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Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
This paper presents an analysis of response variation in the fast and precise micrometer stroke positioning of table drive systems with rolling friction. The rolling friction in the mechanism behaves as a nonlinear and dynamic elastic component with a hysteresis property in a micro displacement region, which may cause the response variation in a sequential micrometer stroke positioning motion. In...
This paper presents a position command design methodology for table drive systems utilizing for a contact operation. In high performance mechatronic systems utilizing for contact operations such as picking up and/or placing on materials, force control is strongly requested to prevent a damage of materials due to impact force. Moreover interference force from other axis deteriorates position control...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
This paper proposes a new type of active suspension system for road vehicles. The paper addresses the design and analysis of the vehicle's suspension with the intent of later integrating this work into a fully functional prototype. The work presented here builds on a previous prototype built by the first author by adding telescoping suspension arms whose displacement can be actively controlled. This...
This communication deals with the key issues of a hybrid actuation system operating in active/no-load mode. The hybrid actuation system under study is made of a servo valve controlled hydraulic actuator (SHA) and an electro-mechanical actuator (EMA). In active/no-load mode, both actuators are actively controlled; the SHA is in position control while the EMA is controlled to generate null force. Virtual...
In this study, we propose a novel grip-type haptic display for controlling a virtual (or robotic) hand (Fig. 1). This grip-type haptic display enables us to control a virtual hand and perceive haptic information based on a reactive force and a spatially distributed tactile feedback. Because this proposed display does not need any actuators to produce the reactive force, a simple haptic display is...
This paper presents a novel position command shaping approach for the mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in plant may deteriorate the motion performance. In this research, a linear matrix inequality (LMI) design framework is applied to...
An electromagnetic engine valve (EMV) has received a great deal of attention due to the growing importance of issues such as fuel economy and environmental protection in the automotive. In this paper we propose a new positioning control method for a prototype linear motor developed for the EMV. This linear motor has nonlinear properties due to the detent force, the force ripple and the friction. We...
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