Motor Load Research Articles

Testing and Performance Evaluation of Water Pump Irrigation System using Voltage-Lift Multilevel Inverter

The positive or negative output voltage-lift technique is intended to provide a preferable contribution to energy conversion. This topology is modified from two configurations such as super- lift and voltage-lifting technique. The proposed model introduces the progress of symmetric Voltage- Lift Inverter (VLI) technique in which the semiconductor switches are reduced compared to the conventional or modified type of Multilevel Inverter (MLI). From a research point of view, the parameters are analyzed in-field program gate array. It comprises of Particle Swarm Optimization (PSO) rules to help maximizing the system voltage with aid of Maximum Power Point (MPP) tracking in PV fed inverter for water pumping applications. The performance factors under different PV irradiation conditions are analyzed using MATLAB/Simulink and Hardware based results. Solar-Photovoltaic (S-PV) modules are fed to the proposed inverter, which is then connected in series with the combination of a submersible water pump. It will enhance power by MPP approach for symmetric inverter technology which is performed with the necessary voltage conversion applied in water pump irrigation used for agriculture specific areas. In this method, voltage-lift inverter is capable of testing and evaluated with desired output level necessary power conversion to solar water pump method. Results are representing to save the fuel and electricity cost with the help of solar fed water pump using Induction Motor (Im) load. The minimum harmonics from simulation and hardware circuit is achieved by variation of optimum pulses given into converter switches. Due to the reduced bulky semiconductor devices and filter element it anticipates the improved efficiency for the proposed inverter system.

Chronic Pain–Related Jaw Muscle Motor Load and Sensory Processing

Chronic pain associated with temporomandibular disorders (TMDs) may reflect muscle mechanoreceptor afferent barrage and dysregulated sensory processing. This observational study tested for associations between Characteristic Pain Intensity (CPI), physical symptoms (Patient Health Questionnaire–15 [PHQ-15]), and cumulative jaw muscle motor load (mV*s). In accordance with institutional review board oversight and Strengthening the Reporting of Observational Studies in Epidemiology guidelines, adult subjects gave informed consent and were identified via Diagnostic Criteria for TMD (DC-TMD) examination and research protocols. Subjects were assigned to ±Pain groups using DC-TMD criteria for myalgia. CPI scores characterized pain intensity. PHQ-15 scores were surrogate measures of dysregulated sensory processing. Laboratory tests were performed to quantify masseter and temporalis muscle activities (mV) per bite force (N) for each subject. In their natural environments, subjects recorded day- and nighttime electromyography from which cumulative jaw muscle motor loads (mV*s) were determined for activities consistent with bite forces of >1 to ≤2 and >2 to ≤5 N. Data were assessed using univariate analysis of variance, simple effects tests, K-means cluster classification, and 3-dimensional regression analyses. Of 242 individuals screened, 144 enrolled, and 125 with complete data from study protocols, there were 35 females and 15 males for +Pain and 35 females and 40 males for −Pain. Subjects produced 324 daytime and 341 nighttime recordings of average duration 6.9 ± 1.7 and 7.6 ± 1.7 h, respectively. Overall, +Pain compared to −Pain subjects had significantly higher (all P ≤ 0.002) CPI and PHQ-15 scores. Cumulative jaw muscle motor loads showed significant between-subject effects for time, diagnostic group, and sex (all P < 0.003), where motor loads tended to be higher for daytime versus nighttime, +Pain versus −Pain groups, and males versus females. Two clusters were identified, and regression relations showed associations of low-magnitude daytime masseter motor load, PHQ-15, and CPI scores for cluster 1 (n = 105, R2 = 0.44) and cluster 2 (n = 18, R2 = 0.80). Furthermore, these regression relations showed thresholds of motor load and PHQ-15 scores, above which there were nonlinear increases in reported pain.

Mechanical Design and a Novel Structural Optimization Approach for Hexapod Walking Robots

This paper presents a novel model-based structural optimization approach for the efficient electromechanical development of hexapod robots. First, a hexapod-design-related analysis of both optimization objectives and relevant parameters is conducted based on the derived dynamical model of the robot. A multi-objective optimization goal is proposed, which minimizes energy consumption, unwanted body motion and differences between joint torques. Then, an optimization framework is established, which utilizes a sophisticated strategy to handle the optimization problems characterized by a large set of parameters. As a result, a satisfactory result is efficiently obtained with fewer iterations. The research determines the optimal parameter set for hexapod robots, contributing to significant increases in a robot’s walking range, suppressed robot body vibrations, and both balanced and appropriate motor loads. The modular design of the proposed simulation model also offers flexibility, allowing for the optimization of other electromechanical properties of hexapod robots. The presented research focuses on the mechatronic design of the Szabad(ka)-III hexapod robot and is based on the previously validated Szabad(ka)-II hexapod robot model.

