0

Full Content is available to subscribers

Subscribe/Learn More  >

Mathematical Model for Coordinated Motion of Modular Mechatronic Devices (MechaCells)

[+] Author Affiliations
Stefan Ristevski, Melih Çakmakcı

Bilkent University, Ankara, Turkey

Paper No. DSCC2015-9896, pp. V002T34A010; 10 pages
doi:10.1115/DSCC2015-9896
From:
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME

abstract

Manufacturing techniques have advanced exponentially in recent years, providing means for micro even nano scale manufacturing of different structures. Mechanical and electrical components are being manufactured at micro/nano scale, producing amazing opportunities in micro/nano modular robot development, for modules that are smaller and more powerful. Development of mathematical models for such modular devices is an important step in the design and development of control strategies for coordinated movement. A mathematical model for modular mechatronic device, MechaCell was developed, in which the interaction forces between module–workpiece are modeled as the disturbance to be compensated by the closed loop position controller for each device. Experiments with an actual workpiece are conducted and our mathematical model was validated. Our future work will include development of better control strategies for coordinated motion and object transportation and caging stratifies.

Copyright © 2015 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In