With the progress of intelligent robotics, the application fields of robots have been expanding. As one of the important components, the bionic creeping robot has become a current research hotspot in the field of bion...
With the progress of intelligent robotics, the application fields of robots have been expanding. As one of the important components, the bionic creeping robot has become a current research hotspot in the field of bionic robotics. In this article, a new bionic caterpillar robot composed of head, torso, tail and electronic control unit are designed. Based on the bionic caterpillar robot motion mechanism overrunning clutches and linkage, the principle of creeping of bionic caterpillar robot is proposed, and the feasibility of creeping posture is verified by establishing kinematic model. The attitude of creeping, head-swinging and steering is realized with the motor and servo, andcontrolled by cell phone application (APP), infrared remote control and artificial voice.
This paper provides a stable system design that can achieve the stable movement of the C-legged robot on the ground and stairs, based on the developed C-leg design of the hexapod robot and the motion gait of the bioni...
This paper provides a stable system design that can achieve the stable movement of the C-legged robot on the ground and stairs, based on the developed C-leg design of the hexapod robot and the motion gait of the bionic cockroach. To test the viability of using it for remote control staircase disinfection, filling the gap in the practical application for C-legged robots, a liquid storage tank and a atomization pump are fitted. The C-leg motor is controlled by the “Angle + speed + current” three-loop cascade PID, and the hardware architecture of the system is established and reliable. In order to achieve simultaneous control of the speed and rotation angle of the C-leg, a Buffer Zone method is presented and the concept of a finite state machine is applied to the gait realization.
Automatic guidance soft target vehicle is widely used in intelligent vehicle active safety test., and trajectory tracking is its main function. By analyzing the high speed working condition and path tracking of soft g...
Automatic guidance soft target vehicle is widely used in intelligent vehicle active safety test., and trajectory tracking is its main function. By analyzing the high speed working condition and path tracking of soft guided vehicle., the objective function was established., the tracking error model and model constraint conditions were designed., and the trajectory tracking controller based on MPC was established. Finally, the Carsim-Simulink co-simulation platform was constructed. By importing vehicle parameters into Carsim software., and using s-function function in matlab software to create model predictive control code. The simulation results show that the trajectory tracking controller has good tracking effect.
The project relies on the intelligent mechanical arm and omnidirectional intelligent mobile car developed by Yuejiang Technology Co., LTD to simulate the space missions such as spaceship departure, astronaut exit, mat...
The project relies on the intelligent mechanical arm and omnidirectional intelligent mobile car developed by Yuejiang Technology Co., LTD to simulate the space missions such as spaceship departure, astronaut exit, material handling, base station construction, astronaut return and spaceship return, and integrates multiple technologies such as autonomous control of mechanical arm, path planning of unmanned vehicle, AI identification and sensor technology. The research of the project has a certain role in promoting the promotion of AI in higher vocational education, and also has a certain reference significance for the application of AI in aerospace, logistics and other fields.
In order to meet the needs of high speed and high quality machining of machine tools, In order to meet the needs of high-speed and high-quality machining of machine tools, this study aims to address the shortcomings o...
In order to meet the needs of high speed and high quality machining of machine tools, In order to meet the needs of high-speed and high-quality machining of machine tools, this study aims to address the shortcomings of traditional interpolation methods in the processing of complex parts, such as large feedrate fluctuation, the interpolation principle of NURBS curve, interpolation parameter calculation, feedrate fluctuation and other aspects are studied. A NURBS curve interpolation algorithm based on improved Adams method is proposed by combining the speed constraints of machining chord error, machine tool dynamic characteristics, contour error and other constraints. The principle of parameter estimation based on improved Adams method is described, and the principle of interpolation parameter correction based on feed rate fluctuation control is explained. Finally, the simulation on Matlab platform verifies the superiority of the algorithm in interpolation feedrate fluctuation control.
