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DC Field | Value | Language |
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dc.contributor.author | Eshraghi, K | - |
dc.contributor.author | Wang, M | - |
dc.contributor.author | Mares, C | - |
dc.date.accessioned | 2023-11-12T21:10:45Z | - |
dc.date.available | 2023-11-12T21:10:45Z | - |
dc.date.issued | 2023-10-27 | - |
dc.identifier | ORCID iD: Mingfeng Wang https://orcid.org/0000-0001-6551-0325 | - |
dc.identifier | ORCID iD: Cristinel Mares https://orcid.org/0000-0001-7515-9559 | - |
dc.identifier | 997 | - |
dc.identifier.citation | Eshraghi, K., Wang, M. and Mares, C. (2023) 'Towards Robust and Effective Passive Compliance Design of End-Effectors for Robotic Train Fluid Servicing', Machines, 11 (11), 997, pp. 1 - 15. doi: 10.3390/machines11110997. | en_US |
dc.identifier.uri | https://bura.brunel.ac.uk/handle/2438/27612 | - |
dc.description.abstract | Copyright © 2023 by the authors. Without mechanical compliance robots rely on controlled environments and precision equipment to avoid clashes and large contact forces when interacting with an external workpiece, e.g., a peg-in-hole (PiH) task. In such cases, passive compliance devices are used to reduce the insertion force (and in turn the robot payload) while guiding corrective motions. Previous studies in this field are limited to small misalignments and basic PiH geometries inapplicable to prevalent robotic and autonomous systems (RASs). In addition to these issues, our work argues that there is a lack of a unified approach to the development of passive compliance systems. To this end, we propose a higher-level design approach using robust engineering design (RED) methods. In a case study, we demonstrated this general approach with a Taguchi design framework, developing a remote centre compliant (RCC) end-effector for robotic train fluid servicing. For this specific problem, a pseudo-rigid-body model (PRBM) is suggested in order to save enormous computation time in design, modelling, and optimisation. Our results show that the compliant end-effector is capable of significantly reducing the insertion force for large misalignments up to 15 mm and 6 degrees. | en_US |
dc.description.sponsorship | Rail Safety and Standards Board (RSSB), under contract RSSB 2675, and from EPSRC Impact Acceleration Account, under the Grant No. EP/X525510/1. | en_US |
dc.format.extent | 1 - 15 | - |
dc.format.medium | Electronic | - |
dc.language | English | - |
dc.language.iso | en_US | en_US |
dc.publisher | MDPI | en_US |
dc.rights | Copyright © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). | - |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | - |
dc.subject | robotic and autonomous systems | en_US |
dc.subject | rolling stock maintenance | en_US |
dc.subject | passive compliance | en_US |
dc.subject | compliant mechanism | en_US |
dc.subject | remote centre compliance | en_US |
dc.subject | robust design | en_US |
dc.subject | peg in hole | en_US |
dc.title | Towards Robust and Effective Passive Compliance Design of End-Effectors for Robotic Train Fluid Servicing | en_US |
dc.type | Article | en_US |
dc.identifier.doi | https://doi.org/10.3390/machines11110997 | - |
dc.relation.isPartOf | Machines | - |
pubs.issue | 11 | - |
pubs.publication-status | Published online | - |
pubs.volume | 11 | - |
dc.identifier.eissn | 2075-1702 | - |
dc.rights.holder | The authors | - |
Appears in Collections: | Dept of Mechanical and Aerospace Engineering Research Papers |
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FullText.pdf | Copyright © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). | 4.25 MB | Adobe PDF | View/Open |
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