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IEEE/ASME Transactions on Mechatronics

Issue 4 • Dec. 1999

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Displaying Results 1 - 11 of 11
  • Author index

    Publication Year: 1999, Page(s):1 - 3
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    Freely Available from IEEE
  • Subject index

    Publication Year: 1999, Page(s):3 - 8
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    Freely Available from IEEE
  • Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage

    Publication Year: 1999, Page(s):354 - 362
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (288 KB)

    As the demand increases for machines of high accuracy, high speed, and high stiffness, programmable closed-loop linkages emerge in the development of modern machinery. A mechatronic design methodology is proposed for the integrated design of mechanical structure and control algorithm for a programmable closed-loop mechanism system. This design methodology suggests a negative mass-redistribution sc... View full abstract»

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  • Kinematic design and commutation of a spherical stepper motor

    Publication Year: 1999, Page(s):342 - 353
    Cited by:  Papers (108)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (680 KB)

    This paper addresses the design and commutation of a novel kind of spherical stepper motor in which the poles of the stator are electromagnets and the poles of the rotor (rotating ball) are permanent magnets. Due to the fact that points on a sphere can only be arranged with equal spacing in a limited number of cases (corresponding to the Platonic solids), design of spherical stepper motors with fi... View full abstract»

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  • An optimal and adaptive design of the feedforward motion controller

    Publication Year: 1999, Page(s):428 - 439
    Cited by:  Papers (51)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (440 KB)

    The zero phase error tracking controller (ZPETC) in motion control, as proposed by Tomizuka (1987) , renders the desirable zero phase error, but with a limited gain response. Moreover, a ZPETC, which is basically in a feedforward control structure, is very sensitive to modeling error. To improve the tracking accuracy of the ZPETC, this paper presents an optimal ZPETC design with a concise polynomi... View full abstract»

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  • Design of a PZT-actuated proportional drum brake

    Publication Year: 1999, Page(s):409 - 416
    Cited by:  Papers (11)  |  Patents (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    Presents the design of a piezoelectric-ceramic (PZT)-stack-actuated brake that is similar to a magnetic particle brake in dynamic range, size, weight, and cost, while providing a significantly larger bandwidth and requiring significantly less electrical power for a given continuous torque output. The device is essentially a single-pad drum brake that is actuated with a PZT-stack actuator. A signif... View full abstract»

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  • Task-specific optimal simultaneous kinematic, dynamic, and control design of high-performance robotic systems

    Publication Year: 1999, Page(s):387 - 395
    Cited by:  Papers (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (252 KB)

    A task-specific optimal simultaneous kinematic, dynamic and control design approach is proposed for high-performance computer-controlled machines, such as robots. This mechatronics design approach is based on the trajectory pattern method and a fundamentally new design philosophy that such machines, in general, and ultrahigh-performance machines, in particular, must only be designed to perform a c... View full abstract»

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  • Static balancing of 3-DOF planar parallel mechanisms

    Publication Year: 1999, Page(s):363 - 377
    Cited by:  Papers (42)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (744 KB)

    The static balancing of planar 3-DOF parallel mechanisms is addressed in this paper. Static balancing is defined as the set of conditions on mechanism dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under static conditions. For the mechanisms studied here, ... View full abstract»

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  • Collision-tolerant control of human-friendly robot with viscoelastic trunk

    Publication Year: 1999, Page(s):417 - 427
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    A human-friendly robot (HFR) is described to realize human safety, and a collision-tolerant control method is also proposed to achieve task performance. The HFR consists of an arm covered with viscoelastic materials and a trunk with mechanical elements, such as springs and dampers. In an unexpected or expected collision with a human, the passive viscoelastic trunk of the HFR passively deforms in r... View full abstract»

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  • Tailoring unconventional actuators using compliant transmissions: design methods and applications

    Publication Year: 1999, Page(s):396 - 408
    Cited by:  Papers (49)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (740 KB)

    Matching a drive system to the force-displacement characteristics of the load is the cardinal principle in electromechanical systems design. Unconventional actuation schemes; such as piezoelectric, electrostatic, and shape-memory alloys (SMAs), seem to exhibit certain limitations in terms of power density, stroke length, bandwidth, etc., when one attempts to employ them directly to an application.... View full abstract»

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  • An efficient procedure for checking performance limits in servo drive selection and optimization

    Publication Year: 1999, Page(s):378 - 386
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    Many mechatronic systems involve complex motions resulting in highly dynamic motor loads. Motor characteristics, such as rotor inertia, affect this motor load, which makes the design and selection of the complete drive system-consisting of motor, mechanical reducer, and converter-a huge combinatorial problem. The approach presented in the paper separates the problem into feasibility and optimizati... View full abstract»

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Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

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Meet Our Editors

Editor-in-Chief
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu