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An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
This paper proposes an omni-directional mobile base utilizing spherical robots as its wheels. In particular, the mobile base can move in an omni-directional manner by controlling translational and rotational motion of the spherical robots. However, in practice, unnecessary rotation of the spherical robots may occur due to the presence of friction and individually controlled wheel's-direction. To overcome...
This paper present a method of straight path following for trenching works of underwater construction robot. First of all, deriving 3-DOF equation of underwater construction robot for an analysis of fundamental motion performance through a numerical simulation using Matlab. After then, the pure-pursuit method which is the one of the geometric path tracking method is introduced. When derailment of...
PM-assisted claw-pole synchronous motor (CPSM) has commonly been used in a variety of industrial applications, thanks to its robust structure and high energy density. However, such motor has an axially asymmetric rotor configuration, which induces the corresponding 3-D magnetic field distribution. Thus, this paper develops an infinitesimal hexahedron-element-based 3-D equivalent magnetic circuit network...
This paper proposes a compact embedded motor controller that can be mounted in a robot arm. Three different control modes are implemented in the controller: torque, velocity, and position. It supports EtherCAT network for real-time control whose control frequency is faster than 1kHz for 18 network nodes under Linux Xenomai operating system. The compact controllers are mounted inside an 18-DOFs dual-arm...
This paper deals with finding the optimal ratio of height and length of Single-Sided Linear Induction Motors (SLIM) using Finite Element Method (FEM) for magnetic field analysis coupled with optimal design methodology. For effective analysis, FEM is conducted in time harmonic field which provides steady state performance with the fundamental components of voltage and current. The ratio of height to...
Fish generates large thrust through an oscillating motion with a fin. It is assumed that the flexibility of a fin affects the thrust generated by the fish. However, detailed investigation on the relationship between the flexibility of the fin and thrust generation is lacking. In this paper, the driving mechanism of a robotic fish is implemented using a compliant joint and caudal fin that is adapted...
In the case of remote control excavator, it needs to deliver the force from the bucket to the controller to control effectively. And unmanned robotic excavator also needs this force element to control effectively and safely in current working circumstances. For these reasons many research attaches the force sensor to the excavator in various ways. However force sensor is very expensive and it is very...
This paper describes two kinds of the tactile sensors using the optical fiber sensors. One is the tactile sensor using fiber Bragg grating (FBG) sensor. Bragg grating inscribed in an optical fiber causes reflect of a spectral component at the Bragg wavelength. This sensor can detect external force using change of the reflective wavelength. The other is the tactile sensor using the microbending optical...
This paper describes the locomotion of a water jumping robot which emulates the ability of the water strider and the fishing spider to jump on the water surface. While previous studies of the robots mimicking aquatic arthropods were focused on recreating their horizontal skating motions, here we aim to achieve a vertical jumping motion. The robot jumps by pushing the water surface with rapidly released...
This paper describes the design and the performance results of a dexterous manipulator for minimally invasive surgery (MIS) that performs like a human arm. The design of the loadcell to measure the force of its tool-tip and its method are also presented for including a force-feedback loop in the future. Because a human whole arm has 7 degrees of freedom (DoF), we have also designed 7 DoF manipulator...
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