The Experts below are selected from a list of 5826 Experts worldwide ranked by ideXlab platform
Jung Jun Park - One of the best experts on this subject based on the ideXlab platform.
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A serial-type dual actuator unit with planetary Gear Train: Basic design and applications
IEEE ASME Transactions on Mechatronics, 2010Co-Authors: Byeong Sang Kim, Jae-bok Song, Jung Jun ParkAbstract:Control of a robot manipulator in contact with the environment is usually conducted by a direct feedback control system using a force-torque sensor or an indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. To cope with such problems, this paper proposes a novel design of a dual actuator unit (DAU) composed of two actuators and a planetary Gear Train to provide the capability of simultaneous control of position and stiffness. Since one actuator controls position and the other actuator modulates stiffness, the DAU can control the position and stiffness simultaneously at the same joint. Both the torque exerted on the joint and the stiffness of the environment can be estimated without an expensive force sensor. Various experiments demonstrate that the DAU can provide good performance for position tracking, force estimation, and environment estimation.
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Double actuator unit with planetary Gear Train for a safe manipulator
Proceedings - IEEE International Conference on Robotics and Automation, 2007Co-Authors: Byeong Sang Kim, Jung Jun Park, Jae-bok SongAbstract:Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control system using a force-torque sensor or the indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. Furthermore, collision safety has been of primary concern in recent years with emergence of service robots in direct contact with humans. To cope with such problems, redundant actuation has been used to enhance the performance of a position/force controller. In this paper, the novel design of a double actuator unit (DAU) composed of double actuators and a planetary Gear Train is proposed to provide the capability of simultaneous control of position and force as well as the improved collision safety. Since one actuator controls position and the other actuator modulates stiffness, DAU can control the position and stiffness simultaneously at the same joint. The torque exerted on the joint can be estimated without an expensive torque/force sensor. DAU is capable of detecting dynamic collision by monitoring the speed of the stiffness modulator. Upon detection of dynamic collision, DAU immediately reduces its joint stiffness according to the collision magnitude, thus providing the optimum collision safety. It is shown from various experiments that DAU can provide good performance of position tracking, force estimation and collision safety. I.
Byeong Sang Kim - One of the best experts on this subject based on the ideXlab platform.
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A serial-type dual actuator unit with planetary Gear Train: Basic design and applications
IEEE ASME Transactions on Mechatronics, 2010Co-Authors: Byeong Sang Kim, Jae-bok Song, Jung Jun ParkAbstract:Control of a robot manipulator in contact with the environment is usually conducted by a direct feedback control system using a force-torque sensor or an indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. To cope with such problems, this paper proposes a novel design of a dual actuator unit (DAU) composed of two actuators and a planetary Gear Train to provide the capability of simultaneous control of position and stiffness. Since one actuator controls position and the other actuator modulates stiffness, the DAU can control the position and stiffness simultaneously at the same joint. Both the torque exerted on the joint and the stiffness of the environment can be estimated without an expensive force sensor. Various experiments demonstrate that the DAU can provide good performance for position tracking, force estimation, and environment estimation.
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Double actuator unit with planetary Gear Train for a safe manipulator
Proceedings - IEEE International Conference on Robotics and Automation, 2007Co-Authors: Byeong Sang Kim, Jung Jun Park, Jae-bok SongAbstract:Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control system using a force-torque sensor or the indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. Furthermore, collision safety has been of primary concern in recent years with emergence of service robots in direct contact with humans. To cope with such problems, redundant actuation has been used to enhance the performance of a position/force controller. In this paper, the novel design of a double actuator unit (DAU) composed of double actuators and a planetary Gear Train is proposed to provide the capability of simultaneous control of position and force as well as the improved collision safety. Since one actuator controls position and the other actuator modulates stiffness, DAU can control the position and stiffness simultaneously at the same joint. The torque exerted on the joint can be estimated without an expensive torque/force sensor. DAU is capable of detecting dynamic collision by monitoring the speed of the stiffness modulator. Upon detection of dynamic collision, DAU immediately reduces its joint stiffness according to the collision magnitude, thus providing the optimum collision safety. It is shown from various experiments that DAU can provide good performance of position tracking, force estimation and collision safety. I.
Jae-bok Song - One of the best experts on this subject based on the ideXlab platform.