Research on performance of a laboratory-scale SAG mill based on DEM-EMBD

To explore the performance of a semi-autogenous (SAG) mill under different working conditions, in this paper, the working process of the laboratory-scale SAG mill is taken as the research object. Firstly, the electrical system and multi-body dynamics model (EMBD) of the SAG mill are established, the rock discrete element method (DEM) analysis model is obtained based on the multi-sphere filling method, and then the DEM-EMBD coupling model is created, and its effectiveness is verified through actual experiments. Secondly, the influences of fraction of critical speed, lifter face angle, and rock shape on particle motion characteristics, particle collision energy, and mill torque are studied by the method of DEM-EMBD coupling method. The results show that the particle motion characteristics are mainly determined by fraction of critical speed and lifter face angle. Particle collision energy is mainly determined by lifter face angle and rock shape. Further, when the SAG mill runs at a low speed, the lifter face angle and rock shape become the main influencing factors of the mill torque, and the fraction of critical speed becomes the dominant factor with a high running speed of the SAG mill. Finally, the electromechanical characteristics of the SAG mill are analysed, and the results show that the fluctuation of motor load torque, current, and SAG mill speed in the start-up stage is much larger than that in the stable running stage. The fraction of critical speed and the lifter face angle have a greater impact on the electromechanical characteristics, while the rock shape has little influence on the electromechanical characteristics as a whole.

Motion control of linear induction motor using self-recurrent wavelet neural network trained by model predictive controller

Due to end effects phenomena that cause a decrease of air-gap flux and thrust force, obtaining a precise velocity for a linear induction motor (LIM) has become a significant challenge. This study suggests implementing a novel controller based on a self-recurrent wavelet neural network (SRWNN) and model predictive controller (MPC) to regulate the velocity and thrust force of LIM. The MPC was used to train the SRWNN in this study. The ultimate goal of employing such a control approach in neural network training is to reduce the degree of uncertainty caused by changes in motor parameters and load disturbance. The indirect field-oriented control (IFOC) approach was used to investigate velocity and flux control under varied loading circumstances. Furthermore, to supply the required LIM stator voltage, a SVPWM dependent voltage source inverter was used in this work. To ensure reliable performance, the suggested system combines the benefits of neural networks with the MPC method, resulting in a versatile controller with a basic construction that is easy to accomplish. The MATLAB package is utilized to simulates and outputs LIM responses. The results confirm that the proposed method, which efficiently controls the velocity and thrust force of the LIM, can cope with changes in load force disruption and motor parameters.

Pengaruh Total Harmonic Distortion (THD) Terhadap Pembacaan kWh Meter Semi Digital

AbstrakEnergy measurement using a kWh meter must have good accuracy. The increasing use of non-linear electrical equipment causes harmonics in the network. This study aims to measure and analyze voltage, current, power, power factor and the percentage of Total Harmonic Distortion (THD). The research was carried out by designing and making a device in the form of an electrical circuit connected to a semi-digital kWh meter with a fixed load of 10 incandescent lamps with a power of 100 watts each and 1 single-phase induction motor. The test results show that the incandescent lamp load test produces a THD-I percentage of 3.5% and a THD-V percentage of 3.7% with a measurement error value of 0.675%. In the motor load test, the percentage of current harmonics becomes high at 16.6% and the THD-V percentage is 3.4% and the measurement error value is 3.48%. In testing the variation of the load combination of an induction motor and incandescent lamps, the percentage of THD-I is 5.8% and the percentage of THD-V is 3.2% with an error value of 3.57%. The greater the THD percentage value, the greater the reading error on the semi-digital kWh meter and the worse the resulting power factor value. Kata kunci: Non-linear load, kWh Meter, THD

Prediction of Severe Injury in Bicycle Rider Accidents: A Multicenter Observational Study

