Analytical design of optimal trajectory with dynamic load-carrying capacity for cable-suspended manipulator

This paper describes the development of an approach for trajectory planning of cable-suspended parallel robots using optimal control approach. A prototype has been built, and tests have been carried out to verify the theoretical results. This paper briefly illustrates this device and presents some initial tests. The final dynamic equations are organized in a closed form similar to serial manipulator equations. Dynamic load-carrying capacity problem is converted into a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. The problem is formulated using optimal control theory, and the ideas are analyzed using Pontryagin’s minimum principle. The optimal solutions are found by solving the corresponding nonlinear two-point boundary value problems. The main objective is to find the manipulator load-carrying capacity in point-to-point task by considering actuator torque while cable forces are positive.     

Sensitivity analysis of surface topography using the submerged non uniform piezoelectric micro cantilever in liquid by considering interatomic force interaction

Journal of Mechanical Science and Technology - The aim of this study is modeling and investigating the micro-cantilever (MC) vibration behavior of atomic force microscopy (AFM) more accurately by...     

Analysis of the atomic force microscopy vibration behavior using the Timoshenko theory by multi‐scale method in the air environment

This article deals with the modeling and simulation of the vibration behavior of piezoelectric micro‐cantilever (MC) based on the Timoshenko theory and using multi‐scale (MTS) method in the air environment. In this regard, the results are compared with the previous literature, such as the finite element method and the MTS method. The analysis of the piezoelectric MC vibrating behavior is investigated in a dynamical mode including non‐contact and tapping modes. The dynamics of this system is affected by interferential forces between probe tip and sample surface, such as van der Waals, capillary, and contact forces. According to the results, the forces applied to the probe tip reduce the amplitude and the resonance frequency. The simulation of surface topography in non‐contact mode and tapping for rectangular and wedge‐shaped roughness in the air environment are presented. Various experiments have been conducted in Ara research Company using the atomic force microscopy device in the amplitude mode. In the NSC15 Cantilever, the first natural frequency is derived from the results of the MC simulation based on Timoshenko beam theory, the practical results are 295.85 and 296.12 kHz, and the error rate is 0.09; at higher natural frequencies, the error rate has been increased. The γ _f coefficient is a measure of the nonlinear effects on the system; the effect of the piezoelectric length and width on γ _f coefficient is also investigated.     

Sliding mode control design based on the state-dependent Riccati equation: theoretical and experimental implementation

In this paper, a suboptimal sliding mode control method is derived from combination of the sliding mode control (SMC) and the state-dependent Riccati equation (SDRE) technique, applied for a class of nonlinear closed-loop systems. One of the distinguished features of this control method is its robustness towards uncertainty. Due to lack of optimality in SMC method, in this paper, a robust and suboptimal method is presented by considering the SDRE in design of the sliding surface in two types of: algebraic and integral sliding surfaces. In addition, due to the use of the state-dependent differential Riccati equation in the integral form of sliding surface, proposed method is able to provide a robust attitude with desired finite-time control option. The sensitivity of various percentage of uncertainty in the physical structure of the system is studied and control strategies for general manipulators are provided. The proposed control structure was implemented on Scout robot theoretically and practically by the LabVIEW software; and the results were compared by considering the uncertainty in its structure. In comparison with conventional SMC, the proposed method reduced the required time to reach the sliding surface almost 50%.     

Sensitivity analysis of nonlinear vibration of AFM piezoelectric microcantilever in liquid

In this paper sensitivity analysis of nonlinear vibrating motion of atomic force microscope (AFM) piezoelectric microcantilever (MC) is performed in liquid environment. With respect to the importance of resonance amplitude and system nonlinearity in AFM application, sensitivity analysis of nonlinear vibrating motion is performed on these two parameters. The sensitivity analysis is carried out based on the Sobol statistical method. Piezoelectric MC has geometrical discontinuities due to presence of piezoelectric layer and tip. Regarding these discontinuities, non-uniform beam model is chosen for the dynamic modeling. Vibrating motion of the MC is modeled in AFM non-contact mode. The sensitivity analysis is performed to study how the effective parameters affect nonlinear vibrating motion in liquid. The sensitivity analysis of piezoelectric MC in liquid was compared with the one performed in air to better specify the effect of liquid environment on motion. The obtained results show that sensitivity of piezoelectric MC to nonlinearity of interaction force in air is greater than liquid and the sensitivity decreases with the increase of liquid density. With respect to the sensitivity analysis results, it can be concluded that the most effective geometrical parameters on nonlinearity in both air and liquid environments are thickness and length of piezoelectric layer and length of tip. The results of sensitivity analysis also show that the length of probe in liquid has a considerable effect on amplitude, whereas it has less effect on amplitude in air.     