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A serial-type dual actuator unit with planetary Gear Train: Basic design and applications
IEEE ASME Transactions on Mechatronics, 2010Co-Authors: Byeong Sang Kim, Jae-bok Song, Jung Jun ParkAbstract:Control of a robot manipulator in contact with the environment is usually conducted by a direct feedback control system using a force-torque sensor or an indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. To cope with such problems, this paper proposes a novel design of a dual actuator unit (DAU) composed of two actuators and a planetary Gear Train to provide the capability of simultaneous control of position and stiffness. Since one actuator controls position and the other actuator modulates stiffness, the DAU can control the position and stiffness simultaneously at the same joint. Both the torque exerted on the joint and the stiffness of the environment can be estimated without an expensive force sensor. Various experiments demonstrate that the DAU can provide good performance for position tracking, force estimation, and environment estimation.
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Double actuator unit with planetary Gear Train for a safe manipulator
Proceedings - IEEE International Conference on Robotics and Automation, 2007Co-Authors: Byeong Sang Kim, Jung Jun Park, Jae-bok SongAbstract:Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control system using a force-torque sensor or the indirect impedance control scheme. Although these methods have been successfully applied to many applications, simultaneous control of force and position cannot be achieved. Furthermore, collision safety has been of primary concern in recent years with emergence of service robots in direct contact with humans. To cope with such problems, redundant actuation has been used to enhance the performance of a position/force controller. In this paper, the novel design of a double actuator unit (DAU) composed of double actuators and a planetary Gear Train is proposed to provide the capability of simultaneous control of position and force as well as the improved collision safety. Since one actuator controls position and the other actuator modulates stiffness, DAU can control the position and stiffness simultaneously at the same joint. The torque exerted on the joint can be estimated without an expensive torque/force sensor. DAU is capable of detecting dynamic collision by monitoring the speed of the stiffness modulator. Upon detection of dynamic collision, DAU immediately reduces its joint stiffness according to the collision magnitude, thus providing the optimum collision safety. It is shown from various experiments that DAU can provide good performance of position tracking, force estimation and collision safety. I.
Young Soo Yang - One of the best experts on this subject based on the ideXlab platform.
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design of a non circular planetary Gear Train system to generate an optimal trajectory in a rice transplanter
Journal of Engineering Design, 2007Co-Authors: Young Soo YangAbstract:The transplanting accuracy of a rice transplanter for picking, conveying and transplanting seedlings mainly depends on the trajectory as well as the return motion of the hoe. The trajectory of the hoe has to be optimized in treating seedlings for a prevailing soil condition. For better transplanting accuracy, a planetary-Gear-Train system, instead of the four-bar linkage system is used to design a transplanting mechanism. This study proposes a theoretical design method for a transplanting mechanism; the method designs non-circular Gears of a planetary-Gear-Train system for the hoe to trace a prescribed trajectory. An optimization method was used to determine the arm length and tool length; inverse kinematics to determine the configuration angles of the two links and the roll contact condition in transmitting motion between the Gears; and a linearization approach to obtain the shapes of the Gears. Based on the proposed method, the shapes of the Gears and the lengths of the tools of the planetary-Gear-Train...
Yi-chang Wu - One of the best experts on this subject based on the ideXlab platform.
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Torque ripple suppression in an external-meshed magnetic Gear Train
Advances in Mechanical Engineering, 2013Co-Authors: Yi-chang Wu, Wan Tsun Tseng, Yueh Tung ChenAbstract:Magnetic Gear Trains transmit torque through noncontact magnetic couplings rather than conjugate Gear teeth; they have the unique advantages of reduced maintenance and improved reliability, inherent overload protection, high efficiency, precise peak torque transmission, and tolerance for misalignment. Smooth and steadily transmitted torque is an important characteristic for a magnetic Gear Train. It is necessary for the reduction of possible mechanical vibration, position inaccuracy, and acoustic noise. This paper investigates the transmitted torque characteristics, especially torque ripple reduction, of an external-meshed magnetic Gear Train using finite-element analysis (FEA). The topological structure and working principles of a simple magnetic Gear Train with parallel axes are introduced. With the aid of a commercial FEA package, the transmitted torque waveform of a magnetic Gear Train is numerically calculated. The effects of geometrical parameters on the maximum transmitted torque and torque ripple are further discussed in terms of obtaining a magnetic Gear Train with high transmitted torque or low torque ripple. This examination offers insights beneficial to future magnetic Gear mechanism design. © 2013 Yi-Chang Wu et al.
