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Stiffness and Vibration Resistance Analysis of Isotropic Stewart Platform (ISP) and Common Stewart Platform (CSP) |
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Aisulu Tileukulova(Al-Farabi Kazakh National University, Kazakhstan), Perizat Rakhmetova(Satbayev University, Kazakhstan), Azamat Yeshmukhametov(Nazarbayev University, Kazakhstan), Koichi Koganezawa(Tokai University, Kazakhstan) |
| Stiffness and Vibration Resistance Analysis of Isotropic Stewart Platform (ISP) and Common Stewart Platform (CSP) |
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Dimensionally Homogeneous Jacobian using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators |
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Hassen Nigatu Sirag, Doik Kim(KIST, Korea) |
| This paper introduces a new extended selection matrix based dimensionally homogeneous Jacobian. The extended selection matrix combines component velocities from different points to describe the entire motion of moving plate. This proposed approach enables us to formulate an intuitive point-based, dimensionally homogeneous Jacobian, which can be applied to a wide variety of constrained parallel manipulators.
To prove the validity of proposed method, a numerical example is provided utilizing a four-degree-of-freedom parallel manipulator. |
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Long Short-Term Memory (LSTM) Estimation of Chair Reaction Force during Sit-to-Stand Movements |
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Naoto Otomori, Asuka Takai(Osaka Metropolitan University, Japan) |
| A major problem in estimating the body load by performing human body model simulations is that reaction forces (RFs) become undeterminate due to the closed-loop mechanism since the body contacts multiple surfaces. To address this, we propose an approach using Long Short-Term Memory (LSTM) to estimate the vertical and horizontal RFs at the seat surface based on joint angles. We collected the hip, knee, and ankle angles and the vertical and horizontal RFs as training and testing data from healthy participants. The estimation results for the vertical RF proved suitable for body model simulations, while the estimation fell short of our expectations in the horizontal direction. |
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Independent Speed Controller for Integrated Motion Control of Tracked Vehicle with In-Track Motors |
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NOOR AMIRA ILYANIE RUSLAN, NOOR HAFIZAH AMER, KHISBULLAH HUDHA, ZULKIFFLI ABDUL KADIR, SAIDDI ALI FIRDAU MOHAMED ISHAK, SYED MOHD FAIRUZ SYED MOHD DARDIN(UNIVERSITI PERTAHANAN NASIONAL MALAYSIA, Malaysia) |
| This paper presents an independent control approach for regulating the speed and motion of a DC motor in a tracked vehicle equipped with in-track DC motors. In this study, the independent speed controller is developed by acquiring the speed characteristics of the DC motor in relation to its voltage input. Both DC motors on each track will be characterized and a model will be developed with these characteristics to be implemented in the open-loop control strategy. With this controller, an integrated motion control for the tracked vehicle that governs the motion in longitudinal as well as lateral direction can be developed. |
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Implementation of the Electronic and Communication System for a Snake-like Modular Robot |
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Hernando Leon-Rodriguez, Santiago Melo Guayacan, Santiago Nougues(Nueva Granada Military University, Colombia) |
| In this study a snake type robot was recreated to simulate the movement patterns providing a degree of freedom per joint so that it can adapt to the surface, where it was found that the mathematical expression that symbolizes this movement is a function of the amplitude of the wave and the phase shift of the movement of each joint, which can be recreated using servomotors. It is demonstrated that the movement of a snake can be simulated by performing a mechanical coupling of joints that represents the sinusoidal kinematics of these animals. Also, by means of the Wi-Fi protocol, a function was implemented to vary the initial parameters of the SNAKE in order to adjust the movement. |
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Modelling and Design a Self-balancing Dual-wheeled Robot with PID Control |
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Hernando Leon-Rodriguez, Daniela Garzón Cuadros, Santiago Melo Guayacan, Santiago Nougues(Nueva Granada Military University, Colombia) |
| This article presents the design and control of a Segway robot based in the physical and mathematical theory for a dual-wheeled platform that keeps in balance based on the inverted pendulum system. The goal of the platform is intended to stay upright; for doing so, the electronics components are placed on top in order to generate the signals from the controller & sensors to the motors. It was developed by means of an Arduino controller, in conjunction with an accelerometer and gyroscope to estimate and obtain the angle of inclination to make the determine motion of the robot. It works through cell phone apps with a Bluetooth and Wi-Fi connection. |
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