Introduction This study aimed to establish a predictive model that includes physiological parameters and identify independent risk factors for severe injuries in bicycle rider accidents. Methods This was a multicenter observational study. For four years, we included patients with bicycle rider injuries in the Emergency Department-Based Injury In-depth Surveillance database. In this study, we regarded ICD admission or in-hospital mortality as parameters of severe trauma. Univariate and multivariate logistic regression analyses were performed to assess risk factors for severe trauma. A receiver operating characteristic (ROC) curve was generated to evaluate the performance of the regression model. Results This study included 19,842 patients, of whom 1,202 (6.05%) had severe trauma. In multivariate regression analysis, male sex, older age, alcohol use, motor vehicle opponent, load state (general and crosswalk), blood pressure, heart rate, respiratory rate, and Glasgow Coma Scale were the independent factors for predicting severe trauma. In the ROC analysis, the area under the ROC curve for predicting severe trauma was 0.848 (95% confidence interval: 0.830–0.867). Conclusion We identified independent risk factors for severe trauma in bicycle rider accidents and believe that physiologic parameters contribute to enhancing prediction ability.

The impacts of surgical mask in young healthy subjects on cardiopulmonary function and muscle performance: a randomized crossover trial

ObjectiveTo explore the impacts of surgical mask in normal subjects on cardiopulmonary function and muscle performance under different motor load and gender differences.DesignRandomized crossover trial.SettingThe Fifth Affiliated Hospital of Guangzhou Medical University, June 16th to December 30th, 2020.ParticipantsThirty-one college students (age: male 21.27 ± 1.22 years; female 21.31 ± 0.79 years) were recruited and randomly allocated in two groups.InterventionsGroup 1 first received CPET in the mask-on condition followed by 48 h of washout, and then received CPET in the mask-off condition. Group 2 first received CPET in the mask-off condition followed by 48 h of washout, then received CPET in the mask-on condition. The sEMG data were simultaneously collected.Main outcome measuresThe primary outcome was maximum oxygen uptake (VO2 max) from CPET, which was performed on a cycle ergometer—this is the most important parameter associated with an individual’s physical conditioning. The secondary parameters included parameters reflecting exercise tolerance and heart function (oxygen uptake, anaerobic valve, maximum oxygen pulse, heart rate reserve), parameters reflecting ventilation function (respiration reserve, ventilation volume, tidal volume, breathing frequency), parameters reflecting gas exchange (end-tidal oxygen and carbon dioxide partial pressure, oxygen equivalent, carbon dioxide equivalent, and the relationship between dead space and tidal volume) and parameters reflecting skeletal muscle function [oxygen uptake, anaerobic valve, work efficiency, and EMG parameters including root mean square (RMS)].ResultsComparing the mask-on and mask-off condition, wearing surgical mask had some negative effects on VO2/kg (peak) and ventilation (peak) in both male and female health subjects [VO2/kg (peak): 28.65 ± 3.53 vs 33.22 ± 4.31 (P = 0.001) and 22.54 ± 3.87 vs 26.61 ± 4.03 (P < 0.001) ml/min/kg in male and female respectively; ventilation (peak): 71.59 ± 16.83 vs 82.02 ± 17.01 (P = 0.015) and 42.46 ± 10.09 vs 53.95 ± 10.33 (P < 0.001) liter in male and female respectively], although, based on self-rated scales, there was no difference in subjective feelings when comparing the mask-off and mask-on condition. Wearing surgical masks showed greater lower limb muscle activity just in male subjects [mean RMS of vastus medialis (load): 65.36 ± 15.15 vs 76.46 ± 19.04 μV, P = 0.031]. Moreover, wearing surgical masks produced a greater decrease in △tidal volume (VTpeak) during intensive exercises phase in male subjects than in female [male − 0.80 ± 0.15 vs female − 0.62 ± 0.11 l P = 0.001].ConclusionsWearing medical/surgical mask showed a negative impact on the ventilation function in young healthy subjects during CPET, especially in high-intensity phase. Moreover, some negative effects were found both in ventilation and lower limb muscle actives in male young subjects during mask-on condition. Future studies should focus on the subjects with cardiopulmonary diseases to explore the effect of wearing mask.Trial registrationChinese Clinical Trial Registry (ChiCTR2000033449).

