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Actuators
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Actuators for Robot Manipulators
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Actuators for Robot Manipulators

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: closed (30 June 2021) | Viewed by 7009

Special Issue Editors

Dr. Maolin Jin

E-Mail Website
Guest Editor
Korea Institute of Robots and Convergence, Pohang 37666, Gyeongsanbuk-do, Korea
Interests: robust control of nonlinear plants; time-delay control; robot motion control; electrohydraulic actuators; winding machines; disaster robotics; factory automation
Special Issues, Collections and Topics in MDPI journals
Dr. Jinoh Lee

E-Mail Website
Guest Editor
Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Weßling, Germany
Interests: robotics; robust control theory; humanoid robots; compliant actuators; redundant robots

Special Issue Information

Dear Colleagues,

Robotic manipulators are now widely used in manufacturing processes and our daily lives. Depending on its applications, a robot manipulator is capable of performing repetitive tasks at speeds and accuracies that far exceed those of human operators and is capable of producing high force and flexibilities for intrinsic safety when collaborating with humans. New actuator designs, mathematical models, control techniques, and integration techniques for robot manipulators have been developed to satisfy sophisticated demands. Innovation in the actuators is one of the most important subjects for next-generation robotic manipulators. In this perspective, we are delighted to announce a new Special Issue on “Actuators for Robot Manipulators”, which will highlight major developments and emerging evolution in the design of actuators and their application for robotic manipulators.
This Special Issue will present advances in both the development of novel actuators and/or control techniques for the use of robotic manipulators. We will collect original articles and reviews that help realize better design/performance of robot manipulators, including, but not limited to the following topics:

  • Shape memory alloy actuators (SMA)
  • Electro-hydraulic actuators (EHA)
  • Artificial muscles
  • Series elastic actuators
  • Cable-driven actuators
  • Twisted string actuators
  • Pneumatic actuators

We look forward to your valuable contributions.

Dr. Maolin Jin
Dr. Jinoh Lee
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Actuators for robotics manipulators
  • Series elastic actuators
  • Electro-hydraulic actuators
  • Artificial muscles
  • Modeling and control of actuators

Published Papers (2 papers)

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Research

19 pages, 6781 KiB  
Article
A Robust Method Based on Dual Encoders to Eliminate Velocity Ripple for Modular Drive Joints
by Qiang Xin, Chin-Yin Chen, Chongchong Wang, Guilin Yang, Chi Zhang, Zaojun Fang and Chun Lung Philip Chen
Actuators 2020, 9(4), 135; https://0-doi-org.brum.beds.ac.uk/10.3390/act9040135 - 10 Dec 2020
Cited by 3 | Viewed by 2550
Abstract
Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed [...] Read more.
Velocity ripple is one of the common problems of modular drive joints, which easily induces vibration and noise and affects motion accuracy. In order to improve the motion control accuracy, a robust method based on dual encoders to eliminate velocity ripple is proposed in this paper. The method contains a velocity ripple elimination controller (VREC), a rigid-body velocity solver (RBVS), and a proportional–integral (PI) controller. Feeding back the VREC output to the PI controller based on the rigid-body velocity obtained from the weighted sum of dual encoders in the RBVS, an equivalent system damping term was added into the system. Therefore, the velocity ripple can be suppressed effectively with the adjustable damping term composed of control parameters. Above all, the proposed method has only one more parameter to further eliminate velocity ripple compared to the pure PI method and, meanwhile, has apparent advantages over the conventional method, such as fewer parameters and full frequency ripple elimination, as well as robustness to input disturbance and modular drive joint load inertia changes. This proposed method’s effectiveness is verified by simulations in MATLAB and experiments in the modular drive joint platform. Full article
(This article belongs to the Special Issue Actuators for Robot Manipulators)
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22 pages, 12343 KiB  
Article
Manufacturing Technology on a Mechatronics Line Assisted by Autonomous Robotic Systems, Robotic Manipulators and Visual Servoing Systems
by Adrian Filipescu, Eugenia Mincă, Adriana Filipescu and Henri-George Coandă
Actuators 2020, 9(4), 127; https://0-doi-org.brum.beds.ac.uk/10.3390/act9040127 - 3 Dec 2020
Cited by 16 | Viewed by 3001
Abstract
This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled [...] Read more.
This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing systems (VSSs). The P/RML has four line-shaped workstations assisted by two ARSs—wheeled mobile robots (WMRs): one of them equipped with an RM, used for manipulation, and the other one used for transport. Two types of VSSs—eye to hand and eye in hand—are used as actuators for precise positioning of RMs to catch and release the work-piece. The work-piece visits stations successively as it is moved along the line for processing. If the processed piece does not pass the quality test, it is taken from the last stations of the P/RML and it is transported to the first station where it will be considered for reprocessing. The P/RML, assisted by ARSs, RMs and VSSs, was modelled with the synchronized hybrid Petri nets (SHPN). To control the ARSs, we propose the use of trajectory-tracking and sliding-mode control (TTSMC). The precise positioning that allows the picking up and releasing of the work-piece was performed using two types of VSSs. In the case of the first one, termed eye to hand VSS, the cameras have a fixed position, located at the last and the first workstations of the P/RML. For the second one, named eye in hand VSS, the camera is located at the end effector of the RM. Full article
(This article belongs to the Special Issue Actuators for Robot Manipulators)
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