This paper presents the lateral displacement control of a moving web using a steering guide system which can be an important part in roll-to-roll (R2R) printed electronics. In general, R2R systems in printed electronics need a long drying section for the reduction of time and cost by reducing the delay of drying time. However, the lateral web displacement can be a worse problem because the web should be affected by the air blow from the dryer. Therefore, the lateral position control of long span will play a significant role in the R2R production process for better product quality. In our work, PID control method is designed to control the lateral displacement of a moving web by using a steering guide system, and simulations and experiments were performed to test the method.
Hybrid locomotion is advantageous over a single type of locomotion in terms of maneuverability. However robots with the ability of hybrid locomotion using either wheels or legs are usually complicated and heavy. This paper introduces a cylinder-shaped robot that is capable of two types of locomotion, jumping and rolling, on the ground. This paper reports design and experimental results of the robot that can execute the two kinds of locomotion using only one actuator. Experimental results show that the robot with the diameter of 180 mm can obtain the rolling speed of 600 mm/sec and the jumping height of 160 mm.
Jumping may be considered to be quite a useful means of mobile robot locomotion, but acquiring a stable landing has been a difficult problem. This paper reports on the design, analysis, simulation and experiments of a mesoscale jumping robot that is capable of stable landing. A jumping mechanism inspired by jumping insects is introduced and an actuation scheme using only one shape memory alloy (SMA) spring is described. Experimental results show that a robot with a 17 gram weight and 13 cm diameter can jump forward as far as 1.2 times its body diameter and vertically as high as 1.5 times its body diameter. In addition, the robot is able to land in a stable manner and recover its initial posture after landing.
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