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This paper investigates an electromagnetic worm-like locomotion system (WLLS) with simple design and control. The WLLS consists of two elastically connected ring-like segments that form two coupled electromagnetic actuators. The actuators generate longitudinal and transverse displacements that lead to locomotion due to changes of normal pressure and friction forces. The paper presents the electromagnetic...
Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
An inherent variable stiffness approach was proposed to suppress the rebound and impact of the electrostatic switch due to waveform deviations. A simple clamped-guided beam spring with large deflection, which generated inherent cubic nonlinear restoring force, was adopted for implementation of the approach. The initial stiffness is very small but increases significantly with the displacement. In this...
This article presents the design and construction of a mechanism for emulating load forces caused by the road conditions and friction over an electric power assisted steering (EPAS). This mechanism uses extension springs and a rack-and-pinion mechanism to emulate these load forces. The purpose of devising this mechanism is to build an EPAS system test bench, that allows observing and testing the operation...
In this paper, novel mechanical mechanism and control method using SEA are suggested for natural gait pattern and effective gait rehabilitation. Conventional body weight support system (BWS) focuses on static position lifting and has limitation for a subject to constrain natural gait pattern especially in the vertical and medial-lateral movement. To overcome such abnormal gait pattern during BWS rehabilitation,...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
This paper focused on a fast mechanical switch applied in 2kV hybrid DC contactor. An integrated design of vacuum switch based on Permanent Magnetic Actuator (PMA) is proposed. The stainless steel bellows is removed to avoid vacuum failure caused by air leakage and eliminate restriction of bellows' fatigue life compared to conventional vacuum switch. Both monostable structure and compact springs'...
A coupled fluid-mechanical dynamics analysis method is presented in this paper. A commercial simulation package is used for mechanical dynamics calculation, which employs user-developed dynamic-link library files as routine interface to enable data exchange with gas pressure calculation. This part is responsible for the calculation of mechanical motion, including the tripping of trip trigger, releasing...
To satisfy the requirement of controlling and protection of modern power grid, it is necessary to develop the fast switchgear switching quickly as the executive device. The advances of repulsion and permanent magnetic mechanism are combined fully, the hybrid fast operating mechanism constructed with electromagnetic repulsion and permanent magnetic mechanism was designed in the paper. The switching...
The objective of this paper is to improve the fatigue life of a contact spring pin in a 126 kV vacuum circuit breaker (VCB). Firstly, the fatigue life of the contact spring pin during the opening or closing operation of the 126kV VCB is analyzed. Secondly, an orthogonal experimental method is used for the improvement of the fatigue life of the contact spring pin, in which three impact factors are...
We proposed a hybrid powered ankle exoskeleton. It can be able to supply positive mechanical power to the user during the swing phase of gait. The hybrid powered ankle exoskeleton was composed of a pair of compressed springs and a cable-driven actuator fasted to the shin. It was lightweight, and permitted the cable-driven actuator to provide the forces at the biological level to the ankle joint. Meanwhile...
Contact over-travel and over-travel spring pre-pressure are important debugging parameters of the contactor, which affect contact breaking velocity and rebound. Based on the electromagnetic mechanism of actual products, a dynamic characteristic experimental system was built to realize the adjustment of over-travel and pre-pressure and the measurement of contact breaking velocity and displacement....
Based on nano two-phase composite magnetic material, a design and optimization scheme of energy-saving wind power grid contactor is proposed, which solves the problems of traditional contactor's high iron loss, low speed and large AC noise. In this paper, the electromagnetic system of the contactor is redesigned by the characteristics of high remanence, high coercivity and wide hysteresis loop of...
The paper presents a new type of electromagnetic actuator based on the attraction forces generated by a pair of electromagnets over a ferromagnetic disk, which uses a differential magnetic spring to generate the return forces. The paper also shows some functional characteristics of this device, obtained by numerical simulation with COMSOL Multiphysics. The proposed actuator has been experimentally...
In this paper, we develop haptic based force reflecting interaction interface for bilateral telemanipulation of miniature aerial vehicle. The human-master interface combines shared control term with the reflected force fields mapped by using artificial force field and virtual impedance force field. The shared control for the human-master comprises velocity signals of the with the scaled position of...
The inclusion of robots in therapy is becoming common due to robots' power, repetitive motion ability, reprogramming capacity and adaptability to new tasks. In recent years, the demand for rehabilitation services has increased due to the rising number of patients with disability. In this paper, we propose a solution to the rising demand for therapists' services by combining Learning from Demonstration...
The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker...
This paper proposes a high-safety power-assisted cart that can be operated on a slope by applying little-changed manual power even if the inclination changes. In this cart, balancing operation to compensate for load increments due to the increase in the inclination by using a spring is achieved in the safe state with the cart held by the brake application, while dangerous moving operation is performed...
Ring Main Unit(RMU) are now widely used to protect MV/LV transformers as well as construct Loop distribution system. It uses SF6 gas for insulation and therefore it can possible to make compact switchgear and maintenance free due to tightness tank structure. It consists of Load Break Switch(LBS), Fuse combination switch and Circuit Breaker(CB) including Vacuum Interrupter(VI). Especially, a RMU using...
Vacuum Circuit Breaker (VCB) consists of the main frame with the operating mechanism and the main circuits including VI (Vacuum Interrupter). Especially, a VCB for the generator protection, which is used in a power plant, requires very large contact spring force because it has to be able to withstand the high short circuit current. In order to release closing energy of VCB, the cam type mechanism...
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