Dynamic characteristic analysis of a multi-power coupling transmission system considering non-torque loads

The multi-power coupling transmission system (MPCTS) is an electromechanical coupling system, which typically use two or more induction motors to provide its driving torque. It is used in various industrial applications, such as cutter header driving systems of tunnel boring machinery, and yaw systems of wind turbines. In practical engineering applications, the loads borne by the MPCTS are very complex, including both torque loads and non-torque loads. Its dynamic characteristics are affected by both the gear transmission system and the drive motors. For this study, an electromechanical coupling dynamic model of the MPCTS, coupled with a gear transmission system, induction motor, and non-torque load, was constructed to analyze its dynamic characteristics under a non-torque load condition. The results showed increased offsets from the gear vibration equilibrium position, as well as deterioration in system load-sharing characteristics from increases in non-torque load and rotational speed. However, the influence of the non-torque load was significantly greater than that of the rotational speed.

ANALYSIS OF THE INFLUENCE OF VOLTAGE ASYMMETRY ON THE OPERATION OF THE TRACTION ASYNCHRONOUS ELECTRIC MOTOR USING THE SIMULATION MODEL

The asymmetry of the supply voltage adversely affects the operation of electricmotors, in particular induction ones. With an uneven load of the phases of the network, the voltagebecomes asymmetric - unequal between the individual phases. Voltage asymmetry leads to the factthat the currents in the phases of the stator winding of the electric motor differ sharply from oneanother. A phase with a high current can overheat above acceptable limits even with a small voltageunbalance. In addition, the active steel of the motor rotor overheats. Overheating of the motorwinding causes an increase in electrical losses, ripples of the electromagnetic torque also appear,and other negative consequences. These factors can lead to process failure, accelerated insulationaging, or even motor failure.In the event of a mains phase failure, running three-phase motors switch to single-phase mode.If the motor load before phase failure was no more than 60% of the rated value, then the motorcontinues to operate with slightly worse energy performance, the rotor speed decreases slightly, thewinding temperature is within acceptable limits. Under heavy loads, the motor winding overheatsexcessively, and in some cases the motor rotor stops and a large current flows through two phases ofthe stator winding. After stopping the engine, it cannot be started even at idle, since a pulsatingmagnetic field is obtained in the engine with a single-phase current.To study the effect of supply voltage asymmetry on the operation of an asynchronous electricmotor, simulation modeling was carried out in the ANSYS Electronics software package for directstart of induction motor with the introduction of a supply voltage asymmetry of one of the phases ata level of 4% in the steady state operation of the electric motor. The characteristics of the rotationfrequency and electromagnetic torque were obtained with asymmetry of the supply voltage and acomparison was made with the symmetrical mode of operation of the electric motor. The results ofsimulation show a slight change in the frequency of rotation of the rotor of the electric motor,however, there are significant ripples of the electromagnetic torque.

Current signal characteristics analysis of transmission system in high-speed train under abnormal vibration conditions

Abnormal vibration monitoring of high-speed trains is usually performed by analysing the vibration acceleration of specific structures to identify characteristic signals. However, due to the harsh operating environment caused by multiple internal and external sources of compound excitation, vibration monitoring of high-speed trains faces numerous problems, such as easy damage to vibration sensors, limited installation space for testing equipment, and difficulty in vibration testing of rotating parts. This paper takes high-speed train transmission system as the research object, combines multi-body system dynamics and electric transmission control theory to establish an electromechanical model of high-speed train transmission system, and carries out simulation research for three typical working conditions of high-speed train, which are wheel flat, wheel polygon and hunting motion. By analysing the transmission response of wheel–track relationship, gearing and motor current under three operating conditions based on Motor Current Signal Analysis (MCSA), it can be concluded that the motor current signal can be used instead of the vibration signal to identify the above three abnormal operating conditions by analysing the characteristic frequencies in the motor stator current. While MCSA is commonly used to diagnose faults such as tooth surface pitting and tooth root cracking inside gearboxes, the results of this paper show that motor current signals can also be used to monitor any abnormal operating conditions of high-speed trains that can cause changes in motor load torque.

