A quantitative model for a light intensity modulation type fiber optic sensor that can detect curvature directly using bend enhanced method and can distinguish either positive bending or negative bending, is presented...
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A quantitative model for a light intensity modulation type fiber optic sensor that can detect curvature directly using bend enhanced method and can distinguish either positive bending or negative bending, is presented. Based on the model, the modulation sensitivity of light intensity is described, and the relationship among light loss, parameters of sensitive zone, and bending curvature is derived. Experimental results have demonstrated that the proposed model can provide a quantitative optimal scheme for the sensors.
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...
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With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacen...
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A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.
To grind sculptured surface by swing motion, it's needed to interpolate the discrete data nodes on the arc-driving surface. To ensure that all the sample points locate on the arc surface, a novel unfolding paramet...
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A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To impleme...
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A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.
In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** inv...
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In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** investigate this relationship,experiments were done for various sizes of wire and free air ball(FAB).Electric flame-off(EFO)current, EFO time,EFO gap and recrystallization were also *** results show that as the size of FAB becomes larger,the length of HAZ *** the increase of EFO current and time,the length of HAZ becomes *** FAB forms at the same parameter the length of HAZ becomes shorter with the high temperature of recrystallization.
Based on the modularization and integration of self-diagnosing systems, the smart layer of a curvature fiber-optic sensor is developed by assigning sensors at two sides of PE films. It can measure curvature and torsio...
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Based on the modularization and integration of self-diagnosing systems, the smart layer of a curvature fiber-optic sensor is developed by assigning sensors at two sides of PE films. It can measure curvature and torsion of the structure at the same time. A calibration method of the smart layer is proposed. Axial tension, compression test and three-point bending test are carried out on the electron omnipotence machine CMT6305, which show that the smart layer does affect the structural mechanics properties of fiberglass reinforced polymer matrix composites. However, the influence is not remarkable. In the process of embedding the smart layer into composites, the intact rate of fiber optic sensors is 100%. Compared with the calibration result before embedding, the maximum curvature error measured by the smart layer is 5.2% after embedding, which shows that the smart layer can be calibrated before embedding.
In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding f...
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ISBN:
(纸本)9781424470594
In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis.
When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into acc...
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When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.
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