The Experts below are selected from a list of 321 Experts worldwide ranked by ideXlab platform
Mete Kalyoncu - One of the best experts on this subject based on the ideXlab platform.
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fuzzy logic trajectory control of flexible robot manipulator with rotating Prismatic Joint
International Conference on Computer and Automation Engineering, 2010Co-Authors: Fatih Mehmet Botsali, Mete Kalyoncu, Mustafa Tinkir, Umit OnenAbstract:In this study, a fuzzy logic controller is designed in order to use in trajectory control of a robot manipulator. The considered robot manipulator consists of a rotating-Prismatic Joint housing a sliding flexible arm that carries a concentrated mass at the tip end. The tip end of the flexible arm traces a multi-straight-line path. This study is aimed to use a fuzzy logic controller in controlling the trajectory traced by the tip end of the flexible arm so as to reduce the vibrations induced in the flexible arm. The designed fuzzy controller is aimed to control both the position of the tip end of the flexible robot arm while the tip end traces a multi-straight-line path and the vibrations induced in the flexible arm. Numerical simulations obtained by using a developed computer program are presented and physical trend of obtained numerical results are discussed. The performance of the fuzzy logic control system is evaluated on the basis of the simulation results.
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semi hierarchical adaptive network based fuzzy logic controller design for a multi straight line path tracing flexible robot manipulator with rotating Prismatic Joint
International Power Electronics and Motion Control Conference, 2008Co-Authors: Mete Kalyoncu, Mustafa TinkirAbstract:In this study, a semi-hierarchical adaptive network based fuzzy logic controller for a flexible robot manipulator with rotating-Prismatic Joint is designed. The proposed controller is aimed to get the end of the robot manipulator to the desired multi-straight-line path and terminate vibrations on arm while it moves. The controller is divided into two parts. First part is for rotation control of the arm. Second part has also two subsystems. The slow-subsystem provides desired extension and the fast-subsystem controller controls change in extension. The performance of the adaptive hierarchical control system is evaluated on the basis of the simulation results.
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mathematical modelling and dynamic response of a multi straight line path tracing flexible robot manipulator with rotating Prismatic Joint
Applied Mathematical Modelling, 2008Co-Authors: Mete KalyoncuAbstract:Abstract In this study, mathematical modelling and dynamic response of a flexible robot manipulator with rotating-Prismatic Joint are investigated. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of an external driving torque and an axial force. Considered robot manipulator consists of a rotating Prismatic Joint and a sliding flexible arm with a tip mass. Flexible arm is assumed to be an Euler–Bernoulli beam carrying an end-mass. Equations of motion of the flexible manipulator are obtained by using Lagrange’s equation of motion. Effect of rotary inertia, axial shortening and gravitation is considered in the analysis. Equations of motion are solved by using fourth order Runge–Kutta method. Numerical simulations obtained by using a developed computer program are presented and physical trend of the results are discussed.
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vibration analysis of an elastic robot manipulator with Prismatic Joint and a time varying end mass
2004Co-Authors: Mete Kalyoncu, Alaaddin KeykubatAbstract:مت دقو ،ةيقلازنا ةينارود ةلصو يف نرم يلآ عارذل تازازتهلاا ءاصقتسا ةيلمع ةساردلا هذه يف تمت نمزلا عم ةريغتم ةنرملا يللآا عارذلا ةياهن ةلتآ نأ ضارتفا . ةآرحتم ةيدودح ةميقب ةساردلا هذه طبترت . م ةطاسوب نرملا عارذلل ةآرحلا تلاداعم ىلع لوصحلا مت دقو جنارقلا ةلداع (Lagrange) ،ةآرحلل يروحملا رصقلاو ينارودلا يتاذلا روصقلا ريثأت يكيمانيدلا جذومنلا ريوطت دنع رابتعلاا يف ذخأ كلذآ ةيبذاجلاو . مادختساب ةيلضافتلا ةيداعلا تلادعملا نم ةعومجم نم ةآرحلا تلاداعم ىلع انلصح امآ تاريغتملا لصف أدبمو ةلوبقم تلااد . ح دقو ـ اقنور ةقيرط مادختساب ايددع ةآرحلا تلادعم تل – اتوآ (Runge–Kutta) . ةاآاحملل جمانرب ريوطت مت امآ . فارحنلإا تاآاحمل ةيمقرلا جئاتنلا ضرع متو ةيددعلا جئاتنلل يئايزيفلا ريغتلا شقونو تاموسرلاب يفرطلا . VIBRATION ANALYSIS OF AN ELASTIC ROBOT MANIPULATOR WITH Prismatic Joint AND A TIME-VARYING END MASS
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lateral and torsional vibration analysis of elastic robot manipulators with Prismatic Joint
Engineering Technology Conference on Energy Parts A and B, 2002Co-Authors: Mete Kalyoncu, Fatih Mehmet BotsaliAbstract:Lateral and torsional vibrations of a robot manipulator with an elastic arm sliding in a Prismatic Joint are analyzed. The elastic arm is assumed as an Euler-Bernoulli beam. The mass of the end-effector is assumed as a point mass attached at the end of the elastic arm. The Prismatic Joint experiences 3-dimensional translational and rotational motion. The Prismatic Joint is assumed as rigid and frictionless. Rotational inertia of the beam is taken into consideration in obtaining the equations of motion. Elastic deformations are assumed as linear and small displacements. Axial vibrations are not considered but the effect of axial force is taken into account in the analysis. Elastic arm experiences both bending vibrations in two directions and torsional vibrations. The equations of motion are obtained by Lagrange’s equation of motion. Numerical solution of the equations of motion are obtained by Runge-Kutta method. A computer program is developed for implementation of the presented technique. Numerical simulations are presented in the form of graphics. Presented method is found to be versatile in dynamic analysis of elastic robot arms.Copyright © 2002 by ASME
Hui Tang - One of the best experts on this subject based on the ideXlab platform.
