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Dynamic Analysis of the 3CRS Parallel Robot using Carbon/Natural Fibers Hybrid Composite Links |
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Anh Vu Nguyen(Viettel Aerospace Institute, Viet Nam), Belhassen Chedli Bouzgarrou, Karine Charlet, Alexis Béakou(Université Clermont Auvergne, Clermont Auvergne INP, CNRS, Institut Pascal, France) |
| With the aim of improving the damping capacity, carbon/natural fibers reinforced composite is used for replacing aluminum in the limbs of a 6-degrees of freedom parallel robot. Vibration and damping analyses are performed on the robot structure by an analytical method. The modal frequencies and the loss factor are determined and compared between the initial robot with aluminum limbs and the reformed robot with hybrid composite limbs. The results show that the reformed robot has considerably higher damping capacity that could allow the robot to achieve higher precision or faster speeds. |
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Realization of Musical Saw Bowing by Industrial Humanoid Robot |
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Hiroaki Hanai, Akira Mshima, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama(Doshisha University, Japan) |
| In this study, we focused on bowing, which is used in the evaluation of musical saw performance, in addition to striking. Moreover, self-excited vibrations must be generated by stick-slip based on the performance. Consequently, the pressure and velocity must be controlled to verify the generation of the self-excited vibration and the vibration itself. In addition to the generation of sound by a self-excited vibration, this study discusses the pure sound nature of the vibration. This approach differs from those implemented in previous studies to suppress the self-excited vibration. Furthermore, we present a method to realize the musical saw movement using an industrial humanoid robot. |
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Design and Development of a Co-axial Passive Flexion Mechanism-based Gripper for Irregular Objects |
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Bhivraj Suthar(CNU, Korea), Seul Jung(Chungnam National University, Korea) |
| Humans hand has a complex functionality to achieve stable and reliable gripping of irregular-shaped objects. This paper aims to design a three-finger anthropomorphic gripper and endow the designed hand with natural grasping functions. We introduce a passively adjustable flexion finger mechanism that can change a flexion finger angle according to the irregular-shaped objects. Each finger of the gripper has a torsional spring and has placed co-axially, connected in series on an equilateral triangular palm. The required stiffness of the flexion angle and object safety condition is analyzed. The variation of the flexion joint stiffness for the minimum to maximum flexion angle is evaluated. Practical experiments using a wide range of objects under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper. |
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Dynamics Analysis and Control of 5 DOF Robot Manipulator |
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Muhammad Salman(Pusan National University, Korea), Min Cheol Lee(Pusan National University, Busan Campus, Korea) |
| Title: Dynamics Analysis and Control of 5 DOF Robot
Manipulator
1) The accurate dynamic model of the robot manipulator is essential for better control performance.
2)Lagrange-Euler (L-E) method is used for five degrees-of-freedom (DOF) robot manipulator
3)Followed by the implementation of a proportional-integral-derivative (PID) control with a low pass filter ‘N’ (PID-N) on the derived system.
4)Ziegler Nichols's closed-loop tuning method is used to optimally tune the PID control.
5)The simulations results illustrated that the derived model is controllable which indicates the correctness of the derived model. |
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Rocker bogie Based Mobile Robot Control for Driving, Climbing and Standing Upright |
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Eunho Seo, Jooyoung Chun, Hunkeon Ko, Sangin Park, Dong Jin Hyun(Hyundai Motor Company, Korea) |
| This work presented the rocker bogie typed mobile robot platform. This is for driving on uneven terrain, such as in an urban environment. The bogie joints are applied to friction compensation for ensuring wheel contact on uneven terrain. The wheel torques are calculated using the simple model with a pseudo inverse approach with force distribution. And we study the possibilities in various fields such as service. One is climbing the curb and the other is an upright robot. Climbing the curb has the states of motion, and the behavior is determined at each state. Upright robot is controlled by LQR, and the interpolating gain matrix is used for variable of the robot height. |
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User-Interfaced Guidance Scheme for Steering Swarm of Magnetic Nanoparticles |
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Myungjin Park, Yoon Jungwon(GIST, Korea) |
| Introduction and Objective
Magnetic Targeted Drug Delivery (MTDD) is a method to steer and concentrate magnetic nanoparticles (MNPs) at a desired location in body. Despite recent developments in magnetic navigation, only few comprehensive strategies for swarm of nanoparticles steering under dynamic fluid exists. This paper introduces a strategy for swarm of MNPs steering in a vascular network under dynamic fluid. In the proposed scheme, user steer aggregated particles to desired location in the MTDD simulator. |
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