Download or read book Design Modeling and Control of a Novel Multi Functional Translational rotary Micro Ultrasonic Motor written by Şafakcan Tunçdemir and published by . This book was released on 2011 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Modeling of an Ultrasonic Rotary Motor written by Carlos Cuauht Cuevas Gutierrez and published by VDM Publishing. This book was released on 2008 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ultrasonic motors are a new type of actuators that use mechanical vibrations of its stator to drive the rotor through frictional forces between the interface of the stator and rotor. Ultrasonic motors have recently been attracting considerable attention in industrial applications where high precision, fast response and high torque at low speed are desirable. In contrast to traditional electromagnetic motors, ultrasonic motors provide larger torque to volume ratio, silent operation, and compact design. Furthermore, its operation is not affected by electromagnetic fields, and the motor shaft remains braked when the power supply is removed. The commercial development of ultrasonic motors, however, has been limited primarily due to lack of complete models for the purpose of control. Consequently, the development of an accurate model based on the physical structure is extremely vital for controllers development. The present dissertation proposes a comprehensive model for the purpose of predicting the motor performance. A lumped-mass model of the stator is proposed to consider the coupling effects on the stator based on the flexibility influence coefficients, which are estimated from a finite element method. Moreover, the stator natural frequencies are obtained using modal analysis. Nonlinear tangential interface forces between the rotor and stator are incorporated into the driving torque function. A rotor model based on the Stribeck effect, Coulomb and viscous friction is also incorporated to describe the friction torque associated with the motor response. An extensive series of experiments have been designed together with a state-of-the-art test bench built at the laboratory of Concordia University. The validity of the proposed model was examined by comparing the model results with the measured data under different excitation conditions. The lumped-mass model is able to reproduce reasonably well the stator displacements and the excited modes when it is driven at different frequencies as a result of the stiffness coupling. Several rotor model parameters are identified by using the experimental data and a weighted error minimization function. From the results obtained in the present study, it is concluded that the proposed USM model can reproduce reasonably well the motor behavior to different excitations inputs such as step, ramp and harmonic excitations as well as the torque-speed characteristics. It is important to note that the developed model shows torque-speed hysteresis behavior, which has not been reported in literature. To experimentally confirm this new phenomenon, extensive experimental tests have been conducted to identify the torque-speed characteristics on the ultrasonic motor. It has been observed from experiments a clear torque-speed hysteresis in the ultrasonic motor attributed mainly to the friction drive principle at the contact interface. This behavior, however, has not been addressed previously. It is suggested that the lack of an appropriate instrumentation together with inadequate models have made very difficult to describe this phenomenon. On the other hand, the torque-speed hysteresis exhibits a high asymmetric behavior at low speed as a result of the friction torque produced by the Stribeck effect.

Download or read book Design Modeling and Performance Optimization of a Novel Rotary Piezoelectric Motor written by Khanh Anh Duong and published by . This book was released on 1997 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Modeling and Experimental Validation of an Ultrasonic Rotary Motor written by Carlos Cuauhtémoc Cuevas Gutiérrez and published by . This book was released on 2007 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ultrasonic motors are a new type of actuators that use mechanical vibrations of its stator to drive the rotor through frictional forces between the interface of the stator and rotor. Ultrasonic motors have recently been attracting considerable attention in industrial applications where high precision, fast response and high torque at low speed are desirable. In contrast to traditional electromagnetic motors, ultrasonic motors provide larger torque to volume ratio, silent operation, and compact design. Furthermore, its operation is not affected by electromagnetic fields, and the motor shaft remains braked when the power supply is removed. The commercial development of ultrasonic motors, however, has been limited primarily due to lack of complete models for the purpose of control. Consequently, the development of an accurate model based on the physical structure is extremely vital for controllers development. The present dissertation proposes a comprehensive model for the purpose of predicting the motor performance. A lumped-mass model of the stator is proposed to consider the coupling effects on the stator based on the flexibility influence coefficients, which are estimated from a finite element method. Moreover, the stator natural frequencies are obtained using modal analysis. Nonlinear tangential interface forces between the rotor and stator are incorporated into the driving torque function. A rotor model based on the Stribeck effect, Coulomb and viscous friction is also incorporated to describe the friction torque associated with the motor response. An extensive series of experiments have been designed together with a state-of-the-art test bench built at the laboratory of Concordia University. The validity of the proposed model was examined by comparing the model results with the measured data under different excitation conditions. The lumped-mass model is able to reproduce reasonably well the stator displacements and the excited modes when it is driven at different frequencies as a result of the stiffness coupling. Several rotor model parameters are identified by using the experimental data and a weighted error minimization function. From the results obtained in the present study, it is concluded that the proposed USM model can reproduce reasonably well the motor behavior to different excitations inputs such as step, ramp and harmonic excitations as well as the torque-speed characteristics. It is important to note that the developed model shows torque-speed hysteresis behavior, which has not been reported in literature. To experimentally confirm this new phenomenon, extensive experimental tests have been conducted to identify the torque-speed characteristics on the ultrasonic motor. It has been observed from experiments a clear torque-speed hysteresis in the ultrasonic motor attributed mainly to the friction drive principle at the contact interface. This behavior, however, has not been addressed previously. It is suggested that the lack of an appropriate instrumentation together with inadequate models have made very difficult to describe this phenomenon. On the other hand, the torque-speed hysteresis exhibits a high asymmetric behavior at low speed as a result of the friction torque produced by the Stribeck effect.

