Inverse kinematics analysis of 6-RRCRR parallel manipulators

This paper presents a solution to the inverse kinematics of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration. The inverse kinematics solution of such parallel robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configuration is more complex due to the existence of RR-joint variables. A novel methodology is established to define 6 independent variables of the actuators and 12 dependent RR-joint variables using the pose of the mobile platform with respect to the base frame. The constraint of RR-joints are analysed and the numerical algorithm to obtain joint variables is assessed. The forward kinematics of a 6- RRCRR parallel manipulator is modelled and computational analysis is performed in order to numerically verify the accuracy and effectiveness of the proposed methodology for the inverse kinematics analysis. Numerical results of a trajectory tracking simulation are provided. The results verify high accuracy for the proposed inverse kinematics solution of this special family of parallel micromanipulators.

The role of unbound oligomers in the nucleation and growth of electrodeposited polypyrrole and method for preparing high strength, high conductivity films

Polypyrrole is a material with immensely useful properties suitable for a wide range of electrochemical applications, but its development has been hindered by cumbersome manufacturing processes. Here we show that a simple modification to the standard electrochemical polymerization method produces polypyrrole films of equivalently high conductivity and superior mechanical properties in one-tenth of the polymerization time. Preparing the film as a series of electrodeposited layers with thorough solvent washing between layering was found to produce excellent quality films even when layer deposition was accelerated by high current. The washing step between the sequentially polymerized layers altered the deposition mechanism, eliminating the typical dendritic growth and generating nonporous deposits. Solvent washing was shown to reduce the concentration of oligomeric species in the near-electrode region and hinder the three-dimensional growth mechanism that occurs by deposition of secondary particles from solution. As artificial muscles, the high density sequentially polymerized films produced the highest mechanical work output yet reported for polypyrrole actuators.

Artificial Muscles Based on Polypyrrole/Carbon Nanotube Laminates

A novel method for the periodical assembly of laminates of forest-drawn carbon nanotube (CNT) sheets and polypyrrole (PPy) is described. The method produces composite films in which the volume fraction and orientation of CNTs can be controlled. Actuator stroke and strength is increased and work capacity per cycle doubled when nanotube orientation is perpendicular to the actuation direction. Most importantly, these PPy/CNT laminates have dramatically decreased creep during actuation, which has been a major barrier for the application of PPy actuators.

Small-signal stability assessment of active distribution networks with dynamic loads

This paper investigates small-signal stability of a distribution system with distributed generator and induction motor load, as a dynamic element. The analysis is carried out over a distribution test system with different types of induction motor loads. The system is linearised by the perturbation method. Eigenvalues and participation factors are calculated to see the modal interaction of the system. The study indicates that load voltage dynamics significantly influence the damping of a newly identified voltage mode. This mode has frequency of oscillation between the electromechanical and subsynchronous oscillation of power systems. To justify the validity of the modal analysis time domain simulation is also carried out. Finally, significant parameters of the system that affect the damping and frequency of the oscillation are identified.

Voltage oscillations in power distribution networks in the presence of DFIGs and induction motor loads

This paper investigates the oscillatory behavior of power distribution systems in the presence of distributed generation. The analysis is carried out over a distribution test system with two doubly fed induction type wind generators and different types of induction motor loads. The system is linearized by the perturbation method. Eigenvalues are calculated to see the modal interaction within the system. The study indicates that interactions between closely placed converter controllers and induction motor loads significantly influence the damping of the oscillatory modes of the system. The critical modes have a frequency of oscillation between the electromechanical and subsynchronous oscillations of power systems. Time-domain simulations are carried out to verify the validity of the modal analysis and to provide a physical feel for the types of oscillations that occur in distribution systems. Finally, significant parameters of the system that affect the damping and frequency of the oscillation are identified.