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Optimization design of a DC commutator motor with an integrated planetary Gear Train
IEEE Transactions on Magnetics, 2011Co-Authors: Yi-chang Wu, Guan Chen Chen, Hong-sen YanAbstract:This paper presents a novel design by integrating a planetary Gear Train (PGT) within a DC commutator motor as a compact structural assembly. It provides functional and structural integrations to overcome inherent drawbacks of traditional designs. By sharing a designated part, the electric motor and the Gear reducer are combined without extra transmitting elements. The rotor integrated with the Gear teeth, which is the interface between the motor and the Gear reducer, is considered as the input sun Gear of the PGT to provide the transmission function. By applying the equivalent magnetic circuit method, important parameters related to the magnetic field and motor performance of the DC commutator motor are derived in terms of magnetic material properties and motor dimensions, which are also verified by the finite element analysis. Two different numbers of Gear teeth are integrated on the rotor of an existing DC commutator motor to reduce the cogging torque and torque ripple successfully. By applying the analytical model on the optimal design, the main dimensions of this integrated device are obtained. As a result, the proposed integrated device performs better than the existing design on the cogging torque with 92.02% decreasing and torque ripple with 50.14% decreasing.
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A novel configuration for a brushless DC motor with an integrated planetary Gear Train
Journal of Magnetism and Magnetic Materials, 2006Co-Authors: Hong-sen Yan, Yi-chang WuAbstract:This paper presents a novel configuration of a brushless DC (BLDC) motor with an integrated planetary Gear Train, which provides further functional and structural integrations to overcome inherent drawbacks of traditional designs. The effects of Gear teeth on the magnetic field and performance of the BLDC motor are investigated. Two standard Gear profile systems integrated on the stator with feasible numbers of Gear teeth are introduced to reduce the cogging torque. An equivalent magnetic circuit model and an air-gap permeance model are applied to analytically analyze the magnetic field, while the validity is verified by 2-D finite-element method (FEM). Furthermore, the motor performance is discussed and compared with an existing design. The results show that the present design has the characteristics of lower cogging torque and torque ripple than the conventional design, which is of benefit to the widely applications on accurate motion and position control for BLDC motors. © 2005 Elsevier B.V. All rights reserved.
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A novel design of a brushless DC motor integrated with an embedded planetary Gear Train
IEEE ASME Transactions on Mechatronics, 2006Co-Authors: Hong-sen Yan, Yi-chang WuAbstract:This paper presents a novel design by integrating a planetary Gear Train (PGT) within a brushless dc (BLDC) motor to be a compact structure assembly. It provides functional and structural integrations to overcome the inherent disadvantages of the traditional designs. The effects of the Gear teeth on the magnetostatic field of the BLDC motor associated with the kinematics of the PGT are investigated. By designing the number of Gear teeth integrated on the stator and magnet poles on the rotor, the cogging torque of the proposed motor configuration is effectively reduced. The magnetic field distribution and the output torque of the novel design with different standard Gear modules are numerically calculated by two-dimensional finite-element analysis. Through the kinematic analysis that utilizes the fundamental circuits, feasible solutions for the number of Gear teeth of the PGT are determined to meet the desired speed ratio
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a novel design of a brushless dc motor integrated with an embedded planetary Gear Train
DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2005Co-Authors: Yi-chang WuAbstract:This paper presents a novel design by integrating a planetary Gear Train (PGT) within a brushless DC (BLDC) motor to be a compact structure assembly. It provides functional and structural integrations to overcome inherent disadvantages of traditional designs. The effects of Gear teeth on the magnetostatic field of the BLDC motor associated with the kinematics of the PGT are investigated. By designing the numbers of Gear teeth integrated on the stator and magnet poles on the rotor, the cogging torque of the proposed motor configuration is effectively reduced. The magnetic field distribution and the output torque of the novel design with different standard Gear modules are numerically calculated by the two-dimensional finite-element analysis. Through the kinematic analysis utilizing the fundamental circuits, feasible solutions for the numbers of Gear teeth of the PGT are determined to meet the desired speed ratio.Copyright © 2005 by ASME