Application of symbolic manipulation to inverse dynamics and kinematics of elastic robots

An inverse dynamics and kinematics of a flexible manipulator is derived in symbolic form based on the recursive Lagrangian assumed mode method. A PC-based program has implemented the algorithm to automatically generate the inverse dynamics and kinematics for an elastic robot in a symbolic form. A case study is given to illustrate how to use this program for inverse dynamic and kinematic generation. Simulation results for a case study by considering different mode shape are compared with the rigid case.Nomenclature A _i joint transformation relates systemi to systemi-1 - E _i link transformation relates the deflection of systemi to systemi - F _i joint torque acting on jointi - g gravity vector expressed at the base coordinates - J inertia = - K kinetic energy of the system - l _i length of linki - M _i a mass concentrated at the joint i - m _i number of modes used to describe the deflection of link i - n number of links - q _h joint variable of thehth joint - q _hk time-varying amplitude of mode k of link h - R vector of remaining dynamics and external forcing terms = - r _i vector locating the centre of mass of linki - R _j dynamics from the joint equation j, excluding second derivatives of the generalized coordinates - R _if dynamics from the deflection equation jf, excluding second derivatives of the generalized coordinates - V potential energy - W _i transformation from the base to theith link - transformation from the base to the systemî - z the vector of generalised coordinates = - link density     

Design, manufacturing, and experimental tests of a prismatic robot for assembly line

Design of a robot has been defined for studying analyzing activities in the assembly line, and the proposed robot is applied for one of the important stations in the assembly line. Kinematics and dynamic modeling, finite element analysis (FEA), quality function deployment (QFD), and failure mode and effect analysis (FMEA) are used in this paper. Then a method of vision technique using a CCD-camera and a vision analytical software for practical tests of a 3P robot is presented. The most important subject pointed out, is finding the positional error parameters such as repeatability, positional deviation, and systematic errors of robot mechanism by choosing the proper standard for performing the test. Results are confirmed by the statistical and experimental method. Finally a method for increasing the accuracy of the robot will be proposed is this experiment.     

Optimal actuator sizing and end point deformation for mobile robotic manipulators with elastic joint based on load criteria

Application of a numerical method to determine the maximum dynamic load carrying capacity (DLCC) for a robotic manipulator carrying an automobile petrol tank with joint elasticity subject to accuracy and actuator constraints is described in this paper. The maximum DLCC which can be achieved by a manipulator during a given trajectory is limited by a number of factors. The most important of which are the dynamic specification of the manipulator, the actuator limitations, and the elasticity of the joints such as reducers and servo drive system. Initially, the kinematic equations for carrying the automobile petrol tank by the robotic arm with 6 degrees of freedom (DOF) were calculated. The mechanical modeling was achieved via software programming. Dynamic modeling of the flexible joints manipulator was done simply for the three major axes. A method for determination of the dynamic load capacity with specific reference to both accuracy and actuator constraints is explained. The results obtained indicate the importance of both constraints and which constraint is more critical for accuracy and tracking.     

Surface modification of polyurethane via creating a biocompatible superhydrophilic nanostructured layer: role of surface chemistry and structure

Advanced surface modification approaches of biomaterials alongside the advent of sophisticated analytical techniques have provided a great opportunity to understand how the physicochemical characteristics of materials determine cell–surface dynamics at molecular and atomic scale. However, there are still many contradictory reports, which are mainly due to inadequate information about the role of the two parameters of surface chemistry and structure and their synergistic effect as an adequate predictor of biological performance. Here, surface parameters were altered by grafting of poly ethylene glycol (PEG) on polyurethane (PU) surfaces through a superhydrophilic modification method. In this study, surface modification of PU films by PEG thin layer via grafting technique and TiO2 nanoparticle entrapment in the brush polymers was investigated. The surface modification led to a reduction in protein adsorption and bacterial attachment by 8.7 times and 71% respectively with no cytotoxicity effect on HeLa cells. It was also observed that when PU surface became superhydrophilic the bacterial adhesion becomes independent of bacterium type. In general, it was observed that the impact of topographical changes on the biocompatibility and biofilm formation becomes significantly more profound than that of the surface chemistry alteration.