60吨冲床上料机械手的设计(全套设计含CAD图纸)

60吨冲床上料机械手的设计(全套设计含CAD图纸)

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60吨冲床上料机械手的设计(全套设计含CAD图纸).zip
设计说明书(论文).doc---(点击预览)
目录.doc---(点击预览)
摘要目录.doc---(点击预览)
开题报告.doc---(点击预览)
冲床上料机械手设计.doc---(点击预览)
中期报告.doc---(点击预览)
60吨冲床上料机械手的设计.doc---(点击预览)
CAD图纸
CAD-储料支座.dwg
CAD-储料框底架.dwg
CAD-储料框座.dwg
CAD-储料框顶.dwg
CAD-制动器座.dwg
CAD-制动器盖.dwg
CAD-制动轮.dwg
CAD-压盖.dwg
CAD-吸盘杆 套.dwg
CAD-吸盘杆.dwg
CAD-手臂.dwg
CAD-手臂套.dwg
CAD-气缸.dwg
CAD-气缸盖.dwg
CAD-活塞齿条.dwg
CAD-装配图.dwg
CAD-轴承套.dwg
CAD-轴承套2.dwg
CAD-齿轮轴.dwg
外文翻译
CAD图纸.rar
储料支座-A3.dwg
储料框底架-A3.dwg
储料框座-A3.dwg
储料框顶-A2.dwg
制动器座-A4.dwg
制动器盖-A3.dwg
制动轮-A4.dwg
压盖-A4.dwg
吸盘杆 套-A4.dwg
吸盘杆-A4.dwg
手臂-A3.dwg
手臂套-A3.dwg
气缸-A2.dwg
气缸盖-A4.dwg
活塞齿条-A4.dwg
装配图-A0.dwg
轴承套-A4.dwg
轴承套2-A4.dwg
齿轮轴-A2.dwg
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编号:9495041    类型:共享资源    大小:5.17MB    格式:ZIP    上传时间:2018-03-11 上传人:机****料 IP属地:河南
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60 冲床 机械手 设计 全套 cad 图纸
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GJOURNALOFMECHANICALSCIENCEANDTECHNOLOGY21200710181027JOURNALOFMECHANICALSCIENCEANDTECHNOLOGYCONTROLOFTWOAXISPNEUMATICARTIFICIALMUSCLEMANIPULATORWITHANEWPHASEPLANESWITCHINGCONTROLMETHODTUDIEPCONGTHANHB,KYOUNGKWANAHNA,ASCHOOLOFMECHANICALANDAUTOMOTIVEENGINEERING,UNIVERSITYOFULSAN,KOREABMECHATRONICSDEPARTMENT,HOCHIMINHCITYUNIVERSITYOFTECHNOLOGY,VIETNAMMANUSCRIPTRECEIVEDSEPTEMBER25,2006REVISEDAPRIL24,2007ACCEPTEDAPRIL242007ABSTRACTTHEUSEOFROBOTSINREHABILITATIONHASBECOMEANISSUEOFINCREASINGIMPORTANCEBECAUSEOFTHEREQUIREMENTOFFUNCTIONALRECOVERYTHERAPYFORLIMBSANOVELPNEUMATICARTIFICIALMUSCLEPAMACTUATORWHICHHASACHIEVEDINCREASEDPOPULARITYFORPROVIDINGSAFETYANDMOBILITYASSISTANCETOHUMANSPERFORMINGTASKS,ASWELLASPROVIDINGANOTHERADVANTAGESSUCHASHIGHSTRENGTHANDPOWER/WEIGHTRATIO,LOWCOST,COMPACTNESS,EASEOFMAINTENANCE,CLEANLINESS,READILYAVAILABLE,CHEAPPOWERSOURCE,ANDSOONHASBEENCONSIDEREDDURINGTHERECENTDECADESFORUSEINATHERAPYROBOT,WHICHINPARTICULARREQUIRESAHIGHLEVELOFSAFETYHOWEVER,SOMELIMITATIONSSTILLEXIST,SUCHASAIRCOMPRESSIBILITYANDTHELACKOFDAMPINGABILITYOFTHEACTUATORTOBRINGTHEDYNAMICDELAYOFTHEPRESSURERESPONSEANDCAUSETHEOSCILLATORYMOTIONINADDITION,TOAIDREHABILITATIONMOREEFFICIENTLY,THEROBOTSHOULDADJUSTITSIMPEDANCEPARAMETERSACCORDINGTOTHEPHYSICALCONDITIONOFTHEPATIENTFORTHISPURPOSE,THEMANIPULATORJOINISEQUIPPEDWITHAMAGNETORHEOLOGICALBRAKEMRBANEWPHASEPLANESWITCHINGCONTROLMETHODUSINGMRBISPROPOSEDFORTRACKINGSINUSOIDALWAVEFORMSTHEEFFECTIVENESSOFTHEPROPOSEDALGORITHMISDEMONSTRATEDTHROUGHANEXPERIMENTUSINGAFABRICATEDTWOAXISPAMMANIPULATORTHEEXPERIMENTPROVESTHATTHESTABILITYOFTHEMANIPULATORCOULDBEGREATLYIMPROVEDUSINGAHIGHGAINCONTROLWITHOUTREGARDTOTHECHANGEOFTHEFREQUENCIESOFTHEREFERENCEINPUTANDTHEEXTERNALLOADCONDITION,ANDWITHOUTDECREASINGTHERESPONSESPEEDORLOWERINGTHESTIFFNESSOFPAMMANIPULATORGKEYWORDSPNEUMATICARTIFICIALMUSCLEPHASEPLANESWITCHINGCONTROLMANIPULATORMAGNETORHEOLOGICALBRAKE1INTRODUCTIONTHENUMBEROFPEOPLEREQUIRINGREHABILITATIONDUETOBONEFRACTUREORJOINTDISEASECAUSEDBYTRAFFICACCIDENTSANDCEREBRALAPOPLEXY,ANDFORFUNCTIONALMOTORPROBLEMSDUETOADVANCEDAGE,NUMBERSSEVERALHUNDREDSOFTHOUSANDSWORLDWIDETHEAPPLICATIONOFROBOTICSTOREHABILITATIONISTHUSOFGREATCONCERNFUNCTIONALRECOVERYTHERAPYISNORMALLYCARRIEDOUTBYMEDICALTHERAPISTSONAPERSONTOPERSONBASIS,BUTAUTOMATICEQUIPMENTHASBEENPUTTOPRACTICALUSEINPHYSICALTHERAPYPROGRAMSTHATREPEATRELATIVELYSIMPLEOPERATIONS,SUCHASACONTINUOUSPASSIVEMOTIONMACHINE,AWALKINGTRAININGDEVICE,ANDATORQUEMACHINEUSEDFORASINGLEAXISDOI,1993FUJIEETAL,1994FUJIEETAL,1995THISRESEARCHDEALSWITHFUNCTIONALRECOVERYTHERAPY,ONEIMPORTANTASPECTOFPHYSICALREHABILITATIONSINGLEJOINTTHERAPYMACHINESHAVEALREADYBEENCREATEDAHNANDTHANH,20042005A2005BHOWEVER,MULTIJOINTROBOTSARENECESSARYTOACHIEVEMOREREALISTICMOTIONPATTERNS,ANDHENCEARENECESSARYFORMOREEFFICIENTTHERAPYTHISKINDOFROBOTMUSTHAVEAHIGHLEVELOFSAFETYFORHUMANUSETHEPAMMANIPULATORHASBEENUSEDTOCONSTRUCTATHERAPYROBOTWITHTWODEGREESOFFREEDOMDOFA2DOFROBOTFORFUNCTIONALRECOVERYTHERAPYDRIVENBYPNEUMATICCORRESPONDINGAUTHORTEL82522592282,FAX82522591680EMAILADDRESSKKAHNULSANACKRTUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY212007101810271019MUSCLEWASDEVELOPEDBYZOBELZOBELETAL,1999ANDRAPARELLIRAPARELLIETAL,20012003ARTIFICIALMUSCLEACTUATORSFORBIOROBOTICSYSTEMSBYKLUTEKLUTEETAL,1999200020022003APNEUMATICMUSCLEHANDTHERAPYDEVICEBYKOENEMANKOENEMANETAL,2004ANDAHUMANFRIENDLYTHERAPYROBOTTHANHANDAHN,2006AHOWEVER,SOMELIMITATIONSSTILLEXIST,SUCHASTHEAIRCOMPRESSIBILITYANDTHELACKOFDAMPINGABILITYOFTHEACTUATORTOBRINGTHEDYNAMICDELAYOFTHEPRESSURERESPONSE,CAUSINGOSCILLATORYMOTIONINADDITION,TOEXECUTEREHABILITATIONMOREEFFICIENTLY,THEROBOTMUSTADJUSTITSIMPEDANCEPARAMETERSACCORDINGTOTHEPHYSICALCONDITIONOFTHEPATIENTFORTHISPURPOSE,ANEWTECHNOLOGY,ANELECTRORHEOLOGICALFLUIDDAMPERERDAMPER,HASBEENAPPLIEDTOTHEPAMMANIPULATORNORITSUGUANDHISTEAMUSEDANERDAMPERTOIMPROVETHECONTROLPERFORMANCEOFTHEPAMMANIPULATORWITHAPICONTROLLERANDPULSECODEMODULATEDONOFFVALVESNORITSUGUETAL,1994BYSEPARATINGTHEREGIONWHERETHEDAMPERPRODUCESADAMPINGTORQUETORECONCILEBOTHDAMPINGANDRESPONSESPEEDUNDERHIGHGAINCONTROL,THERESULTSSHOWTHATTHEERDAMPERISANEFFECTIVEMETHODFORUSEINAPRACTICALLYAVAILABLE,HUMANFRIENDLYROBOTUSINGTHEPAMMANIPULATORMOREOVER,POSITIONCONTROLISIMPROVEDWITHOUTADECREASEINRESPONSESPEEDHOWEVER,SOMELIMITATIONSHAMPERTHETECHNOLOGY,SINCEERFLUIDERFREQUIRESEXTREMELYHIGHCONTROLVOLTAGEKV,WHICHISPROBLEMATIC,ANDINPARTICULAR,POTENTIALLYDANGEROUS,ONLYOPERATESINANARROWTEMPERATURERANGEANDONEUNSUITABLEFORPAMMANIPULATORS,ANDEXHIBITSNONLINEARCHARACTERISTICSBECAUSEERFHASMANYUNACCEPTABLEDISADVANTAGES,MAGNETORHEOLOGICALFLUIDMRFHASBEENCONSIDEREDANATTRACTIVEALTERNATIVEFORTHEADVANTAGESLISTEDINTABLE1,ANDHASBEENRECENTLYUSEDINHUMANFRIENDLYTHERAPYROBOTSTHANHANDAHN,2006BTHOUGHTHESESYSTEMSWERESUCCESSFULINADDRESSINGSMOOTHACTUATORMOTIONRESPONSETOSTEPINPUTS,ASSUMINGTHATTWOAXESPAMMANIPULATORISUTILIZEDINTHERAPYROBOTINTHEFUTURE,WHICHISTHEFINALGOALOFOURRESEARCH,ITISNECESSARYTOREALIZEFASTRESPONSE,EVENIFTHEEXTERNALINERTIALOADCHANGESSEVERELYWITHSINUSOIDALRESPONSEWITHOUTREGARDTOTHEVARIOUSFREQUENCIESTHEREFORE,TOREALIZESATISFACTORYCONTROLPERFORMANCE,AMRBISEQUIPPEDTOTHEJOINTOFTHEMANIPULATORAPHASEPLANESWITCHINGCONTROLMETHODUSINGAMRBISPROPOSEDFORTHECASEOFTRACKINGSINUSOIDALWAVEFORMS,ANDTHEEFFECTIVENESSOFTHEPROPOSEDALGORITHMWILLBEDEMONSTRATEDTHROUGHTHEEXPERIMENTSINVOLVINGATWOAXISPAMMANIPULATORTHEEXPERIMENTSSHOWTHATTHESTABILITYOFTHEMANIPULATORCOULDBEGREATLYIMPROVEDUNDERAHIGHGAINCONTROLWITHOUTREGARDTOVARIATIONSOFTHEFREQUENCIESREFERENCEANDEXTERNALLOADCONDITIONS,ANDWITHOUTDECREASINGTHERESPONSESPEEDANDLOWSTIFFNESSOFTHETWOAXISPAMMANIPULATOR2EXPERIMENTALSETUP21EXPERIMENTALAPPARATUSTHESCHEMATICDIAGRAMOFTHETWOAXISPNEUMATICARTIFICIALMUSCLEMANIPULATORISSHOWNINFIG1THETABLE1COMPARISONOFRHEOLOGICALFLUIDSMAGNETORHEOLOGICALFLUIDELECTRORHEOLOGICALFLUIDMAXYIELDSTRESS50100KPA25KPAVISCOSITY0110PAS0110PASOPERABLETEMPRANGE40TO150OC10TO90OCIONIC,DC25TO125OCNONIONIC,ACSTABILITYUNAFFECTEDBYMOSTIMPURITIESCANNOTTOLERATEIMPURITIESRESPONSETIMEMILLISECONDSMILLISECONDSDENSITY