Enhancement of transient stability limit and voltage regulation with dynamic loads using robust excitation control

In stressed power systems with large induction machine component, there exist undamped electromechanical modes and unstable montonic voltage modes. This article proposes a sequential design of an excitation controller and a power system stabiliser (PSS) to stabilise the system. The operating region, with induction machines in stressed power systems, is often not captured using a linearisation around an operating point, and to alleviate this situation a robust controller is designed which guaruntees stable operation in a large region of operation. A minimax linear quadratic Gaussian design is used for the design of the supplementary control to automatic voltage regulators, and a classical PSS structure is used to damp electromechanical oscillations. The novelty of this work is in proposing a method to capture the unmodelled nonlinear dynamics as uncertainty in the design of the robust controller. Tight bounds on the uncertainty are obtained using this method which enables high-performance controllers. An IEEE benchmark test system has been used to demonstrate the performance of the designed controller

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Strain-responsive polyurethane/PEDOT:PSS elastomeric composite fibers with high electrical conductivity

It is a challenge to retain the high stretchability of an elastomer when used in polymer composites. Likewise, the high conductivity of organic conductors is typically compromised when used as filler in composite systems. Here, it is possible to achieve elastomeric fiber composites with high electrical conductivity at relatively low loading of the conductor and, more importantly, to attain mechanical properties that are useful in strain-sensing applications. The preparation of homogenous composite formulations from polyurethane (PU) and poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) that are also processable by fiber wet-spinning techniques are systematically evaluated. With increasing PEDOT:PSS loading in the fiber composites, the Young's modulus increases exponentially and the yield stress increases linearly. A model describing the effects of the reversible and irreversible deformations as a result of the re-arrangement of PEDOT:PSS filler networks within PU and how this relates to the electromechanical properties of the fibers during the tensile and cyclic stretching is presented. Conducting elastomeric fibers based on a composite of polyurethane (PU) and PEDOT:PSS, produced by a wet-spinning method, have high electrical conductivity and stretchability. These fibers can sense large strains by changes in resistance. The PU/PEDOT:PSS fiber is optimized to achieve the best strain sensing. PU/PEDOT:PSS fibers can be produced on a large scale and integrated into conventional textiles by weaving or knitting. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Equivalent dynamic thermoviscoelastic modeling of ionic polymers

Ionic polymers have attracted considerable attention due to their interesting sensing and actuating behavior which make them a proper choice for use in a wide range of applications including biomimetic robots and biomedical devices. The complicated electro-chemo-mechanical dynamics of ionic polymer actuators is a drawback for their applications in functional devices. Therefore, establishing a mathematical model which could effectively predict the actuators' dynamic behavior is of great interest. In this paper, a mathematical model, named equivalent dynamic thermoviscoelastic (EDT) model, based on thermal analogy and beam theory is proposed for dynamic analysis of bending-type ionic polymer actuators. Then, the developed model is extended for analyzing the performance of the actuator in finite element software. The finite element analysis of the actuator enables consideration of material and geometric nonlinearities and facilitates modeling of functional devices based on the ionic polymer actuators. The proposed modeling approach is validated using experimental data.

Development of a novel soft parallel robot equipped with polymeric artificial muscles

This paper presents the design, analysis and fabrication of a novel low-cost soft parallel robot for biomedical applications, including bio-micromanipulation devices. The robot consists of two active flexible polymer actuator-based links, which are connected to two rigid links by means of flexible joints. A mathematical model is established between the input voltage to the polymer actuators and the robot's end effector position. The robot has two degrees-of-freedom, making it suitable for handling planar micromanipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner for increasing micromanipulation dexterity. Finally, the experimental results demonstrate two main motion modes of the robot.

Synthesis and characterisation of graphene hybrid nanoarchitechures for potential sensing applications

 The main focus of our project is to find a novel method to construct graphene hybrid systems and functionalised AuNPs with graphene which opens a new pathway for the potential and highly sensing applications in the area of graphene hybrid nanoarchitecture such as actuators and touch sensors. Adsorption of different CH3 and COOH alkanethiols on the surface of modified Au electrode with different CRGO's sheets to increase the efficient electron pathways for the development of new class graphene electrodes.