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a compliant parallel xy micromotion stage with complete kinematic decoupling
IEEE Transactions on Automation Science and Engineering, 2012Co-Authors: Jiming Huang, Hui TangAbstract:This paper presents a novel compliant parallel XY micromotion stage driven by piezoelectric actuators (PZT). With the purpose to obtain complete kinematic decoupling and good stiffness performance, the stage is designed using a symmetric 4-PP structure in which double four-bar flexure is chosen as the Prismatic Joint. Matrix method is employed to establish the compliance model of the mechanism. Based on the model, dynamic analysis is investigated after static analysis is carried out. The dimensions of the mechanism are optimized using the particle swarm optimization (PSO) algorithm in order to maximize the natural frequencies. Finite-element analysis (FEA) result indicates that the mechanism has an almost linear force-deflection relationship, high first natural frequency (720.52 Hz), and ideal decoupling property. To cope with the nonlinearities such as hysteresis that exists in the PZT, the control system is constructed by a proportional-integral-derivative (PID) feedback controller with a feedforward compensator based on Preisach model. The fabricated prototype has a 19.2 μm × 8.8 μm rectangular workspace with coupling less than 5%. The result of the closed-loop test shows that the XY stage can achieve positioning, tracking and contouring tasks with small errors.
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a compliant parallel xy micromotion stage with complete kinematic decoupling
IEEE Transactions on Automation Science and Engineering, 2012Co-Authors: Yangmin Li, Jiming Huang, Hui TangAbstract:This paper presents a novel compliant parallel XY micromotion stage driven by piezoelectric actuators (PZT). With the purpose to obtain complete kinematic decoupling and good stiffness performance, the stage is designed using a symmetric 4-PP structure in which double four-bar flexure is chosen as the Prismatic Joint. Matrix method is employed to establish the compliance model of the mechanism. Based on the model, dynamic analysis is investigated after static analysis is carried out. The dimensions of the mechanism are optimized using the particle swarm optimization (PSO) algorithm in order to maximize the natural frequencies. Finite-element analysis (FEA) result indicates that the mechanism has an almost linear force-deflection relationship, high first natural frequency (720.52 Hz), and ideal decoupling property. To cope with the nonlinearities such as hysteresis that exists in the PZT, the control system is constructed by a proportional-integral-derivative (PID) feedback controller with a feedforward compensator based on Preisach model. The fabricated prototype has a 19.2 μm × 8.8 μm rectangular workspace with coupling less than 5%. The result of the closed-loop test shows that the XY stage can achieve positioning, tracking and contouring tasks with small errors.
Jiming Huang - One of the best experts on this subject based on the ideXlab platform.
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a compliant parallel xy micromotion stage with complete kinematic decoupling
IEEE Transactions on Automation Science and Engineering, 2012Co-Authors: Jiming Huang, Hui TangAbstract:This paper presents a novel compliant parallel XY micromotion stage driven by piezoelectric actuators (PZT). With the purpose to obtain complete kinematic decoupling and good stiffness performance, the stage is designed using a symmetric 4-PP structure in which double four-bar flexure is chosen as the Prismatic Joint. Matrix method is employed to establish the compliance model of the mechanism. Based on the model, dynamic analysis is investigated after static analysis is carried out. The dimensions of the mechanism are optimized using the particle swarm optimization (PSO) algorithm in order to maximize the natural frequencies. Finite-element analysis (FEA) result indicates that the mechanism has an almost linear force-deflection relationship, high first natural frequency (720.52 Hz), and ideal decoupling property. To cope with the nonlinearities such as hysteresis that exists in the PZT, the control system is constructed by a proportional-integral-derivative (PID) feedback controller with a feedforward compensator based on Preisach model. The fabricated prototype has a 19.2 μm × 8.8 μm rectangular workspace with coupling less than 5%. The result of the closed-loop test shows that the XY stage can achieve positioning, tracking and contouring tasks with small errors.
