Advances in Bio-Inspired Robots

This book covers three major topics, specifically Biomimetic Robot Design, Mechanical System Design from Bio-Inspiration, and Bio-Inspired Analysis on A Mechanical System. The Biomimetic Robot Design part introduces research on flexible jumping robots, snake robots, and small flying robots, while the Mechanical System Design from Bio-Inspiration part introduces Bioinspired Divide-and-Conquer Design Methodology, Modular Cable-Driven Human-Like Robotic Arm andWall-Climbing Robot. Finally, in the Bio-Inspired Analysis on A Mechanical System part, research contents on the control strategy of Surgical Assistant Robot, modeling of Underwater Thruster, and optimization of Humanoid Robot are introduced

Analysis of wavelet controller for robustness in electronic differential of electric vehicles: an investigation and numerical developments

In road transportation systems, differential plays an important role in preventing the vehicle from slipping on curved tracks. In practice, mechanical differentials are used, but they are bulky because of their increased weight. Moreover, they are not suitable for electric vehicles, especially those employing separate drives for both rear wheels. The electronic differential constitutes recent technological advances in electric vehicle design, enabling better stability and control of a vehicle on curved roads. This article articulates the modeling and simulation of an electronic differential employing a novel wavelet transform controller for two brushless DC motors ensuring drive in two right and left back driving wheels. Further, the proposed work uses a discrete wavelet transform controller to decompose the error between actual and command speed provided by the electronic differential based on throttle and steering angle as the input into frequency components. By scaling these frequency components by their respective gains, the obtained control signal is actually given as input to the motor. To verify the proposal, a set of designed strategies were carried out: a vehicle on a straight road, turning right and turning left. Numerical simulation test results of the controllers are presented and compared for robust performance and stability

Optimization Design of Parallel Double Stator and Outer Mover Linear Rotary Permanent Magnet Machine Used for Drilling Robot

In order to meet the requirement of the drilling robot, a parallel double stator and outer mover linear rotary permanent magnet machine is proposed, which combines an outer rotor vernier machine (ORVM) and a cylindrical outer rotor linear vernier machine (CORLVM) by using a special support mechanism. The electromagnetic and mechanical structure optimization design is analyzed by 3-D finite element method (FEM) in the paper, including the design of ORVM and CORLVM, the stress calculation of support mechanism and the loss calculation. Then the optimized values of structure parameters are obtained. Compared with the results of the initial topology analyzed by 3-D FEM, the torque and thrust are improved and the amplitudes of the cogging torque and detent force are reduced. The combined structure design has the advantages of two different motors, which can provide a reference for the research of this type of motor

Modelling and Control of Switched Reluctance Machines

Today, switched reluctance machines (SRMs) play an increasingly important role in various sectors due to advantages such as robustness, simplicity of construction, low cost, insensitivity to high temperatures, and high fault tolerance. They are frequently used in fields such as aeronautics, electric and hybrid vehicles, and wind power generation. This book is a comprehensive resource on the design, modeling, and control of SRMs with methods that demonstrate their good performance as motors and generators