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Full-Text Articles in Engineering
Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert
Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system and …
Robotic Testing Of Proximal Tibio-Fibular Joint Kinematics For Measuring Instability Following Total Knee Arthroplasty, Wael K. Barsoum, Ho H. Lee, Trevor G. Murray, Robb Colbrunn, Alison K. Klika, S. Butler, Antonie J. Van Den Bogert
Robotic Testing Of Proximal Tibio-Fibular Joint Kinematics For Measuring Instability Following Total Knee Arthroplasty, Wael K. Barsoum, Ho H. Lee, Trevor G. Murray, Robb Colbrunn, Alison K. Klika, S. Butler, Antonie J. Van Den Bogert
Mechanical Engineering Faculty Publications
Pain secondary to instability in total knee arthroplasty (TKA) has been shown to be major cause of early failure. In this study, we focused on the effect of instability in TKA on the proximal tibio-fibular joint (PTFJ). We used a robotics model to compare the biomechanics of the PTFJ in the native knee, an appropriately balanced TKA, and an unbalanced TKA. The tibia (n = 5) was mounted to a six-degree-of-freedom force/torque sensor and the femur was moved by a robotic manipulator. Motion at the PTFJ was recorded with a high-resolution digital camera system. After establishing a neutral position, …
Tolerance Specification Of Robot Kinematic Parameters Using An Experimental Design Technique, Y.H. Andrew Liou, Paul P. Lin, Richard R. Lindeke, Hsiang-Dih Chiang
Tolerance Specification Of Robot Kinematic Parameters Using An Experimental Design Technique, Y.H. Andrew Liou, Paul P. Lin, Richard R. Lindeke, Hsiang-Dih Chiang
Mechanical Engineering Faculty Publications
This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method. The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot.
An Efficient Technique For Finding The Desired Global Optimum Of Robotic Joint Displacement, Paul P. Lin, An-Jen J. Yang
An Efficient Technique For Finding The Desired Global Optimum Of Robotic Joint Displacement, Paul P. Lin, An-Jen J. Yang
Mechanical Engineering Faculty Publications
For an industrial robot on a daily operation basis such as pick and place, it is desired to minimize the robotic joint displacements when moving the robot from one location to another. The objective of the optimization here is to simultaneously minimize a robot end effector's positional error and the robotic joint displacements. By modifying the searching algorithm in the existing complex optimization method, this article presents a technique for finding the desired global optimum solution more efficiently. To compare the optimum searching capability between the proposed and existing searching algorithms, a modified Himmelblau's function is used as an objective …
An Improved Method For Online Calculation And Compensation Of The Static Deflection At A Robot End-Effector, Paul P. Lin, Hsiang-Dih Chiang, Xiu Xun Cui
An Improved Method For Online Calculation And Compensation Of The Static Deflection At A Robot End-Effector, Paul P. Lin, Hsiang-Dih Chiang, Xiu Xun Cui
Mechanical Engineering Faculty Publications
Traditionally, robotic deflection analysis for a low-weight robot has been performed based on an assumption that each link is treated as a cantilever beam, which leads to no angular deflection at a joint. In practice, a robotic intermediate joint is linearly and angulary deflected when a load is applied at the end-effector. It is found in this study that the additional link deflection resulting from the angular deflection of a robotic revolute joint substantially contributes to the end-effector's total deflection. This article presents an improved method via a combination of classical beam theory, energy methods and the concepts of differential …