Download or read book Permanent Magnet Spherical Motors written by Kun Bai and published by Springer. This book was released on 2018-03-20 with total page 170 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.

Download or read book Introduction to Embedded Systems Second Edition written by Edward Ashford Lee and published by MIT Press. This book was released on 2017-01-06 with total page 562 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the engineering principles of embedded systems, with a focus on modeling, design, and analysis of cyber-physical systems. The most visible use of computers and software is processing information for human consumption. The vast majority of computers in use, however, are much less visible. They run the engine, brakes, seatbelts, airbag, and audio system in your car. They digitally encode your voice and construct a radio signal to send it from your cell phone to a base station. They command robots on a factory floor, power generation in a power plant, processes in a chemical plant, and traffic lights in a city. These less visible computers are called embedded systems, and the software they run is called embedded software. The principal challenges in designing and analyzing embedded systems stem from their interaction with physical processes. This book takes a cyber-physical approach to embedded systems, introducing the engineering concepts underlying embedded systems as a technology and as a subject of study. The focus is on modeling, design, and analysis of cyber-physical systems, which integrate computation, networking, and physical processes. The second edition offers two new chapters, several new exercises, and other improvements. The book can be used as a textbook at the advanced undergraduate or introductory graduate level and as a professional reference for practicing engineers and computer scientists. Readers should have some familiarity with machine structures, computer programming, basic discrete mathematics and algorithms, and signals and systems.

Download or read book Piezoelectric Actuators written by Hu Huang and published by BoD – Books on Demand. This book was released on 2021-12-08 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: Taking advantage of high resolution, rapid response, and compact structure, piezoelectric actuators are widely employed for achieving precision positioning in both scientific research and industrial application. With the development of science and technology, the requirements for precision positioning are increasing. Accordingly, great efforts have been made to improve the performances of piezoelectric actuators, and significant progress has been achieved. This book discusses some recent achievements and developments of piezoelectric actuators, in terms of piezoelectric material, driving principle, structural design, modeling, and control, as well as applications.

Download or read book Multiphysics Simulation by Design for Electrical Machines Power Electronics and Drives written by Marius Rosu and published by John Wiley & Sons. This book was released on 2017-12-18 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents applied theory and advanced simulation techniques for electric machines and drives This book combines the knowledge of experts from both academia and the software industry to present theories of multiphysics simulation by design for electrical machines, power electronics, and drives. The comprehensive design approach described within supports new applications required by technologies sustaining high drive efficiency. The highlighted framework considers the electric machine at the heart of the entire electric drive. The book also emphasizes the simulation by design concept—a concept that frames the entire highlighted design methodology, which is described and illustrated by various advanced simulation technologies. Multiphysics Simulation by Design for Electrical Machines, Power Electronics and Drives begins with the basics of electrical machine design and manufacturing tolerances. It also discusses fundamental aspects of the state of the art design process and includes examples from industrial practice. It explains FEM-based analysis techniques for electrical machine design—providing details on how it can be employed in ANSYS Maxwell software. In addition, the book covers advanced magnetic material modeling capabilities employed in numerical computation; thermal analysis; automated optimization for electric machines; and power electronics and drive systems. This valuable resource: Delivers the multi-physics know-how based on practical electric machine design methodologies Provides an extensive overview of electric machine design optimization and its integration with power electronics and drives Incorporates case studies from industrial practice and research and development projects Multiphysics Simulation by Design for Electrical Machines, Power Electronics and Drives is an incredibly helpful book for design engineers, application and system engineers, and technical professionals. It will also benefit graduate engineering students with a strong interest in electric machines and drives.