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a compliant parallel xy micromotion stage with complete kinematic decoupling
IEEE Transactions on Automation Science and Engineering, 2012Co-Authors: Yangmin Li, Jiming Huang, Hui TangAbstract:This paper presents a novel compliant parallel XY micromotion stage driven by piezoelectric actuators (PZT). With the purpose to obtain complete kinematic decoupling and good stiffness performance, the stage is designed using a symmetric 4-PP structure in which double four-bar flexure is chosen as the Prismatic Joint. Matrix method is employed to establish the compliance model of the mechanism. Based on the model, dynamic analysis is investigated after static analysis is carried out. The dimensions of the mechanism are optimized using the particle swarm optimization (PSO) algorithm in order to maximize the natural frequencies. Finite-element analysis (FEA) result indicates that the mechanism has an almost linear force-deflection relationship, high first natural frequency (720.52 Hz), and ideal decoupling property. To cope with the nonlinearities such as hysteresis that exists in the PZT, the control system is constructed by a proportional-integral-derivative (PID) feedback controller with a feedforward compensator based on Preisach model. The fabricated prototype has a 19.2 μm × 8.8 μm rectangular workspace with coupling less than 5%. The result of the closed-loop test shows that the XY stage can achieve positioning, tracking and contouring tasks with small errors.
Ali Reza Akbarzadeh - One of the best experts on this subject based on the ideXlab platform.
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A Study on Kinematics and Workspace Determination of a General 6-P US Robot
Journal of Intelligent & Robotic Systems, 2018Co-Authors: S. Nader Nabavi, Ali Reza Akbarzadeh, Javad EnferadiAbstract:The 6-U P S parallel manipulator known as Stewart platform is the most common type of 6-DOF parallel robots. Most industrial applications such as the motion simulators and applications requiring high load and high workspace use this structure. However, the 6-U P S has its disadvantages as the actuated Joint is located in the second place in the kinematic chain. The 6- P US is another 6-DOF structure and when compared with the 6-U P S, offers several advantages by allowing to mount the heavy and the vibration inducing actuated Prismatic Joint on the ground. This offers the added benefit of transferring the majority of the payload to the ground, resulting in lowering of the overall costs. The question is: Can we find a 6- P US architecture that meets or exceeds the prescribed workspace while meeting the same kinematics footprint requirement of a given 6-U P S? In the present paper, a recently constructed 6-U P S mechanism for a metro station is selected and using an optimization method based on a genetic algorithm (GA), a 6- P US mechanism that meets or exceeds the required workspace is identified. To do this, first, the various architectures of the 6- P US parallel robot are presented. The inverse kinematics solution for a general 6- P US architecture is obtained. To fully define the architecture, three additional kinematics parameters are selected and employed to define the cost function used for the optimization. The cost function acts as a penalizing mechanism which ignores unwanted architectures of the 6- P US. Finally, a new concept for 6-DOF workspace visualization representation, called workspace spheres, is presented. The new concept aids the user by offering quantitatively data and visualization tool for simultaneous description of rotational and translational workspace.
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an analytical model for vibration and control of a pr prp parallel robot with flexible platform and Prismatic Joint
Journal of Vibration and Control, 2016Co-Authors: Mahdi Sharifnia, Ali Reza AkbarzadehAbstract:An analytical solution for vibration of a parallel robot where its end-effector is flexible and has a passive Prismatic Joint(s) has not been presented before. In this research vibration analysis o...
Yangmin Li - One of the best experts on this subject based on the ideXlab platform.
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a compliant parallel xy micromotion stage with complete kinematic decoupling
IEEE Transactions on Automation Science and Engineering, 2012Co-Authors: Yangmin Li, Jiming Huang, Hui TangAbstract:This paper presents a novel compliant parallel XY micromotion stage driven by piezoelectric actuators (PZT). With the purpose to obtain complete kinematic decoupling and good stiffness performance, the stage is designed using a symmetric 4-PP structure in which double four-bar flexure is chosen as the Prismatic Joint. Matrix method is employed to establish the compliance model of the mechanism. Based on the model, dynamic analysis is investigated after static analysis is carried out. The dimensions of the mechanism are optimized using the particle swarm optimization (PSO) algorithm in order to maximize the natural frequencies. Finite-element analysis (FEA) result indicates that the mechanism has an almost linear force-deflection relationship, high first natural frequency (720.52 Hz), and ideal decoupling property. To cope with the nonlinearities such as hysteresis that exists in the PZT, the control system is constructed by a proportional-integral-derivative (PID) feedback controller with a feedforward compensator based on Preisach model. The fabricated prototype has a 19.2 μm × 8.8 μm rectangular workspace with coupling less than 5%. The result of the closed-loop test shows that the XY stage can achieve positioning, tracking and contouring tasks with small errors.