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Keywords: actuators
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Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2012, 7(1): 011002.
Published Online: July 22, 2011
... joints mechanism, the maximum impact force at its joints takes its highest value at the nearest joint to the input link. This study also shows that, when the mechanism works in horizontal plane, the rate of impacts at each clearance-joint increases and consequently the clearance-joints and actuators...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2011, 6(3): 031013.
Published Online: February 2, 2011
...Farhad Aghili The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. This paper presents a unified approach to control a rather general class of robotic...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2011, 6(3): 031009.
Published Online: February 1, 2011
... of the projection matrix is fixed, the projection-based controller does not need to change its structure whenever the mechanical system changes its number of degrees-of-freedom. The controller also allows to specify lower and upper bounds on the actuator forces/torques, making it suitable not only for the control...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. April 2011, 6(2): 021008.
Published Online: October 28, 2010
...Bilal Ruzzeh; József Kövecses Redundancy in the constraining of mechanical systems achieves more stability and larger load capacity for the system, while in actuation it provides better robustness against singularities and higher maneuverability. Few techniques have been developed with the aim...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2009, 4(3): 031004.
Published Online: May 19, 2009
... with gain scheduling show a high potential in the simulation to significantly increase the disturbance rejection or the tracking performance of the machine tool. 28 02 2008 24 07 2008 19 05 2009 actuators damping linear quadratic control machine tools nonlinear control systems...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2009, 4(1): 011009.
Published Online: November 12, 2008
... to as hybrid dynamical systems . In particular, new results pertaining to the dynamic behavior of a sample hybrid dynamical system, an impact microactuator, are obtained using this software program. Here, periodic trajectories of the actuator with single or multiple impacts per period and associated saddle...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2009, 4(1): 011002.
Published Online: November 11, 2008
...G. Aridon; A. Al Majid; L. Blanchard; D. Rémond; R. Dufour This paper presents a simulation tool for predicting the self-deployment of an on-board deployable hexapod based on the release of strain energy stored in six tape-spring actuators. Their hysteretic behavior is described by six restoring...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. October 2008, 3(4): 041013.
Published Online: September 4, 2008
... by the “energy shaping” technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so...
Journal Articles
Article Type: Research Papers
J. Comput. Nonlinear Dynam. October 2007, 2(4): 344–350.
Published Online: April 30, 2007
... counterweight mode is optimized by minimizing the sum of mean square values of actuator forces. The simulations show that the optimal mass of counterweights does not equal the total mass of moving parts of the parallel manipulator, and each counterweight mode has its advantage and disadvantage. Considering...