recovering wire w1, with remembered ‘U’ shape, is located along the rod’s axis. The restoring wire w2, with memorized straight shape, is located in parallel with the rod’ axis with an offset distance d1. Two strain gauges, arranged in comple...
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https://www.riss.kr/link?id=A103788730
Yang Kai (Huazhong univ) ; Wang Yanjue (Huazhong univ)
2008
-
KCI등재,SCIE,SCOPUS
학술저널
895-904(10쪽)
8
0
상세조회0
다운로드다국어 초록 (Multilingual Abstract)
recovering wire w1, with remembered ‘U’ shape, is located along the rod’s axis. The restoring wire w2, with memorized straight shape, is located in parallel with the rod’ axis with an offset distance d1. Two strain gauges, arranged in comple...
recovering
wire w1, with remembered ‘U’ shape, is located along the rod’s axis. The restoring wire w2, with memorized
straight shape, is located in parallel with the rod’ axis with an offset distance d1. Two strain gauges, arranged in complemental
configuration and sticking to the rod, are used to implement accurate displacement control. Upon the elicitation
of the structure of a human being’s hands, a finger with multi-units is proposed. The finger has two flexible rods
with embedded SMA wires and one shorter rod as a connecting part. The number and position of fingers are investigated
by making use of a nonlinear plan process with an index W, a function of grasp matrix G. The hardware of the
drive and control system of the gripper has been completed on the base of a DSP chip. After the track plan is realized in
the joint space through B spline interpolation method, the software of the position control system is fulfilled through
two-staged slide control strategy. The simulations and experiments of step response of the SMA actuator are carried out.
It is shown in the experiments that the maximum angle between ends’ tangents of each finger is 68.5, 79 and 79 degrees,
respectively, and the tip of each finger could reach its final position by using approximately the same time period.
참고문헌 (Reference)
1 S. V. Drakunov, "Yaw control algorithm via sliding mode control" 580-583, 2000
2 A. Sosa, "Sliding mode control for the fixed-frequency series resonant converter with asymmetrical clamped-mode modulation" 675-680, 2005
3 C. Edwards, "Sliding Mode Control Theory and Applications" Taylor & Francis 1998
4 M. E. Rosheim, "Robot Evolution: The Development of Anthrobotics" John Wiley & Sons, Inc. 1994
5 R. Cabas, "Optimized design of the underactuated robotic hand" 982-987, 2006
6 M. J. Farrugia, "Optimisation of anthropomorphic robot hand design through human manual dexterity testing" 147-152, 2006
7 R. G. Gilbertson, "Muscle Wires Project Book, Third ed." Mondo-tronics, Inc. 1994
8 M. S. Erden, "Multiagent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task" 39 (39): 287-306, 2004
9 S. B. Choi, "Force Tracking Control of a Flexible Gripper Featuring Shape Memory Alloy Actuators" 11 (11): 677-690, 2001
10 Y. M. Han, "End-Point Position Control of a Single-Link Arm Using Shape Memory Alloy Actuators" 217 (217): 871-882, 2003
1 S. V. Drakunov, "Yaw control algorithm via sliding mode control" 580-583, 2000
2 A. Sosa, "Sliding mode control for the fixed-frequency series resonant converter with asymmetrical clamped-mode modulation" 675-680, 2005
3 C. Edwards, "Sliding Mode Control Theory and Applications" Taylor & Francis 1998
4 M. E. Rosheim, "Robot Evolution: The Development of Anthrobotics" John Wiley & Sons, Inc. 1994
5 R. Cabas, "Optimized design of the underactuated robotic hand" 982-987, 2006
6 M. J. Farrugia, "Optimisation of anthropomorphic robot hand design through human manual dexterity testing" 147-152, 2006
7 R. G. Gilbertson, "Muscle Wires Project Book, Third ed." Mondo-tronics, Inc. 1994
8 M. S. Erden, "Multiagent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task" 39 (39): 287-306, 2004
9 S. B. Choi, "Force Tracking Control of a Flexible Gripper Featuring Shape Memory Alloy Actuators" 11 (11): 677-690, 2001
10 Y. M. Han, "End-Point Position Control of a Single-Link Arm Using Shape Memory Alloy Actuators" 217 (217): 871-882, 2003
11 S. Roccella, "Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1" 266-271, 2004
12 N. Caglar, "B-spline solution of singular boundary value problems" 182 (182): 1509-1513, 0000
13 H. Park, "B-spline curve fitting using dominant points. Lecture Notes in Computer Science" 362-366, 2006
14 A. D. Johnson, "Applications of shape memory alloys: Advantages. Disadvantages. and limitations" 341-351, 2001
15 B. J. D. Blonk, "Actuation of elastomeric rods with embedded two-way shape memory alloy actuators" 7 : 771-783, 1998
16 D. C. Lagoudas, "Active flexible rods with embedded SMA fibers" 1 : 162-167, 1992
17 I. Mihalcz, "A biomechanic robot hand using SMA" 1835-1840, 1999
Thermo-Fluidic Characterization of Flue Gas Flows Through a Packed Bed
Multi-dimensional modeling of CO poisoning effects on proton exchange membrane fuel cells (PEMFCs)
학술지 이력
연월일 | 이력구분 | 이력상세 | 등재구분 |
---|---|---|---|
2023 | 평가예정 | 해외DB학술지평가 신청대상 (해외등재 학술지 평가) | |
2020-01-01 | 평가 | 등재학술지 유지 (해외등재 학술지 평가) | |
2012-11-05 | 학술지명변경 | 한글명 : 대한기계학회 영문 논문집 -> Journal of Mechanical Science and Technology | |
2010-01-01 | 평가 | 등재학술지 유지 (등재유지) | |
2008-01-01 | 평가 | 등재학술지 유지 (등재유지) | |
2006-01-19 | 학술지명변경 | 한글명 : KSME International Journal -> 대한기계학회 영문 논문집외국어명 : KSME International Journal -> Journal of Mechanical Science and Technology | |
2006-01-01 | 평가 | 등재학술지 유지 (등재유지) | |
2004-01-01 | 평가 | 등재학술지 유지 (등재유지) | |
2001-01-01 | 평가 | 등재학술지 선정 (등재후보2차) | |
1998-07-01 | 평가 | 등재후보학술지 선정 (신규평가) |
학술지 인용정보
기준연도 | WOS-KCI 통합IF(2년) | KCIF(2년) | KCIF(3년) |
---|---|---|---|
2016 | 1.04 | 0.51 | 0.84 |
KCIF(4년) | KCIF(5년) | 중심성지수(3년) | 즉시성지수 |
0.74 | 0.66 | 0.369 | 0.12 |