K.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501ATLAS Finger: a Prosthetic Finger Mechanism for Robotic Applications110175384ENAryanGorjestaniIntelligent Mechanical Systems Research Lab, Department of Mechanical Engineering, Pardis Science & Technology Branch, Islamic Azad University, Tehran, IranFarzadCheraghpour SamavatiDepartment of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran0000-0003-4526-1282Journal Article20210905The first and most important part of mechanical design of a prosthetic hand is the finger. Over the years, many diverse and innovative designs for the prosthetic finger mechanism have been proposed. For this aim, capability of grasping objects in a stable manner with suitable contact force and an anthropomorphic structure are critical factors for design. In this article, after examining the anatomy of a natural finger the most prominent mechanisms offered by researchers are investigated. Then the ATLAS artificial finger mechanism and the 3D-printed prototype of which is introduced. Finally, the amount of contact force produced by the ATLAS upper finger phalange is calculated and verified with some motion study simulations. For validation of proposed mechanism, the amount of contact forces produced by the designed finger and the natural finger are compared. The results prove the effectiveness of the design.https://ijr.kntu.ac.ir/article_175384_f9d2404ec8ae47f11c27adf16127cc72.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501Model-Free Joint Space Controller for Fully-Constrained Cable-Driven Parallel Robots: a Bio-Inspired Algorithm1119178828ENMohammadBajelaniAdvanced Robotics and Automated Systems (ARAS), Faculty of Electrical Engineering
K. N. Toosi University of Technology, Tehran, Iran.0000-0002-0414-2677S. AhmadKhalilpourAdvanced Robotics and Automated Systems (ARAS), Faculty of Electrical Engineering
K. N. Toosi University of Technology, Tehran, Iran.M. IsaacHosseiniAdvanced Robotics and Automated Systems (ARAS), Faculty of Electrical Engineering
K. N. Toosi University of Technology, Tehran, Iran.Hamid D.TaghiradAdvanced Robotics and Automated Systems (ARAS), Faculty of Electrical Engineering
K. N. Toosi University of Technology, Tehran, Iran.0000-0002-0615-6730PhilippeCardouDepartment of Mechanical Engineering, Robotics Laboratory, Laval UniversityJournal Article20220620Due to the complex model of cables, non-linearity, and uncertainties that exist in Cable-Driven Parallel Robots (CDPRs), this paper proposes a bio-inspired intelligent approach to overcome these challenges. This method, Brain Emotional Learning (BEL), mimics the emotional aspect of the mammal brain. Because of its easy-to-implement mathematical model, the Brain Emotional Learning-Based Intelligent Controller (BELBIC) brings fast adaptation, robustness, and low computational cost. The core idea of this paper is to define new saturated learning functions that eliminate the necessity of calculating the Jacobian matrix and forward kinematics in the control loop while still ensuring positive tensions. To evaluate the effectiveness of the proposed method, an experimental study was conducted using a plotter CDPR. The experimental results indicate that BELBIC can be adopted as a new approach in the trajectory tracking problem in the context of CDPRs, as it provides an acceptable tracking error (less than 10 degrees) without using the Jacobian matrix in the feedback loop.https://ijr.kntu.ac.ir/article_178828_40430f9cb39b93ef6f499080c8a3d829.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501PSO Based Solution for 6-DOF Serial Manipulator Inverse Kinematics Problem2025178949ENKaramAlmaghoutMechatronics Engineering, Faculty of new sciences and technologies, University of Tehran,Tehran, IranAlirezaRezaeeMechatronic Engineering Group, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran0000-0001-6628-5545Journal Article20180727This paper introduces an optimization technique based on the particle swarm optimization algorithm (PSO) for solving the inverse kinematics problem for an n-DOF manipulator. The proposed algorithm trying iteratively to find the best set of angles that locus the manipulator at the desired position and orientation. Each iteration, a set of angles are assigned to the joints and derived to calculate the position and orientation of the end-effector using Denavit-Hartenberg (DH) method and Euler angles equations. Then obtaining the error between the current position/orientation (P_c/O_c) of the end-effector with the desired position/orientation (P_d/O_d). A 6-DOF manipulator has been used as an example in our simulation. Obtained results show that PSO can be efficiently used for inverse kinematics solution.https://ijr.kntu.ac.ir/article_178949_6be63bc669a934fe33f7fb7e402ce38c.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501Fault Tolerant System for Multirotor Drones: a Novel Comparison for Different Methods2637178829ENHusseinMazehAdvanced Robotics & Automated
