Skip to main content
SpringerLink
Log in

Research on HDD-UJ Robot Joint Structure Design and Motion Regulation Strategy

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11741))

Included in the following conference series:

  • 2982 Accesses

Abstract

A heterogeneous double-drive universal joint (HDD-UJ) that can realize yaw motion and pitching motion is proposed. The virtual prototype model of the HDD-UJ is designed to determine the driving mechanism and motion form of the joint. By deducing the mathematical model of the displacement field of the “C”-shaped electrostrictive driving block, combined with the structural characteristics of the HDD-UJ, a motion regulation strategy is proposed and its mathematical model is established. Finally, in order to verify the rationality and effectiveness of the motion regulation strategy, the simulation experiments under three conditions of ideal, error, and regulation are carried out. The experimental results show that the HDD-UJ combines the electrostrictive material with the motion regulation strategy, which greatly reduces the joint motion error and improves the motion stability.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Chen, Q.Z., Chen, W.H., Liu, R., et al.: Mechanism design and tension analysis of a cable-driven humanoid-arm manipulator with joint angle feedback. J. Mech. Eng. 46(13), 83–90 (2010)

    Article  Google Scholar 

  2. Ying, S.S., Qin, X.S., Ren, Z.G., et al.: Design and research of robot driving joint based on artificial muscles. Robot 30(2), 142–146 (2008)

    Google Scholar 

  3. Ma, J., Wu, Y.H., Xu, M., et al.: Study on the joint driver of micro robot based on piezoelectric element for celiac operation. Robot 25(4), 335–338 (2003)

    Google Scholar 

  4. Xie, S.L., Mei, J.P., Liu, H.T., et al.: Hysteresis modeling and trajectory tracking control of the pneumatic muscle actuator using modified Prandtl-Ishlinskii model. Mech. Mach. Theory 120, 213–224 (2018)

    Article  Google Scholar 

  5. Luo, T.H., Li, H.L.: Study on structural design and dynamic characteristics of bionic shoulder joint driven by PAM-motor. Mech. Sci. Technol. Aerosp. Eng. 38(2), 170–177 (2019)

    MathSciNet  Google Scholar 

  6. Luo, T.H., Guo, Y., Ma, X.Y., et al.: Spatiotemporal coupling model of SMA-motor compound drive joint based on gene regulatory network. Comput. Integr. Manuf. Syst. 23(4), 815–824 (2017)

    Google Scholar 

  7. Wang, N.F., Cui, C.Y., Guo, H., et al.: Advances in dielectric elastomer actuation technology. Sci. China Technol. Sci. 61(10), 1512–1527 (2018)

    Article  Google Scholar 

  8. Zheng, J.H., Cui, Y.G., Lou, J.Q., et al.: Model and experiments for compound control of a piezoelectric micro-gripper. Robot 37(3), 257–263 (2015)

    Google Scholar 

  9. Liu, Y.F., Li, J., Hu, X.H., et al.: Modeling and control of piezoelectric inertia-friction actuators: review and future research directions. Mech. Sci. 6(2), 95–107 (2015)

    Article  Google Scholar 

  10. Liu, X., Yang, C.G., Chen, Z.G., et al.: Neuro-adaptive observer based control of flexible joint robot. Neurocomputing 275, 73–82 (2018)

    Article  Google Scholar 

  11. Yeon, J.S., Yim, J., Park, J.H.: Robust control using recursive design method for flexible joint robot manipulators. J. Mech. Sci. Technol. 25(12), 3205–3213 (2011)

    Article  Google Scholar 

  12. Semini, C., Barasuol, V., Boaventura, T., et al.: Towards versatile legged robots through active impedance control. Int. J. Rob. Res. 34(7), 1003–1020 (2015)

    Article  Google Scholar 

  13. Wei, H.E., Jiang, Q., Zhou, Z.D.: Some problems of nonlinear mechanics for electrostrictive materials. J. Nantong Univ. (Natural Science Edition) 10(3), 46–52 (2011)

    Google Scholar 

Download references

Acknowledgements

This work was supported by Chongqing Graduate Research and Innovation Project (Grant No. CYS18223), Chongqing Technology Innovation and Application Demonstration Project (Grant No. cstc2018jszx-cyzdX0175) and Chongqing University of Arts and Sciences Graduate School Research Project (Grant No. M2018 ME16).

Author information

Authors and Affiliations

  1. School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing, 400074, China

    Zhongtao Li

  2. School of Mechanical-Electrical Engineering, Chongqing University of Arts and Sciences, Chongqing, 402160, China

    Tianhong Luo

Authors
  1. Zhongtao Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tianhong Luo
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Tianhong Luo .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Li, Z., Luo, T. (2019). Research on HDD-UJ Robot Joint Structure Design and Motion Regulation Strategy. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_21

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-27532-7_21

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27531-0

  • Online ISBN: 978-3-030-27532-7

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation