Latest Papers

ASME Journal of Mechanisms and Robotics

  • Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
    on January 25, 2023 at 12:00 am

    AbstractAn enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees of freedom. The method exploits the concept of partitioning the independent coordinates into actuated and unactuated ones (through a QR-decomposition) and of linearly combined output, to obtain the internal dynamics of the nonminimum-phase system and then to stabilize it through proper output redefinition. Then, the exact algebraic model of the actuated sub-system is inverted, leading to the desired control forces with just minor approximations and no need for pre-actuation. The effectiveness of the proposed approach is assessed by three numerical test cases, by comparing it with some meaningful benchmarks taken from the literature. Finally, experimental verification through an underactuated robotic arm with two degrees of freedom is performed.

Design of a Noncircular Gear Mechanism With Twice Unequal Amplitude Transmission Ratio


This article proposes a new noncircular gear transmission mechanism with an involute–cycloid composite tooth profile to obtain the twice unequal amplitude transmission of noncircular gears. That is, the instantaneous transmission ratio has twice obvious fluctuations with unequal amplitude in a complete rotation cycle of gear transmission. The twice unequal amplitude transmission ratio curve was designed based on Fourier and polynomial functions, the change law of the Fourier coefficient on the instantaneous transmission ratio was analyzed, and the pressure angle and contact ratio of the involute–cycloid composite tooth profile was calculated. The involute–cycloid composite tooth profile noncircular gear was machined by wire cut electrical discharge machining technology, while its meshing experiment was performed using high-speed camera technology. The results demonstrate that the instantaneous transmission ratio curve value obtained via the high-speed camera experiment was consistent with the simulation value of virtual software. Furthermore, the involute–cycloid composite tooth profile was applied in the seedling pickup mechanism of noncircular gear planetary gear train. The possibility of the application of the involute–cycloid composite tooth profile in the seedling pickup mechanism was verified by comparing the consistency of the theoretical and simulated seedling picking trajectory.

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