A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on ...
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As a novel biologically inspired robot, the continuum robot features a kind of flexible ″invertebrate″ backbone with no discrete joint and rigid link. The continuum robot has excellent bending ability, good adaptabi...
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As a novel biologically inspired robot, the continuum robot features a kind of flexible ″invertebrate″ backbone with no discrete joint and rigid link. The continuum robot has excellent bending ability, good adaptability to unstructured and highly congested environments. It not only can grasp or grip object with the end-effector attached at the end of the robot, like traditional robots, but also can grasp object by using whole arm manipulation. In this paper, the bionics principles and structure characteristics of continuum robot are analyzed, the present research state of the continuum robot is reviewed, the potential application is foreseen, and the problems needing further research are discussed.
Continuum robot is a new class of biologically inspired robot with good compliance and high dexterity. In contrast to traditional discrete robot such as serial robot or parallel robot, this class of flexible "inv...
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Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its ...
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This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registr...
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This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registration strategy, which realizes the registration by an electromagnetic positioning system on the three-dimension visualization platform based on Visualization Toolkit(VTK). In this strategy, several feature points are extracted on a spine bone surface respectively in the virtual space and in the physical space for coarse registration, an electromagnetic positioning probe is used to extract points on the spine surface in physical space, and the corresponding points are extracted in the virtual space. Moreover, the ICP(Iterative Closest Point) algorithm is used to complete a fine registration. The ICP algorithm is then validated by simulation and the accuracy of it is also analyzed. Finally, a registration experiment is performed with a spine model to evaluate the accuracy of the proposed method, followed with an error analysis. The results show that the proposed registration method is simple and reliable, and that the final registration accuracy for spine model meets the finical surgery requirements well.
In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected a...
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In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected and were used as the basic frequency of the regenerated signal. Therefore, both the initial and regenerated signals have the same frequency component. Through adjusting phase offset versus each frequency component and using the genetic algorithm, phase offsets for the regenerated signal could be optimized. Finally, expressions of the regenerated signals could be obtained. Result shows that regenerated signals got by the expressions accord with working spatial range and can meet all requirements of the motion simulator.
In the die bonding process of MEMS microphone chip, the exact center and rotate angle of MEMS microphone chip is corrected after the vacuum nozzle has adsorbed it. In order to achieve high speed and precision placemen...
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For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics ...
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For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.
The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunct...
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The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion, and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor, active hook-type rod mechanism and passive connecting board, which possesses the function of alignment and self-locking, no motor torque requirement after docking and energy-saving. The connecting principle, condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.
The dynamic vibration model of a mobile manipulator with suspension system is built with Finite element method (FEM). Using this dynamic model and the pseudo-excitation method (PEM), the transient Power spectral densi...
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The dynamic vibration model of a mobile manipulator with suspension system is built with Finite element method (FEM). Using this dynamic model and the pseudo-excitation method (PEM), the transient Power spectral density (PSD) of the mobile manipulator in random vibration is obtained. This result can provide valuable reference for the suspension design of the mobile manipulator.
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