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Energy is a basic need for development of the modern world. For meeting up the regular demand of energy, a new system that will produce electricity without destroying the nature is needed. Generation of electricity using speed breakers, is one of the most green power generation concepts that the world turning to depend on. The device converts the wasted kinetic energy of vehicles to electrical energy...
We report on the development of a novel switchable clutched parallel elastic actuator (SCPEA), which is composed of active components, such as a brake and clutch, as well as passive components, such as a ratchet and one-way bearing. The proposed SCPEA can actively control the storing, preserving, and releasing of the spring potential energy to and from the input motor even when the motor is in operation,...
Tooth pitting is a common failure mode of a gearbox. With the growth of tooth pitting, gear mesh stiffness shape changes and consequently the dynamic properties of the gear system change. An efficient and effective way to evaluate the time-varying mesh stiffness is essential for comprehensive understanding of dynamic properties and fault detection of a gear system. This study is devoted to modeling...
This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction...
This paper presents an example of a PID controller applied to a 2-dimensional rotorcraft landing gear with two DOF (degrees of freedom), as well as the design of the landing gear dynamic model. The focus of this work is to maintain the landing spot to prevent the landing gear from skidding sideways on the ground, while adapting to different ground conditions. A nonlinear model for the landing gear...
Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match...
The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of...
This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.
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