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As a new type of automatic transmission in recent several years, dual clutch transmission (DCT) owns the advantages of both automated manual transmission (AMT) and hydraulic automatic transmission (AT), and shows a huge development potential in automatic transmission family. In this paper, a dynamic model of the shift process for a six-speed wet-type DCT is presented, the simulation model has been...
This paper presents a snake robot moving in a small diameter pipe. A snake robot is a multi-linked modular robot. The snake robot, KAEROT-snake IV consists of 11 2-DOF actuator modules, a head, and a tail module. Each of the 2-DOF actuator modules has two small DC motors and worm gear boxes to increase the torque output and an embedded motor controller. The snake robot can move in a small diameter...
In this paper, Artificial Neural Networks (ANN) has been used to identify the dynamics of robots used in haptic and master slave devices in order to improve transparency. In haptic and master slave devices, transparency depends on some factors such as robot's mass and inertia, gravitational forces and friction [1]. In such systems, mass and inertia of the robot has an undesirable effect on the system...
In this paper, a robust torque control method is proposed for a robot arm which is equipped with joint torque sensor. The proposed controller is used to control the joint torque and make it to be equal with the torque controller reference input torque. A flexible joint robot model will be introduced to model the robot arm system. The disturbance observer scheme is used to reduce the disturbance effects...
The objective of our research is to investigate the performance evaluation of traveling-wave ultrasonic motor with two-degree of freedom (2DOF-USM). The space structure of 2DOF-USM is introduced briefly. The mathematic model of the motor is established based on friction drive mechanism. Through relation of space location, calculating the driving force and friction force at arbitrary point of contact...
Three Degree-of-Freedom (3DOF) traveling wave type ultrasonic motor (USM) can move at three degrees. The principle and basic structure of 3DOF traveling-wave type USM are presented in this paper firstly. Then through coordinate conversion the distribution of the force on the contact area of rotor and stators can be obtained when the rotor rotates. Thus the motorpsilas driving and friction force can...
An oscillating tribometer was used to investigate the wear mechanisms of TiN (titanium nitride) on UHMWPe (ultra high-molecular-weight polyethylene), oscillating either a coating/substrate system (TiN/Ti-6Al-4V) or a CoCr (cobalt chromium) coupon, for control, on three pins of UHMWPe in a planar configuration. Oscillations were carried out to 10-million cycles in order to discover and evaluate long-term...
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