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Full-Text Articles in Mechanical Engineering
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
ETD Archive
We investigate the control and optimization of robots with ultracapacitor based regenerative drive systems. A subset of the robot joints are conventional, in the sense that external power is used for actuation. Other joints are energetically self-contained passive systems that use ultracapacitors for energy storage. An electrical interconnection known as the star configuration is considered for the regenerative drives that allows for direct electric energy redistribution among joints, and enables higher energy utilization efficiencies. A semi-active virtual control strategy is used to achieve control objectives. We find closed-form expressions for the optimal robot and actuator parameters (link lengths, gear ratios, …
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
ETD Archive
The CSU 4OptimX exercise robot provides a platform for future research into advanced exercise and rehabilitation. The robot and its control system will autonomously modify reference trajectories and impedances on the basis of an optimization criterion and physiological feedback. To achieve this goal, a robust impedance control system with trajectory tracking must be implemented as the foundational control scheme. Two control laws will be compared, sliding mode and H-infinity control. The above robust control laws are combined with underlying impedance control laws to overcome uncertain plant model parameters and disturbance anomalies affecting the input signal. The sliding mode control law …
Design And Control Of A Powered Rowing Machine With Programmable Impedance, Jose Humberto De La Casas Zolezzi
Design And Control Of A Powered Rowing Machine With Programmable Impedance, Jose Humberto De La Casas Zolezzi
ETD Archive
Due to the rise of obesity, diabetes and cardiovascular disease, research in human performance and physical activity has received increased attention. Rowing machines are used for performance improvements through concentric exercises, however a combination of concentric and eccentric actions is known to improve the effectiveness of training. In this work, a conventional rowing machine was modified to include an electric motor and a robust impedance control system, enabling programmable impedance with concentric and eccentric capabilities. Eccentric exercises are known to contribute significantly to the efficacy of training and to diminish the detrimental effects of humans operating in microgravity for long …
Optimal Design And Control Of A Lower-Limb Prosthesis With Energy Regeneration, Holly E. Warner
Optimal Design And Control Of A Lower-Limb Prosthesis With Energy Regeneration, Holly E. Warner
ETD Archive
The majority of amputations are of the lower limbs. This correlates to a particular need for lower-limb prostheses. Many common prosthesis designs are passive in nature, making them inefficient compared to the natural body. Recently as technology has progressed, interest in powered prostheses has expanded, seeking improved kinematics and kinetics for amputees. The current state of this art is described in this thesis, noting that most powered prosthesis designs do not consider integrating the knee and the ankle or energy exchange between these two joints. An energy regenerative, motorized prosthesis is proposed here to address this gap. After preliminary data …