34G/CM312G/CM3MAXENERGYDENSITY01JOULE/CM30001JOULE/CM3POWERSUPPLY225V12A250WATTS225KV110MA250WATTSFIG1SCHEMATICDIAGRAMOFTWOAXESPNEUMATICARTIFICIALMUSCLEMANIPULATOR1020TUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY21200710181027FIG2WORKINGPRINCIPLEOFTHEPNEUMATICARTIFICIALMUSCLEMANIPULATORFIG3PHOTOGRAPHOFTHEEXPERIMENTALAPPARATUSFIG4CONSTRUCTIONOFMRBTHEPRESSUREDIFFERENCEBETWEENTHEANTAGONISTICARTIFICIALMUSCLESANDTHEEXTERNALLOADISROTATEDASAABFIG5CHARACTERISTICSOFMRBTABLE2EXPERIMENTALHARDWARENONAMEMODELNAMECOMPANY1PROPORTIONALVALVEMPYE51/8HF710BFESTO2MAGNETORHEOLOGICALROTARYBRAKEMRB21073ROTARYBRAKELORD3PNEUMATICARTIFICIALMUSCLEMAS10N220AAMCFKFESTO4D/ABOARDPCI1720ADVANTECH5WONDERBOXDEVICECONTROLLERKITRD300203LORD6ROTARYENCODERH4083600ZOMETRONIX724BITDIGITALCOUNTERBOARDPCL833ADVANTECHRESULTINFIG2THEJOINTANGLES,1AND2,WEREMEASUREDWITHAROTARYENCODERMETRONIX,S4883600ZOANDFEDBACKTOTHECOMPUTERTHROUGHA24BITDIGITALCOUNTERBOARDADVANTECH,PCL833THEEXTERNALINERTIALOADCOULDBEVARIEDFROM20KGFCM2TO40KGFCM2,A200CHANGEWITHRESPECTTOTHEMINIMUMINERTIALOADCONDITIONVARIOUSFREQUENCIESOFREFERENCEINPUTSINUSOIDALWAVEFORMARECONSIDEREDTHEEXPERIMENTSARETUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY212007101810271021CONDUCTEDUNDERANAMBIENTPRESSUREOF04MPAANDALLCONTROLSOFTWAREISCODEDINCPROGRAMLANGUAGEAPHOTOGRAPHOFTHEEXPERIMENTALAPPARATUSISSHOWNINFIG322CHARACTERISTICSOFMRBTHEDESIGNOFTHEMRBISSHOWNINFIG4THEROTORISFIXEDTOTHESHAFT,WHICHCANROTATERELATIVETOTHEHOUSINGTHEGAPBETWEENTHEROTORANDHOUSINGISFILLEDWITHMRFTHEBRAKINGTORQUEOFTHEMRBCANBECONTROLLEDBYTHEELECTRICCURRENTINITSCOILTHEAPPARENTVISCOSITYOFTHEMRFISCHANGEDWITHINAFEWMILLISECONDSOFTHEAPPLICATIONOFAMAGNETICFIELD,ANDRETURNSTOITSNORMALVISCOSITYINTHEABSENCEOFAMAGNETICFIELDTHEFOLLOWINGEXPERIMENTSAREPERFORMEDTOINVESTIGATETHECHARACTERISTICSOFMRBMEASUREMENTDATAISREPORTEDINFIG5ANDTABLE3THEMRBISCONNECTEDWITHATORQUETRANSDUCERANDASERVOMOTORINSERIESINTHEEXPERIMENTS,THEROTATIONALSPEEDISVARIEDFROM100RPMTO1000RPMANDTHEAPPLIEDCURRENTFROM0ATO1ATHESERANGESAREUSEDBECAUSETHERESPONSEOFTHESYSTEMDOESNOTREACH1000RPMANDTHEMAXIMUMCURRENTAPPLIEDFORMRBIS1AFIGURE5SHOWSTHEDAMPINGTORQUEWITHRESPECTTOTHECHANGEOFTHEINPUTCURRENTAANDROTATIONALSPEEDBOFMRBRAKEFROMFIG5,ITISCLEARTHATTHEDAMPINGTORQUEOFMRBISINDEPENDENTOFROTATIONALSPEEDANDALMOSTPROPORTIONALTOINPUTCURRENTTHUS,EQ1FORINPUTSCURRENTIANDDAMPINGTORQUETBTABLE3MEASUREMENTDATAOFMRBW/I001020304050607080911000280811331872442933514034551155720003108213319224296357399454512567300030811361892482993544034555135584000310821351942462983554054595055625000310831371872429935540846150655860003083136187248335340545450655570002808613719246301354403455504555800029086137192443053544084595045589000290891411922533053574114585015611000029089144193253304357414461503559WROTATIONALSPEEDRPMICURRENTAPPLIEDABTFIABI1HERE,AANDBARECONSTANTSDETERMINEDUSINGCHARACTERISTICMRBRESPONSECURVE3CONTROLSYSTEM31POSITIONCONTROLSYSTEMTOCONTROLTHISPAMMANIPULATOR,ACONVENTIONALPIDCONTROLALGORITHMISUSEDASTHEBASICCONTROLLERINTHISRESEARCHTHECONTROLLEROUTPUTCANBEEXPRESSEDINTHETIMEDOMAINASFOLLOWS0TPPPDIKDETUTKETETDTKTTDG1792TAKINGTHELAPLACETRANSFORMOF2YIELDSPPPDIKUSKESESKTSESTS3THERESULTINGTRANSFERFUNCTIONOFTHEPIDCONTROLLERIS11PDIUSKTSESTSG167G183G168G184G169G1854ATYPICALREALTIMEIMPLEMENTATIONATSAMPLINGSEQUENCEKCANBEEXPRESSEDASFOLLOWS11PPIPDKTUKKEKUKEKTEKEKKTT5WHEREUKANDEKARETHECONTROLINPUTTOTHECONTROLVALVEANDTHEERRORBETWEENTHEDESIREDSETPOINTANDTHEOUTPUTOFJOINT,RESPECTIVELYINADDITION,USINGANMRBISANEFFECTIVEWAYTOIMPROVETHECONTROLPERFORMANCEOFTHEPAMMANIPULATORBYRECONCILINGBOTHTHEDAMPINGANDRESPONSESPEEDBECAUSEITWORKSINONLYTHEREGIONSWHERETHEACCELERATIONORDECELERATIONISTOOHIGHHERE,SISLAPLACEVARIABLE,TAISTHETORQUEPRODUCEDBYTHEMANIPULATOR,TCISCONSTANTTORQUE,KEDDETERMINESTHEGAINFORTHETORQUEPROPORTIONALTOTHEANGULARSPEEDG5,ANDVCISACONTROLVOLTAGEOFSOURCECALCULATEDFROMEQ1TOPRODUCETCTHE1022TUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY21200710181027DIRECTIONOFTHEDAMPINGTORQUEISOPPOSITETOTHEDIRECTIONOFROTATIONOFTHEARMTHEREFORE,EQ6BELOWINDICATESTHATTHEDAMPERPRODUCESADAMPINGTORQUETBBEDCTKTSIGNG5G56THESTRUCTUREOFTHEPROPOSEDPHASEPLANESWITCHINGCONTROLMETHODISSHOWNINFIG632CONVENTIONALPHASEPLANESWITCHINGCONTROLMETHODFIGURE7SHOWSTHECONVENTIONALPHASEPLANESWITCHINGCONTROLMETHODINTHEREGIONINWHICHTHEJOINTANGLEOFTHEARMAPPROACHESTOTHEDESIREDANGLE,AB,CD,INFIG7A,THECURRENTISNOTAPPLIED,WHEREASINTHEREGIONTHEDIAGONALLYSHADEDAREASBC,DE,THECURRENTISAPPLIEDTOIMPROVETHEDAMPINGPERFORMANCEFORFASTERCONVERGENCETOTHEDESIREDANGLETHOUGHTHESYSTEMSUCCESSFULLYRESPONDSSMOOTHLYTOSTEPINPUTS,ITSQUALITYDEGRADESANDRESPONSELENGTHENSDUETOSINUSOIDALWAVEFORMREFERENCEINPUTOFUNCONTROLLABLEPOINTSC,EANDSOONINADDITION