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Introducing dummy slots is often applied to reduce cogging torque in permanent magnet synchronous machines. Although this solution always helps for smooth operation, its influence on noise and vibration (NV) performance needs more focused analysis. This paper employs two surface-mounted machines to investigate the effect of dummy slots, one of which is a 10-pole/12-slot machine (M1) with few magnetic-field...
This paper proposes an analytic method based on finite-element method (FEM) for the rolling gaits of tensegrity robots. By analyzing forces during the rolling motions, the following problems can be solved. First, the relation between the actuator combinations (AC) and the rolling directions is discovered for controlling the rolling motions. Second, the influence of the driving parameters on the deformations...
Tensegrity robots are novel flexible mobile robots based on the conception of “tensegrity structures” that cited from the architecture. Tensegrity robots possess high strength-mass ratio, deformation capacity and shock resistance ability and can adapt to the environment with self-deformations. Existing simulations for tensegrity robots are carried out with Matlab that required complex dynamics modeling...
The wall pressing arms of a screw drive in-pipe robot are usually designed by using springs to be elastic. This is because pipe-diameter adaptability and climbing obstacle capability can be enhanced by the elastic arms. However, the axis of the robot deviates from that of the pipe exactly because of elasticity and gravity. Some extra energy is consumed wastefully due to wheel slipping and spring deformation...
Stair-climbing is a necessary capacity for mobile robots. This paper presents an online control method for the stair-climbing of a transformable tracked robot, Amoeba-II, and this robot is also an isomerism-modules robot with different mechanism modules. Based on the reasonable compartmentalization and kinematics analysis of the stair-climbing process, the coordination of the rotations of modules...
To access to the terrains that may be soft and hard, even and uneven, a novel robot (NEZA-I) with the self-adaptive mobile mechanism has been developed. Its mobile mechanism consists of two symmetric transformable wheel-track (TWT) units. Each TWT unit is driven by only one servo motor, and can efficiently move over rough terrains by changing the locomotion mode or by transforming the track configuration...
A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration...
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