Systems (ARAS), Faculty of Electrical
Engineering, K. N. Toosi University of
Technology, Tehran, IranHamid D.TaghiradDepartment of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran0000-0002-0615-6730JihadSahiliMechanical Engineering Department Faculty of Engineering- Branch 3
Lebanese University
Beirut, LebanonJournal Article20220208This paper proposes a nonlinear robust passive fault tolerance controller for recovering faults and perturbation that affect the actuators of multirotor unmanned aerial vehicles. This approach is applied to a coaxial octorotor drone, benefiting from its actuator redundancy. The proposed controller is based on a second order super twisting sliding mode controller, which attenuates the chattering effect caused by first order sliding manifold. An active fault tolerance approach is also proposed based on both offline and online strategies for tolerating total effectiveness loss of actuators for an octorotor. A nonlinear Thau observer is designed firstly to detect actuator fault. Then two different control recovery algorithms are designed to compensate the fault, whenever it is detected to maintain the stability and desired behavior of the drone. The proposed algorithms are simulated and tested under fault free conditions and several fault conditions with various fault scenarios affecting the actuators through a complex 3D trajectory maneuver performed by the UAV. A new case study is presented to compare the behavior of the octorotor in case of successive total actuators loss. A novel comparison criterion for comparing various methods of fault tolerance controllers is introduced considering the design simplicity, implementation complexity, and system performance. The obtained results present suitable tracking performance for the desired trajectory, despite of different injected faults, with desirable recovery time. In addition, a weighting table is constructed to show the strength of each method.https://ijr.kntu.ac.ir/article_178829_4d92c1c3a7e7084f9a9a6e35e11d08d3.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501A New Approach for Solving the Direct Kinematic Problem of a General 3-RRR Spherical Parallel Robot3851182433ENJavadEnferadiMashhad Branch- Islamic Azad UniversityNaderNabaviDepartment of Mechanical Engineering, University of Bojnord, Bojnord, IranJournal Article20200319Various structures for the spherical parallel robots have been proposed. The 3-RRR Spherical parallel robot and its specific structures like Agile Eye/Wrist is one of the most famous spherical parallel robots. In this article a new approach is proposed for modeling the direct kinematic problem of this robot to obtain all assembly modes. Utilizing the spherical geometry of the robot, two coupled trigonometric equations are obtained through using the angle-axis representation. Next, the two coupled equations are solved using Sylvester’s elimination method which leads to a polynomial of eight degrees. Finally, two examples are provided which having eight real solutions (assembly modes) and confirming the assembly modes is performed by a commercial modeling software package. The eight real solutions can be concluded that the degree of the obtained polynomial is the minimum and the proposed modeling is optimal. The advantage of the proposed method is the use of two evident geometric angles in solving the direct kinematic problem of the robot. Also, the proposed approach can be used for other similar robots such as the 3-RRS spherical robot.https://ijr.kntu.ac.ir/article_182433_5b4ccdf42f066d470d347b18def93d93.pdfK.N. Toosi University of TechnologyInternational Journal of Robotics, Theory and Applications2008-71449120230501Conflict Free Path Planning for Multiple Autonomous Guided Vehicle5261179219ENHamedFazlollahtabarDepartment of Industrial Engineering, School of Engineering, Damghan University, Damghan, IranJournal Article20180902In automated guided vehicle (AGV) systems, the begin-end combinations are usually connected using a fixed layout, which is not the optimal path. The capability of these configurations is limited and often the conflict of multiple AGVs. By appearing more flexible layouts and advanced technology, the positioning and dispatching of AGVs increased. In this paper, a simulation model being applicable for strategic level is designed that compares systems with and without conflict free design. Specifically, the avoidance of conflicts are substantial. Optimization process for different layouts and configuration of AGVs are worked out using statistical methods for design parameters. The outputs imply the effectiveness of the proposed approach for industrial cases. After simulation experiments for design evaluation, an optimization is fulfilled for effective implementation. This way the optimal values of critical factors and design parameters are obtained to be used in scenario evaluation for multiple AGV system.https://ijr.kntu.ac.ir/article_179219_9e40194bdad7e91b5d4a09876bc47455.pdf