Actuators

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Prof. Dr. Chien-Sheng Liu

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Department of Mechanical Engineering, National Cheng Kung University, Tainan, Taiwan
Interests: micro voice coil motor; precision measurement; geometric error measurement and system design for machine tools; 3D optical scanner; laser-based autofocusing microscopy; opto-electronic sensing and applications
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Dr. Yu-Jen Wang

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Department of Mechanical and Electromechanical Engineering, National Sun Yat-sen University, Tainan, Taiwan
Interests: PZT actuator; energy harvester; force/torque sensor; ultrasonic transducer; precision machinery; parallel kinematic mechanism
Special Issues, Collections and Topics in MDPI journals

Dr. Chien-Yu Chen

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Ansys Inc., Hsinchu, Taiwan
Interests: MEMS; electro-thermal actuator; PZT actuator; solenoid valves; torque actuator

Special Issue Information

Dear Colleagues,

We are pleased to invite you to submit your paper(s) to our Special Issue of Actuators (ISSN 2076-0825) on “Design and Application of Actuators with Multi-DOF Movement-2nd Edition”. Both original research and review articles are welcome.

With the increasing demand for industrial automation and robotics worldwide, actuators with multi-degree-of-freedom (DOF) motion capabilities have been developed to enable more complex movements in machines and robots. Traditionally, multi-DOF systems have been used to control the joints and movements of humanoid robots, using multiple motors to mimic the movement of the human body. However, these systems often come with an increased weight and size. In recent years, various multi-DOF actuators have been developed and designed to achieve multi-axis or multi-DOF motion, along with advances in materials science, stretchable electronics, and mechatronics. These actuators offer multifunctionality, low costs, a fast response, high repeatability, and a small size, making them a promising solution for industrial automation and robotic applications. Applications of multi-DOF actuators cover a wide range of fields, such as robotics, haptic devices for augmented reality systems, precision measurement, camera modules, data storage devices, projectors, optics, optoelectronics, and medical and healthcare engineering, among others. The development of multi-DOF actuators is expected to expand substantially in the years and decades ahead. To highlight the current status and perspectives, this Special Issue invites contributions, including research and review articles, that cover all aspects of multi-DOF actuators, including, but not limited to: novel designs of multi-DOF actuators; theory, modeling, and control; simulation; experimental methodology; multi-degree-of-freedom movement; manufacturing and processing; 3D printing for multi-DOF actuators; and applications in research, industry, and education.

Prof. Dr. Chien-Sheng Liu
Dr. Yu-Jen Wang
Dr. Chien-Yu Chen
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

multi-DOF
multi-DOF actuators
multi-DOF movements
humanoid robots
robotics

Published Papers (1 paper)

Research

13 pages, 4679 KiB

Open AccessArticle

Identification Algorithm for Stability Improvement of Welding Robot End-Effector

by Lijian Liu, Yongkang Zhang, Bin Wei and Guang Yang

Actuators 2024, 13(5), 175; https://doi.org/10.3390/act13050175 - 6 May 2024

Viewed by 620

Abstract

Aiming to solve the problem that the significant error between the actual joint torque and the calculated joint torque of a welding robot leads to the vibration of the end-effector, which in turn affects the stability of the end-effector, this paper proposes a identification algorithm based on the Weighted Least Squares Genetic Algorithm (WLS-GA) to construct and solve the dynamical model to obtain the accurate dynamical parameters. Firstly, a linear model of welding robot dynamics is derived. The fifth-order optimal Fourier series excitation trajectory is designed to collect experimental data such as joint torque. Then, a rough solution of the parameters to be recognized is obtained by solving the dynamics model through the Weighted Least Squares (WLS) method, the search space is determined based on the rough solution, and the optimal solution is obtained by using the Genetic Algorithm (GA) to perform a quadratic search in the search space. Finally, the identification data obtained from the algorithm is analyzed and compared with the experimental data. The results show that the error between the identification data obtained using the WLS-GA identification algorithm and the experimental data is relatively small. The results show that the identification data obtained using the WLS-GA identification algorithm have less error than the experimental data, taking the Root Mean Square (RMS) value of the joint torque error obtained using the weighted least squares algorithm as a criterion. The accuracy of the WLS-GA identification algorithm can be improved by up to 66.85% compared with that of the weighted least squares algorithm and by up to 78.0% compared with that of the Ordinary Least Squares (OLS) algorithm. In summary, the WLS-GA identification algorithm can accurately identify the dynamic parameters of the welding robot and more accurately construct a dynamic model to solve the effect of joint torque error on the control characteristics of the welding robot. It can improve the stability of the end-effector of the welding robot to ensure the quality of the automobile body and beam welding and welding speed. Full article

(This article belongs to the Special Issue Design and Application of Actuators with Multi-DOF Movement-2nd Edition)

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