Analisis Elektrik Motor Penggerak TBS (Traveling Band Screen) PLTU

&lt;p&gt;&lt;em&gt;The Traveling Band Screen (TBS) is a means of filtering trash and sea creatures such as jellyfish in the PLTU Intake area. FFB filters waste by rotating the screen, then the waste is sprayed using backwash water so that the filtered waste can fall into the disposal route. The amount of impurity material stuck on the screen has an impact on the decrease in flow capacity, thus affecting the increase in the load of the TBS motor and causing the TBS to become overloaded so that the PLTU will Shut Down, so an analysis is needed to determine the electric ability of the motor drive of the TBS system to block the screen. One of the analyzes carried out is observing the optimal load of the motor with power: 2/1 HP, Rotation: 1500 rpm with reduction ratio: 1500: 1 to determine the load blockage by using the SEW Eurodrive motor manufacturer. From the results of the load analysis, the existing motor specifications are only able to operate for a screen clogging percentage of less than 13.6%.&lt;/em&gt;&lt;/p&gt;

Increase Stability and Efficiency in PV-Battery-Grid Systems Using PSO Algorithm

In this article, the meta-heuristic algorithm PSO with PI fuzzy logic controller is proposed to develop a new control strategy of bidirectional converter (CSBC), in order to improve the stability and increase the efficiency of energy flow exchange in grid-connected photovoltaic generator (PVG) Battery hybrid system. The proposed command aims to satisfy the DC Motor load demand, manages the power flows from different parts, injects surplus energy into the grid as and when need, ensure charge-discharge battery operation even under the fluctuating condition of power generation, and stabilize the DC bus voltage. This new control has been placed in the network topology, which consists of a PVG Photovoltaic Generator, grid-connected DC/AC converter, storage battery and DC motor load. A bidirectional buck-boost converter is used for optimum exploit of power from PVG along with battery charging/discharging control, and for feeding DC motor load. The effectiveness of the proposed control scheme is demonstrated by using MATLAB / Simulink program. The results obtained, show that the proposed control provided the system with the stability of Vdc voltage, and contributed to improving the speed produced by the DC motor load. The results have been compared with the conventional control.

Motor Dynamic Loading and Comprehensive Test System Based on FPGA and MCU

In view of the problem that the traditional motor test system cannot directly test the transient parameters of the motor and the dynamic arbitrary load loading requirements during motor loading, as well as the high cost of implementation, this research uses STM32+FPGA as the core to form the main control of the motor test system unit, combining the superior control performance of the ARM processor and the high-speed data processing advantages of FPGA. FPGA and STM32 are controlled by the FSMC bus communication and data ping-pong algorithm. Using this method, a small-size control core board in the motor test system is manufactured. It can be embedded in the existing traditional dynamometer system to improve the dynamometer transient parameter test and the dynamic motor loading performance. The experimental results show that the system can basically meet the requirements of the motor transient test and dynamic loading, and can achieve the fastest data refresh rate of 1 ms when measuring the motor’s speed and torque, as well as arbitrary waveform loading within a 100 M sampling frequency, with a loading error of 0.8%. It satisfies the motor transient test and dynamic loading requirements.

T-Type Multi-Inverter Application for Traction Motor Control

The structure and principle of the T-type 3-level reverse voltage source that will be fed to three-phase induction motors will be presented in this study. The implementation of Space Vector Pulse Width Modulation (SVPWM) and the math models of the induction motor, the stator currents, and the speed controller design of the electric traction drive system based on Field-Oriented Control (FOC) will be also shown. This three-level T-type inverter in the FOC structure decreases Total Harmonic Distortion (THD) more than the previous two-level inverters. By combining the FOC control structure with the T-type 3-level inverter, the speed and torque responses necessary for railway traction motor load were improved. Finally, Matlab/Simulink will be used to demonstrate the correctness of the T-Type multi-level inverter theory.

Hammermill screen selection for soybean processing: soybean meal particle size and pullet performance effects

Reducing the particle size ( PS ) of feed ingredients is necessary and requires substantial energy expenditure. A majority of research on ingredient PS has considered the effects of corn and wheat PS on poultry performance. However, there is limited research investigating the effects of soybean meal ( SBM ) PS. Two experiments were conducted using expeller extruded SBM to measure the energy required to reduce soybean meal cake PS at the processor (experiment 1) and to determine the effects of various SBM PS on pullet performance from 0 to 17 weeks of age (experiment 2). The PS of SBM used in the current study was reduced using a hammermill fitted with one of three screens (2.4 mm, 5.6 mm, 7.9 mm) which represent the three treatments used in experiments 1 and 2. In experiment 1, hammermill screen size influenced motor load and power usage of the hammermill motor. The 2.4 mm screen required more energy and power to reduce the PS of SBM cake compared to all other screen sizes ( P < 0.001). Experiment 2 used three identical diets that varied only in SBM PS. Overall, mash diets varying in SBM PS did not influence the measured pullet performance parameters which included FI, BWG, and FCR ( P > 0.05). These data indicate that SBM may be manufactured using larger screen sizes to reduce energy usage at soybean processing facilities with no impact on ready-to-lay pullet development.