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Download or read book Process Intensification written by David Reay and published by Butterworth-Heinemann. This book was released on 2013-06-05 with total page 624 pages. Available in PDF, EPUB and Kindle. Book excerpt: Process Intensification: Engineering for Efficiency, Sustainability and Flexibility is the first book to provide a practical working guide to understanding process intensification (PI) and developing successful PI solutions and applications in chemical process, civil, environmental, energy, pharmaceutical, biological, and biochemical systems. Process intensification is a chemical and process design approach that leads to substantially smaller, cleaner, safer, and more energy efficient process technology. It improves process flexibility, product quality, speed to market and inherent safety, with a reduced environmental footprint. This book represents a valuable resource for engineers working with leading-edge process technologies, and those involved research and development of chemical, process, environmental, pharmaceutical, and bioscience systems. No other reference covers both the technology and application of PI, addressing fundamentals, industry applications, and including a development and implementation guide Covers hot and high growth topics, including emission prevention, sustainable design, and pinch analysis World-class authors: Colin Ramshaw pioneered PI at ICI and is widely credited as the father of the technology

Download or read book Piezoelectric Actuators and Ultrasonic Motors written by Kenji Uchino and published by Springer Science & Business Media. This book was released on 1996-11-30 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: Remarkable developments have taken place in the field of mechatronics in recent years. As symbolized by the "Janglish (Japanese English)" word, mechatronics, the technology and the social adaptation for introducing electronics into mechanics has been readily accepted in Japan. Currently robots are producing many products under computer control in Japanese factories, and supermarkets are utilizing automation systems for sample displays and sales. Further, the fast paced change in semiconductor chip technology has given rise to the need for micro-displacement positioning techniques. Actuators utilizing piezoelectridelectrostrictive effects are expected to meet these needs in mechanical components in the next micro mechatronic age. This book, in English, builds on my earlier publications concerned with ceramic actuators. The first edition titled "Essentials for Development and Applications of Piezoelectric Actuators" was published in 1984 through the Japan Industrial Technology Center. The second edition "PiezoelectriclElectrostrictive Actuators" published in Japanese through Morikita Pub. Co. (Tokyo) became one of the best sellers in that company in 1986, and was then translated into Korean. The problem solving edition "Piezoelectric Actuators -Problem Solving" was also published through Morikita, which was sold in conjunction with a 60 minute video tape to provide easy understanding.

Download or read book Wheeled Mobile Robotics written by Gregor Klancar and published by Butterworth-Heinemann. This book was released on 2017-02-02 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems

Download or read book Ultrasonic Motors written by Chunsheng Zhao and published by Springer Science & Business Media. This book was released on 2011-10-23 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive tutorial on ultrasonic motors for practicing engineers, researchers and graduate students. "Ultrasonic Motors: Technologies and Applications" describes the operating mechanism, electromechanical coupling models, optimization design of structural parameters, testing methods, and drive/control techniques of various ultrasonic motors and their applications. Dr. Chunsheng Zhao is a professor at Nanjing University of Aeronautics and Astronautics (NUAA) where he is Director of the Precision Driving Laboratory at NUAA. He is a member of the Chinese Academy of Science, and holds 54 patents in China and published more than 400 papers in the field of piezoelectric ultrasonic motors.

Download or read book Visual Control of Robots written by Peter I. Corke and published by Taylor & Francis Group. This book was released on 1996 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Applications of Robotics in Industry Using Advanced Mechanisms written by Janmenjoy Nayak and published by Springer Nature. This book was released on 2019-09-03 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book shares important findings on the application of robotics in industry using advanced mechanisms, including software and hardware. It presents a collection of recent trends and research on various advanced computing paradigms such as soft computing, robotics, smart automation, power control, and uncertainty analysis. The book constitutes the proceedings of the 1st International Conference on Application of Robotics in Industry using Advanced Mechanisms (ARIAM2019), which offered a platform for sharing original research findings, presenting innovative ideas and applications, and comparing notes on various aspects of robotics. The contributions highlight the latest research and industrial applications of robotics, and discuss approaches to improving the smooth functioning of industries. Moreover, they focus on designing solutions for complex engineering problems and designing system components or processes to meet specific needs, with due considerations for public health and safety, including cultural, societal, and environmental considerations. Taken together, they offer a valuable resource for researchers, scientists, engineers, professionals and students alike.

Download or read book Industrial Motion Control written by Dr. Hakan Gurocak and published by John Wiley & Sons. This book was released on 2015-10-19 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: Motion control is widely used in all types of industries including packaging, assembly, textile, paper, printing, food processing, wood products, machinery, electronics and semiconductor manufacturing. Industrial motion control applications use specialized equipment and require system design and integration. To design such systems, engineers need to be familiar with industrial motion control products; be able to bring together control theory, kinematics, dynamics, electronics, simulation, programming and machine design; apply interdisciplinary knowledge; and deal with practical application issues. The book is intended to be an introduction to the topic for senior level undergraduate mechanical and electrical engineering students. It should also be resource for system design engineers, mechanical engineers, electrical engineers, project managers, industrial engineers, manufacturing engineers, product managers, field engineers, and programmers in industry.