This paper studies how to improve the stability of micro-low-speed electric car (MEC) by direct yaw moment control. Taking the MEC as the research object, a two-degree-of-freedom vehicle model is established. The desi...
This paper studies how to improve the stability of micro-low-speed electric car (MEC) by direct yaw moment control. Taking the MEC as the research object, a two-degree-of-freedom vehicle model is established. The desired yaw rate based on the zero-sideslip-angle is taken as the desired value, a MEC lateral stability control strategy based on sliding mode control (SMC) is proposed. The simulation results on MATLAB/Simulink platform show that the designed control strategy can improve the Lateral stability of MEC. However, there is still room for improvement in solving the chattering problem in the control process.
The traditional path-exploring Random Trees (RRT) algorithm has the defects of low search efficiency and high path curvature. Based on the basic RRT algorithm, target bias strategy and pruning optimization algorithm a...
The traditional path-exploring Random Trees (RRT) algorithm has the defects of low search efficiency and high path curvature. Based on the basic RRT algorithm, target bias strategy and pruning optimization algorithm are adopted to reduce unnecessary blank search and improve the computational speed. By introducing stretch function, the generated path is searched forward along the end node, and the two non-adj acent nodes with no obstacles in the middle are merged to reduce redundant paths. The cubic B-spline function is used to make the path curve smoother. In the matlab simulation environment simulation. Simulation results show that compared with the traditional RRT algorithm, the improved path planning algorithm greatly reduces the length of path planning and the path search time, and verifies the effectiveness of the path planning algorithm.
To improve the traditional method of teaching paths for industrial robots, a path planning method using the repulsive force field of artificial potential field method is proposed to improve the A* algorithm in space t...
To improve the traditional method of teaching paths for industrial robots, a path planning method using the repulsive force field of artificial potential field method is proposed to improve the A* algorithm in space to plan a moving path with high security. Extending the A* algorithm to space for global search, adding repulsive influence factors, improving the cost function, modifying the cost of moving the end of the manipulator near the obstacle, and improving the path safety. Comparing the performance of the traditional A* algorithm, Artificial Potential Field(APF) method and improved algorithm in the same environment, the improved algorithm has significantly improved in path security.
Unmanned surface vessel(USV) is a type of surface vessel that does not require manual operation, which is a kind of intelligent ocean robot. It is mainly used to perform dangerous and unsuitable tasks for manned vesse...
Unmanned surface vessel(USV) is a type of surface vessel that does not require manual operation, which is a kind of intelligent ocean robot. It is mainly used to perform dangerous and unsuitable tasks for manned vessels. The key technologies of USV are different from general intelligent robots because of their working environment and mission characteristics. The key technologies of unmanned surface vessels mainly include: vessel design technology, control technology, deployment and recovery technology and energy and propulsion technology. This paper summarizes and analyzes the current situation of unmanned surface vessel research at home and abroad, introduces the key technical issues of USV research, and discusses the development trend of USV, and finally concludes with an outlook on the application of USV under the maritime power strategy.
The cardioid crank is a planetary mechanism, in which the locus of points on the planet gear is cardioid curve. By using the cardioid crank as the driving crank of the guide bar, the cardioid crank guide bar mechanism...
The cardioid crank is a planetary mechanism, in which the locus of points on the planet gear is cardioid curve. By using the cardioid crank as the driving crank of the guide bar, the cardioid crank guide bar mechanism can be obtained, which is equivalent to the guide bar mechanism moving along the curve of the heart as the length and speed change, thus changing the motion characteristics of the guide bar. The approximate dwell motion mechanism of the cardioid crank guide bar is presented in this paper. The motion analysis of the mechanism is carried out, and the calculation methods of the dwell angle, the dwell fluctuating angle, the limit position of the guide bar and the swing angle of the guide bar are given. The influence of the center distance and the length of the planetary link on the motion performance of the mechanism are discussed. By means of function approximation method, the design formula of the mechanism according to dwell angle is proposed in this paper.
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