The effect of a dacitic (rhyolitic) tuff breccia (Azomite®) in corn, soybean, and DDGS based diets that vary in inorganic phosphate source on pellet mill energy use, 0 to 21-day broiler performance, and apparent ileal amino acid digestibility

Past research has shown that Azomite ( AZM ) can increase pellet mill production rate in diets that include inorganic phosphate sources ( IPS ) of dicalcium phosphate ( DCP ) or tricalcium phosphate ( TCP ). The authors hypothesized that if production rate were held constant then pellet mill energy consumption would decrease for diets that contained AZM. The objective was to determine the effect of AZM (0.25%) in diets with DCP and TCP on pellet mill energy consumption, subsequent live bird performance, and apparent ileal amino acid digestibility ( AIAAD ) when fed to broiler chicks for 21 d. Feed was manufactured in a 2 (IPS) × 2 (AZM inclusion) factorial across 4 days in a Latin Square Design. Post manufacture, 320 one-day-old Ross 708 males were allocated to 8 replicate pens, 10 chicks per pen, in a randomized complete block design. Dietary treatments were arranged in a 2 (DCP or TCP) × 2 (AZM or no AZM) factorial. On d 21 ileal contents were collected for amino acid and titanium dioxide analysis. Pellet mill motor load decreased by 5% in diets containing TCP compared to DCP ( P < 0.001), and 1% when AZM was included ( P < 0.001). Pellet durability was increased in diets containing DCP when AZM was included, while TCP diets were unaffected ( P < 0.001). Hot pellet temperature increased for TCP diets with AZM, whereas DCP diets did not change ( P < 0.05). AIAAD of cysteine increased for DCP diets with AZM, but not TCP diets ( P < 0.05). Similar trends were observed for lysine, isoleucine, and valine ( P < 0.10). An increase in FCR by 0.02 was observed in DCP diets with AZM (1.283 vs. 1.309, P < 0.05), while TCP diets were unaffected (1.294 vs. 1.287, P > 0.05). Decreased pellet mill motor load that resulted from AZM inclusion suggests that feed was subjected to less frictional heat and/or pressure within the pellet die. This reduction in frictional heat and pressure likely preserved amino acid conformation, but the improvement was not translated to growth efficiency.

Ride comfort analysis of electric vehicle using hub motor as dynamic absorber

Abstract To resolve the problems of adding unsprung mass and worsening ride comfort of hub motor drive electric vehicles, a new drive system with hub motor as dynamic absorber is studied and proposed. The mathematical models of the new hub motor drive system and the centralized motor drive system are established, and their ride comfort is compared and analyzed. The impact of dynamic absorber parameters on ride comfort of the new hub motor drive system is analyzed, and the parameter sensitivity is calculated. The results show that the body acceleration, suspension dynamic deflection, wheel dynamic load of the new hub motor drive system are better than those of the centralized motor drive system, and the dynamic absorber parameters have a great effect on the electric vehicle performance.

Research on robust control method of permanent magnet synchronous motor

Abstract During the operation of permanent magnet synchronous motor, the traditional vector control method does not match the regulator parameters with the actual parameters due to the disturbance factors such as motor parameter perturbation and load change, resulting in the decline of control performance. The research object of robust control is uncertain system, which has natural advantages for improving the robustness of control system. Firstly, this paper introduces the basic principle and implementation process of robust control, simulates and analyzes the influence of motor parameters on control performance, investigates and summarizes the improvement methods of traditional vector control, and points out the advantages and disadvantages of each scheme; Secondly, the similarities and differences of the improved methods are analyzed and compared; Finally, the development trend of permanent magnet synchronous motor control technology based on robust control is prospected.

케이블 구동형 다자유도 유연 로봇 암 개발

This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degrees of freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directly at each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by the flexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing the loads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report.