Actuators, Volume 13, Issue 6

The traditional wheelchair focuses on the “human-chair” motor function interaction to ensure the elderly and people with disabilities’ basic travel. For people with visual, hearing, physical disabilities, etc., the current wheelchai...

This paper introduces three new gust load alleviation control strategies, which are based on variable camber technology, to achieve the design requirements for the safety, economy, and comfort of modern civil aircraft. These strategies involve adjust...

Autonomous underwater vehicles (AUVs), as primary platforms, have significantly contributed to underwater surveys in scientific and military fields. Enhancing the maneuverability of autonomous underwater vehicles is crucial to their development. This...

Considering the effect of icing on aircraft control performance, this paper proposes an adaptive dynamic inverse ice tolerance control method based on piecewise constant. A control allocation algorithm is introduced to compensate for the change of co...

The issue of aircraft icing poses a substantial threat to flight safety. In order to investigate more efficient anti-icing and de-icing technologies, a comparative analysis was conducted on the de-icing characteristics of three types of actuator mate...

Incremental control strategies such as Incremental Nonlinear Dynamics Inversion (INDI) and Incremental Backstepping (IBKS) provide undeniable advantages for controlling Uncrewed Aerial Vehicles (UAVs) due to their reduced model dependency and accurat...

The drive at the center of gravity (DCG) concept-based twin-ball-screw drive mechanism (TBSDM) is vital in automated factories for its robustness and reliability. However, changes in the worktable mass or position result in changes in the center of g...

This study presents a novel image-based visual servoing fault-tolerant control strategy aimed at ensuring the successful completion of visual servoing tasks despite the presence of robotic arm actuator faults. Initially, a depth-independent image-bas...

In the process industrial systems, flow control valves are deemed vital components that ensure the system’s safe operation. Hence, detecting faults in control valves is of significant importance. However, the stable operating conditions of flow...

In response to the challenges of multiple personnel, heavy support tasks, and high labor intensity in coal mine tunnel drilling and anchoring operations, this study proposes a novel tracked drilling and anchoring robot. The robot is required to maint...

This paper presents a hybrid adaptive control strategy for upper limb rehabilitation robots using impedance learning. The hybrid adaptation consists of a differential updating mechanism for the estimation of robotic modeling uncertainties and periodi...

For the application of Delta robots with a 3-R(RPaR) configuration in machining tasks, this paper constructed a 54-parameter kinematic error model and a simplified dynamic model incorporating an integrated joint’s position error and friction, r...

In this paper, we propose the design, development, and testing of high-torque and lightweight actuators suitable for lightweight robotic applications. The detailed design of the actuator module is described, and its performance evaluation is also pre...

Quadrotors are widely applied in many fields, but they often face various external disturbances in actual operation. This makes it necessary to design a controller that can handle disturbances. Disturbance observer and adaptive control techniques are...

Multimodal motion capability is an emerging topic in the robotics field, and this paper presents a hybrid robot system maneuvering in both terrestrial and aerial environments. Firstly, a micro quadruped–quadrotor robot with onboard sensing and...

This paper presents an observer-based dynamic output-feedback controller design procedure using linear matrix inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic cr...

Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and...

Modern laver fluffiness is achieved by applying high-speed gas to a laver, which is generated by the opening and closing of a laver fluffiness control valve in a fluffiness system. To address the problems of the slow response speed and poor stability...

Active power-assist lower limb exoskeleton robots aim to enhance wearer assistance while ensuring wearer comfort and simplifying the exoskeleton’s design and control. This study proposes an active assistance method known as Equivalent Force on...

A new design for humanoid arms is presented based on a tripod mechanism that is actuated by linear servomotors. A specific prototype is built and tested, with the results of performance characterization verifying a possible implementation on the LARM...

The automotive industries currently face challenges such as emission limits, traffic congestion, and limited parking, which have prompted shifts in consumer preferences and modern passenger vehicle requirements towards compact vehicles. However, give...

The light-weighting of a robotic arm is an important aspect of robot research. In the operation of existing welding robots, excessive vibrations in the welding actuators have been observed, which lead to reduced welding precision and work efficiency....

This paper presents a novel Continuous Variable Transmission (CVT) design. CVT is highly beneficial for actuators with rotary output as it can improve the energy efficiency of the actuators by providing an optimum transmission ratio. This property of...

In recent years, robot manipulator arms have become increasingly prevalent and are playing pivotal roles across various industries. Their ability to replace human labor in arduous and hazardous tasks has positioned them as indispensable assets. Conse...

Aiming at the disadvantages of traditional manual docking, such as low assembly efficiency and large positioning error, a six-DOF dual-arm robot system for module docking is designed. Firstly, according to the operation tasks of the cabin docking rob...

This study proposes a robust geometric controller tailored for quadrotor unmanned aerial vehicles (UAVs). The original geometric controller exhibits excellent performance in quadrotor UAV maneuvers. However, as a model-based nonlinear control method,...

Saturated nonlinear affine systems are widely encountered in many engineering fields. Currently, most control methods on saturated nonlinear affine systems are not specifically designed based on sparsity-based control methodologies, and they might re...

Extended back electromotive force (EEMF)-based position sensorless field-oriented control (FOC) is widely utilized for ultra-high-speed surface-mounted permanent magnet synchronous motors (UHS-SPMSMs) driven fuel cell air compressors in medium-high s...

As important auxiliary equipment, rehabilitation robots are widely used in rehabilitation treatment and daily life assistance. The rehabilitation robot proposed in this paper is mainly composed of an omnidirectional mobile platform module, a lower li...

In order to improve the performance of self-driving commercial vehicles for half-hill starting, a ramp control strategy based on the back-slip speed corresponding to the parking moment is proposed. Firstly, the longitudinal dynamics model of the vehi...

High-performance electroactive polymer actuators with large bending, fast response, and high durability have gained attention in the development of micromanipulators and multifunctional bionic soft robots. Herein, we developed high-performance electr...

Soft transportation devices with high flexibility, good stability, and quick controllability have attracted increasing attention. However, a smart soft transportation device with tactile perception and a non-contact actuating mode remains a challenge...

In this paper, the impact of parameter matching on the steady-state performance of permanent magnet-assisted synchronous reluctance motors (PMaSynRM) under vector control is analyzed and discussed. First, based on the mathematical model of motors und...

In response to the challenges posed by the difficult cleaning of tunnel retro-reflective rings and the unsuitability of existing climbing robots for ascending tunnel retro-reflective rings, a tunnel retro-reflective ring cleaning robot is proposed. F...

This paper analyzes the viability of different solutions to passively augment the axial stiffness of a horizontal axis radial levitation passive magnetic bearing (PMB) with a previously studied topology. The zero-field cooling (ZFC) of high-temperatu...

Carbon fiber-reinforced polymers (CFRPs) are extensively employed in the aerospace industry due to their excellent properties. Delamination damage occurring at critical locations in CFRPs can seriously reduce the safety of in-service components. The...

The rapid acquisition of flow field characterization information is crucial for closed-loop active flow control. The proper orthogonal decomposition (POD) method is a widely used flow field downscaling modeling method to obtain flow characteristics e...