quality of Roll-to-Roll printed electronics (R2RPE) products. Aiming at removing machining and assembling errors of the roller with both support and transport uses, an aerostatic bearing device with arrayed restrictors is proposed. In this paper the design of the whole device is presented. The mathematical model of the air film...
A low-cost and easy-to-customize Cable-driven Wrist Robotic Rehabilitor (CDWRR) has been developed for forearm and wrist motion training. This device can be potentially applied to rehabilitation of stroke patients for three degree-of-freedom (3-DOF) arm motion, including forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. The CDWRR can be customized for patients with...
High precision rotational alignment is of key importance in micro/nanopositioning or micromanipulating applications. This paper presents a novel rotary micropositioning stage with remote center of motion (RCM) characteristic. Compared with conventional rotary guiding mechanism, the proposed double-parallelogram mechanism (DPM) possesses pure rotational motion along with a compact structure. Based...
Multi-axis force sensors have been investigated for several decades, but existing multi-axis force sensors are limited in range by their resolutions. They are sensitive to noises, when subjected to signal draft, and they are still relatively expensive. To address these problems, this paper presents the conceptual design of a novel two-dimensional force sensor capable of resolving two perpendicular...
The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive...
This paper presents a three-DOF permanent spherical actuator, with precise measurement system. As magnetic model is very useful to torque model and control model, magnetic model is the basis of spherical actuator study. A new analytical magnetic field model is presented for the proposed 3-DOF spherical actuator in this paper. This analytical magnetic field method combines the Laplace equation with...
A human upper-limb endoskeleton has 7 degrees of freedom to achieve various tasks dexterously. Therefore, the biological structures of human arm are attractive to researchers, and in this paper, a 7-DOF (degree of freedom) humanoid arm with cable-driven is presented. For CDHA inheriting the human arm's natural features, it is expected to possess the remarkable advantages of a human arm. Then a critical...
This paper presents a three degree-of-freedom (DOF) permanent magnet spherical actuator, with precise orientation measurement system. Motion control of spherical actuator has been a challenging problem so far. Current-torque control method is the most available control method for permanent magnet spherical actuator, but the control system of this method is quite complex and costly. In this paper we...
This paper presents a dynamic control algorithm of a permanent magnetic spherical actuator, which is capable of performing 3-degree-of-freedom (DOF) in a single rotor. This algorithm is based on the orientation measurement feedback of the rotor. As the orientation measurement of the spherical actuator has been a challenging problem so far. An orientation measurement system for the rotor is proposed...
An adaptive trajectory tracking method based on the kinematics model is proposed in this paper to solve the non-holonomic restriction problem of trajectory tracking of the wheeled mobile robot. After analyzing the course statement of the trajectory tracking control, the idea of the artificial field is introduced to improve the effect of the trajectory tracking, which takes the posture error of the...
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot...
Fiber Optic Gyro (FOG) based on the Sagnac effect is presently used in the Strapdown Inertial Navigation System (SINS) for its outstanding merits. However, the sensor errors of FOG still affect the accuracy of the whole system greatly. The gyro sensor errors consist of two parts: a deterministic part and a random part. The random part is basically due to the gyro random drift and primarily includes...
This paper presents the control of a 3-DOF manipulator with joint angle feedback, the function of which was achieved by three mutually perpendicular joints intersecting at one point actuated by four parallel pulling force. Encoders were installed on each joint to obtain the control error caused by elasticity of cables and mechanism installation. Due to the output coupling problem of parallel mechanism,...
The research on the base of Quadric Error Metrics (QEM) has provided some excellent eclectic methods of model approximation and time cost for mesh simplification. However, there are still some deficiencies in these methods to be settled, such as ignoring some important features and excessive simplification in some parts of the model, etc. To preserve the important geometric features, the paper has...
Calculating the Cartesian coordinate is the first step of image reconstruct based on primitive information from laser scanner. A novel 3D Depth-of-field information collection system in this article is consisted of tow 2D laser scanners and a servo-actuates rotating mirror assembly. The system has a much higher detecting precision than others which drive 2D laser scanner to rotate to get the 3rd dimension...
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