Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics

Shahin Sirouspour

Copyright: © 2013 |Pages: 348

ISBN13: 9781466636347|ISBN10: 1466636343|EISBN13: 9781466636354

DOI: 10.4018/978-1-4666-3634-7

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Sirouspour, Shahin, editor. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics. IGI Global, 2013. https://doi.org/10.4018/978-1-4666-3634-7

APA

Sirouspour, S. (Ed.). (2013). Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics. IGI Global. https://doi.org/10.4018/978-1-4666-3634-7

Chicago

Sirouspour, Shahin, ed. Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics. Hershey, PA: IGI Global, 2013. https://doi.org/10.4018/978-1-4666-3634-7

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The emergence of mechatronics has advanced the engineering disciplines, producing a plethora of useful technical systems.

Advanced Engineering and Computational Methodologies for Intelligent Mechatronics and Robotics presents the latest innovations and technologies in the fields of mechatronics and robotics. These innovations are applied to a wide range of applications for robotic-assisted manufacturing, complex systems, and many more. This publication is essential to bridge the gap between theory and practice for researchers, engineers, and practitioners from academia to government.

Table of Contents

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Front Materials

Title Page

Copyright Page

Editorial Advisory Board

Preface

Chapters

Chapter 1

Open Loop Force Control of Piezo-Actuated Stick-Slip Drives (pages 1-18)

Christoph Edeler, Sergej Fatikow

In this paper a new method to generate forces with stick-slip micro drives is described. The forces are generated if the runner of the stick-slip drive operates against an obstacle. It is shown that the generated force can be varied...

Chapter 2

Optimal Robot Path Planning with Cellular Neural Network (pages 19-38)

Yongmin Zhong, Bijan Shirinzadeh, Xiaobu Yuan

This paper presents a new methodology based on neural dynamics for optimal robot path planning by drawing an analogy between cellular neural network (CNN) and path planning of mobile robots. The target activity is treated as an...

Chapter 3

Impedance Control of a Spherical Parallel Platform (pages 39-58)

Luca Carbonari, Luca Bruzzone, Massimo Callegari

This article describes the impedance control of an in-parallel actuated orientation platform. The algorithm is based on a representation of platform orientation which exploits the equivalent axis of rotation: this approach is more...

Chapter 4

Stiffness Modeling and Analysis of Passive Four-Bar Parallelogram in Fully Compliant Parallel Positioning Stage (pages 59-75)

X. Jia, Y. Tian, D. Zhang, J. Liu

In order to investigate the influence of the stiffness of the compliant prismatic pair, a planar four-bar parallelogram, in a fully compliant parallel mechanism, the stiffness model of the passive compliant prismatic pair in a...

Chapter 5

Computation of the Output Torque, Power and Work of the Driving Motor for a Redundant Parallel Manipulator (pages 76-91)

Yongjie Zhao

Inverse dynamic analysis of the 8-PSS redundant parallel manipulator is carried out in the exhaustive decoupled way. The required output of the torque, the power and the work of the driving motor are achieved. The whole actuating...

Chapter 6

Random Weighting Estimation of One-Sided Confidence Intervals in Discrete Distributions (pages 92-102)

Yalin Jiao, Yongmin Zhong, Shesheng Gao, Bijan Shirinzadeh

This paper presents a new random weighting method for estimation of one-sided confidence intervals in discrete distributions. It establishes random weighting estimations for the Wald and Score intervals. Based on this, a theorem of...

Chapter 7

Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration (pages 103-117)

Pushpendra Kumar, Pushparaj Mani Pathak

Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover...

Chapter 8

Processing of 3D Unstructured Measurement Data for Reverse Engineering (pages 118-127)

Yongmin Zhong

One of the most difficult problems in reverse engineering is the processing of unstructured data. NURBS (Non-uniform Rational B-splines) surfaces are a popular tool for surface modeling. However, they cannot be directly created from...

Chapter 9

Modeling and Simulation of Digital Systems Using Bond Graphs (pages 128-136)

Majid Habibi, Alireza B. Novinzadeh

Bond graphs are suitable tools for modeling many types of dynamical systems and can model these systems consisting of mechanical, electrical, fluidic, and pneumatic sub-systems. The advantage of a bond graph is that it can model...

Chapter 10

Modeling, Simulation and Motion Cues Visualization of a Six-DOF Motion Platform for Micro-Manipulations (pages 137-151)

Umar Asif, Javaid Iqbal

This paper examines the problem of realizing a 6-DOF motion platform by proposing a closed loop kinematic architecture that benefits from an anthropological serial manipulator design. In contrast to standard motion platforms based on...

Chapter 11

Bond Graph Modeling and Computational Control Analysis of a Rigid-Flexible Space Robot in Work Space (pages 152-164)

Amit Kumar, Pushparaj Mani Pathak, N. Sukavanam

The combination of a rigid and a flexible link in a space robot is an interesting field of study from modeling and control point of view. This paper presents the bond graph modeling and overwhelming trajectory control of a...

Chapter 12

Experimental Study of Laser Interferometry Based Motion Tracking of a Flexure-Based Mechanism (pages 165-178)

Umesh Bhagat, Bijan Shirinzadeh, Yanling Tian

This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based...

Chapter 13

Analysis and Implementation for a Walking Support System for Visually Impaired People (pages 179-195)

Eklas Hossain, Md Raisuddin Khan, Riza Muhida, Ahad Ali

Visually impaired people are faced with challenges in detecting information about terrain. This paper presents a new walking support system for the blind to navigate without any assistance from others or using a guide cane. In this...

Chapter 14

Which is Better?: A Natural or an Artificial Surefooted Gait for Hexapods (pages 196-205)

Kazi Mostafa, Innchyn Her, Jonathan M. Her

Natural multiped gaits are believed to evolve from countless generations of natural selection. However, do they also prove to be better choices for walking machines? This paper compares two surefooted gaits, one natural and the other...

Chapter 15

Design and Validation of Force Control Loops for a Parallel Manipulator (pages 206-224)

Giuseppe Carbone, Enrique Villegas, Marco Ceccarelli

This paper addresses problems for design and validation of force control loops for a 3-DOF parallel manipulator in drilling applications. In particular, the control design has been investigated for a built prototype of CaPaMan2bis at...

Chapter 16

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error (pages 225-248)

Dereje Shiferaw, Anamika Jain, R. Mitra

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive...

Chapter 17

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator (pages 249-265)

Hamoon Hadian, Yasser Amooshahi, Abbas Fattah

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The...

Chapter 18

Kinematic Isotropic Configuration of Spatial Cable-Driven Parallel Robots (pages 266-290)

Hamoon Hadian, Abbas Fattah

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and...

Chapter 19

Experimental Investigations on the Contour Generation of a Reconfigurable Stewart Platform (pages 291-301)

G. Satheesh Kumar, T. Nagarajan

Reconfiguration of Stewart platform for varying tasks accentuates the importance for determination of optimum geometry catering to the specified task. The authors in their earlier work (Satheesh et al., 2008) have indicated the non...

Chapter 20

Parallel Architecture Manipulators for Use in Masticatory Studies (pages 302-323)

Madusudanan Sathia Narayanan, Srikanth Kannan, Xiaobo Zhou, Frank Mendel, Venkat Krovi

There is considerable scientific and commercial interest in understanding the mechanics of mastication. In this paper, the authors develop quantitative engineering tools to enable this process by: (i) designing a general purpose...

Back Materials

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