,ASSUMINGTHATTWOAXISPAMMANIPULATORSAREUTILIZEDINFUTURETHERAPYROBOTSTHEFINALGOALOFOURRESEARCH,ITISNECESSARYTOREALIZEAFASTRESPONSE,EVENIFTHEEXTERNALINERTIALOADCHANGESSEVERELYWITHSINUSOIDALRESPONSE,ANDONETHATISINDEPENDENTOFFREQUENCYOVERTHEOCCURRINGFREQUENCYRANGE33PROPOSITIONOFNEWCONCEPTOFPHASEPLANESWITCHINGCONTROLALGORITHMTHEDAMPINGTORQUEBT,WHICHISSHOWNINEQ1,IMPROVESTHEDAMPINGPERFORMANCEOFTHEMANIPULATORSINCETHEDAMPINGTORQUEACTSINTHEDIRECTIONOPPOSITETHEROTATIONALMOTIONOFTHEMANIPULATOR,ITSACCELERATIONPERFORMANCEISDEGRADEDINTHEREGIONWHERETHEJOINTANGLEOFTHEARMAPPROACHESTOTHEDESIREDANGLE,OABCDEFG,INFIG8A,THECURRENTISNOTAPPLIEDSINCEAHIGHRESPONSESPEEDISREQUIREDINTHEREGIONWHERETHEARMPASSESTHROUGHTHEDESIREDANGLE,IETHEDIAGONALLYSHADEDAREASOF,ABCDEFGHINFIG8A,ACURRENTISAPPLIEDTOIMPROVETHEDAMPINGPERFORMANCE,SOTHATTHEARMCONVERGESTOTHEDESIREDANGLEMOREQUICKLYTODETERMINEWHETHERTHEMAGNETICFIELDSHOULDBEAPPLIED,THEPHASEPLANEFIG6BLOCKDIAGRAMOFNEWCONCEPTOFPHASEPLANESWITCHINGCONTROLABFIG7ACONVENTIONALPHASEPLANESWITCHINGCONTROLMETHODSHOWNINFIG8BISUSEDTHEHORIZONTALAXISINTHEPHASEPLANECORRESPONDSTOJOINTANGLEDEVIATIONEBETWEENTHEDESIREDANGLERANDTHEJOINTANGLE,ANDTHEVERTICALAXISCORRESPONDSTOTHETIMEDERIVATIVEOFTHEDEVIATION,DEEDTG5G5EACHPOINTAHONTHEPHASEPLANECORRESPONDSTOTHELIKEWISELETTEREDPOINTINFIG8AHERE,THEREGIONWITHTHEAPPLICATIONOFCURRENTARECONTROLLEDBY1112,HSHS,THEGRADIENTOFTHETUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY212007101810271023ABFIG8ANEWCONCEPTOFPHASEPLANESWITCHINGCONTROLMETHODLINESHOWNINFIG8BTHEREGIONUNDERTHEAPPLICATIONOFTHEDAMPINGTORQUEISCONTROLLEDAS1HAND2HTHEADVANTAGEOFCONTROLLINGTHEREGIONINWHICHMRBISAPPLIEDISNEEDEDTOWITHOUTDECREASINGRESPONSESPEEDTHEEFFECTIVENESSOFPROPOSEDCONTROLLERWILLBEEXPERIMENTALLYINVESTIGATED4EXPERIMENTALRESULTSINTHISSTUDY,ACONTROLLERFORATWOAXISPAMMANIPULATORUSINGTHENEWCONCEPTOFAPHASEPLANESWITCHINGCONTROLLERISFABRICATED,ANDEXPERIMENTSARECARRIEDOUTUSINGASINUSOIDALWAVEFORMASAREFERENCEINPUTATTWODIFFERENTFREQUENCIESF03HZAND05HZTWOEXTERNALINERTIALLOADCONDITIONSLOAD120KGFCM2LOAD240KGFCM2AREALSOTESTEDTHELOADSAREATTACHEDTOTHEENDOFARM2INADDITION,THECONVENTIONALPIDCONTROLLERANDTHEPROPOSEDCONTROLLERARECOMPAREDFIRSTLY,THEEXPERIMENTSARECARRIEDOUTTOVERIFYTHEEFFECTIVENESSOFTHEPROPOSEDCONTROLLERATVARIOUSREFERENCEINPUTFREQUENCIESOFJOINT1FIGURE9SHOWSTHECOMPARISONBETWEENTHECONVENTIONALPIDCONTROLLERANDTHEPROPOSEDCONTROLLEROFEXPERIMENTALRESULTOFJOINT1ANDTHEEFFECTIVENESSOFPROPOSEDCONTROLLEDISSHOWNINDETAILINFIG10WITHRESPECTTOAF03HZBF05HZFIG9COMPARISONBETWEENCONVENTIONALPIDCONTROLLERANDPROPOSEDCONTROLLERJOINT1F03HZANDF05HZINTHEEXPERIMENT,THEINITIALVALUESOFTHEPROPOSEDCONTROLLERARESETTO619010PK,61010IK,615010DK,0015EDK,1208,1,2CTHHTHESEPARAMETERSWEREOBTAINEDBYTRIALANDERRORTHESEEXPERIMENTALRESULTSSHOWTHATTHEREISALARGETRACKINGERRORANDTIMEDELAYWITHRESPECTTOTHEINCREASEOFTHEFREQUENCYOFTHEREFERENCEINPUTWHENUSINGPIDCONTROLLERTHERESPONSEBECOMESWORSEWITHFREQUENCYUPTO05HZ,WHEREASTHESETTLINGTIMEDECREASESANDTHETRACKINGPERFORMANCEISGUARANTEEDBYUSINGTHEPROPOSEDCONTROLLERTHEDAMPINGTORQUEISNOTAPPLIEDFORFASTRESPONSEWHENTHEMANIPULATORSTARTSTOMOVE,ANDTHEDAMPINGTORQUEISAPPLIEDBYTHEMRBTOTHEROTATIONALAXISOFTHEPAMMANI1024TUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY21200710181027AF03HZBF05HZFIG10EXPERIMENTALRESULTSOFTHEPROPOSEDCONTROLLERJOINT1PULATORTOREDUCETHEOVERSHOOTANDOSCILLATIONWHENTHEMANIPULATORREACHESTHEDESIREDANGLENEXT,EXPERIMENTSWERECARRIEDOUTTOINVESTIGATETHECONTROLPERFORMANCEWITHRESPECTTOTHEVARIOUSREFERENCEINPUTFREQUENCIESOFJOINT2INADDITION,THEEXTERNALINERTIALLOADSLOAD120KGFCM2LOAD240KGFCM2AREATTACHEDTOTHEENDOFARMAF03HZBF05HZFIG11COMPARISONBETWEENCONVENTIONALPIDCONTROLLERANDPROPOSEDCONTROLLERJOINT2,LOAD12,ANDTHECONTROLPARAMETERSARESETTOBETHESAMEASJOINT1FIGURES11AND12SHOWTHECOMPARISONBETWEENTHEPIDCONTROLLERANDTHEPROPOSEDCONTROLLERFORTESTEDREFERENCEINPUTFREQUENCIESANDEXTERNALINITIALLOADCONDITIONSTHESEFIGURESSHOWTHATTHEREISALARGEERRORANDTIMEDELAYANDTHATMOREOSCILLATIONOCCURSWITHRESPECTTOINCREASINGREFERENCEINPUTFREQUENCY,ASWELLASTOINCREASINGEXTERNALINITIALLOADSINTHEEXPERIMENTS,THEPAMMANIPULATORJOINTANGLEAGREESWELLWITHTHEREFERENCEWHENUSINGTHENEWPHASEPLANESWITCHINGCONTROLLERTHEEFFECTIVENESSOFTHENEWLYPROPOSEDPHASEPLANESWITCHINGCONTROLALGORITHMISALSOSHOWNINDETAILINFIGS13AND14THEEXPERIMENTALRESULTSSHOWTHATAGOODCONTROLPERFORMANCEANDSTRONGROBUSTNESSARETUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY212007101810271025AF03HZBF05HZFIG12COMPARISONBETWEENCONVENTIONALPIDCONTROLLERANDPROPOSEDCONTROLLERJOINT2,LOAD2OBTAINEDANDDONOTDEPENDONEXTERNALINITIALLOADWHENUSINGTHEPROPOSEDCONTROLMETHODTHESEEXPERIMENTALRESULTSSHOWTHATTHEDAMPINGTORQUEISAPPLIEDANDRELEASEDVERYFREQUENTLYACCORDINGTOTHEAPPROACHTOTHEDESIREDANGLEITISDEMONSTRATEDTHATTHEPROPOSEDALGORITHMISEFFECTIVEINTHECASEOFVARIOUSEXTERNALLOADSANDDOESNOTDEPENDONREFERENCEINPUTFREQUENCYINADDITION,ITISUNDERSTOODTHATTHEROTATIONALANGLEOFTHEPAMMANIPULATORSMOOTHLYCONVERGESTOTHEDESIREDANGLEWITHLITTLEOSCILLATIONITISCONCLUDEDTHATTHENEWLYPROPOSEDPHASEPLANESWITCHINGCONTROLALGORITHMEFFECTIVELYTRACKSCONTROLOFASINUSOIDALWAVEFORMWITHHIGHGAINCONTROL,ANDHASGOODCONTROLPERFORMANCE,AFASTAF03HZBF05HZFIG13EXPERIMENTALRESULTSOFTHEPROPOSEDCONTROLLERJOINT2,LOAD1RESPONSE,ANDSTRONGROBUSTSTABILITYUNDERVARYINGEXTERNALINERTIALLOADSANDREFERENCEINPUTFREQUENCY5CONCLUSIONSINTHISSTUDY,ANEWCONCEPTOFPHASEPLANESWITCHINGCONTROLUSINGAMAGNETORHEOLOGICALBRAKEISPROPOSEDANDAPPLIEDTOATWOAXISPNEUMATICARTIFICIALMUSCLEMANIPULATORTOIMPROVETHECONTROLPERFORMANCEUNDERVARIOUSEXTERNALLOADSANDINDEPENDENTLYOFREFERENCEINPUTFREQUENCY1026TUDIEPCONGTHANHANDKYOUNGKWANAHN/JOURNALOFMECHANICALSCIENCEANDTECHNOLOGY21200710181027AF03HZBF05HZFIG14EXPERIMENTALRESULTSOFTHEPROPOSEDCONTROLLERJOINT2,LOAD2THEEXPERIMENTSSHOWEDTHATTHEPROPOSEDCONTROLALGORITHMWASHIGHLYEFFECTIVEINTHETRACKINGCONTROLOFASINUSOIDALTRAJECTORYANDHADHIGHGAINCONTROL,GOODCONTROLPERFORMANCE,FASTRESPONSEANDSTRONG,ROBUSTSTABILITYWITHRESPECTTOVARIATIONOFBOTHEXTERNALLOADSANDREFERENCEINPUTFREQUENCYTHERESULTSALSOSUGGESTTHATTHEPROPOSEDPHASEPLANESWITCHINGCONTROLUSINGMRBISONEOFTHEMOSTEFFECTIVEMETHODSFORDEVELOPINGAPRACTICALLYAVAILABLE,HUMANFRIENDLYROBOTBYUSINGAPAMMANIPULATORACKNOWLEDGEMENTTHISWORKWASSUPPORTEDBYUNIVERSITYOFULSAN,KOREAREFERENCESAHN,KKANDTHANH,TDC,2004,“IMPROVEMENTOFTHECONTROLPERFORMANCEOFPNEUMATICARTIFICIALMUSCLEMANIPULATORSUSINGANINTELLIGENTSWITCHINGCONTROLMETHOD,”INKSME,INT,JOUR,VOL8,NO8,PP13881400AHN,KKANDTHANH,TDC,2005A,“NONLIEARPIDCONTROLTOIMPROVETHECONTROLPERFORMANCEOFPAMMANIPULATORSUSINGNEURALNETWORK,”INKSME,INT,JOUR,VOL19,NO1,PP106115AHN,KK,THANH,TDCANDAHN,YK,2005B,“PERFORMANCEIMPROVEMENTOFPAMMANIPULATORSUSINGMAGNETORHEOLOGICALBRAKE,”INKSME,INT,JOUR,VOL19,NO3,PP777790DOI,Y,1993,“EXERCISEAPPARATUSFORRESTORATIONOFFUNCTION,”JSOCBIOMECH,VOL17,NO2,PP99105FUJIE,MG,TANIT,HIRANO,K,YOSHIDA,TANDWADA,N,1994,“WALKINGREHABILITATIONSYSTEMFORTHEELDERLY,”INPROC,IEEEINT,CONF,ADVANCEDROBOTICSYSTEMS,VOL3,PP16551662FUJIE,MG,TANIT,HIRANO,K,YOSHIDA,TANDWADA,N,1995,“IMPROVEME
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