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Dimensional synthesis and static/dynamic analysis of a robot in automobile hubs polishing

Dimensional synthesis and static/dynamic analysis of a robot...

引用

IEEE International Conference on Mechatronics and Automation

作者： Long Chen Manru Xi Yue Ma Bin Li Qi Liu Changrui Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Focusing on the polishing operation of automobile hubs, this paper proposed a polishing robot by combining a 1T2R parallel mechanism (PM) and an X-Y worktable. The dimensional synthesis and static/dynamic performance analysis of the 1T2R PM are also presented with the key points as follows. Firstly, the inverse displacement model and velocity model of the PM are built to formulate the motion/force transmissibility indices on the basis of the generalized Jacobian matrix. Secondly, the dimensional synthesis problem is formulated to determine the optimized normalized dimensional parameters by maximizing the global force/motion transmissibility of the PM subject to geometric constraints without mechanical interference. Finally, the finite element (FE) model of the 1T2R PM is built with the aid of the SAMCEF, and the static stiffness and lower-order natural frequencies of the PM are evaluated. The research results of this paper provide dimensions and mechanical structures for developing the physical prototype of the automobile hub polishing robot.

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Kinematic analysis and trajectory planning of two-limb 4-DOF high-speed parallel robot

Kinematic analysis and trajectory planning of two-limb 4-DOF...

引用

IEEE International Conference on Mechatronics and Automation

作者： Weihua Sun Yue Ma Changrui Li Bin Li Yansen Zhao Qi Liu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Focusing on the pick-and-place operation in the electronic, packaging, and other light industries, this paper proposed a new type 3T1R (T-Translation, R-Rotation) high-speed parallel robot with two limbs. Compared with other 4-DOF high-speed parallel robots with four limbs, its structure is simpler while the working space is larger, such that the potential for cheaper usage in the industry is achieved. The robot's kinematic analysis and trajectory planning, including key aspects, are also outlined here. Firstly, the robot's closed-loop constraint equation is established using the vector chain method. The displacement, velocity, and acceleration models are derived, and the Jacobian matrix is obtained. On this basis, the gate shape trajectory is planned using the 3-4-5 polynomial motion rule, such that the displacement, velocity, and acceleration of the driving joint are obtained using the kinematic models above. Ultimately, the accuracy of the kinematic models is confirmed by comparing the theoretical outcomes with the simulations carried out in SolidWorks. The study presented in this paper establishes a firm basis for the dimensional integration and the creation of a physical model of the robot.

关键词： Industries Solid modeling Parallel robots Trajectory planning Kinematics Logic gates Vectors

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error

A Model-Data Compound Driven Method For Compensating Robot T...

引用

IEEE International Conference on Mechatronics and Automation

作者： Pai Peng Qi Liu Bin Li Wei Peng Xinjie Wang Jinyuan Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque; and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%.

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Biomechanical Comparison of Lateral Interbody Fusion with and without Fixation

Biomechanical Comparison of Lateral Interbody Fusion with an...

引用

IEEE International Conference on Mechatronics and Automation

作者： Cheng-Fei Du Meng-Si Sun Xin-Yi Cai Chen-Xi Yuchi National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

Objective: To compare biomechanical behaviors of lumbar lateral interbody fusion with and without posterior fixation. Methods: Three kinds of three-dimensional nonlinear finite element models of lumbar vertebrae (L3-S1) were developed: traditional lateral interbody fusion with bilateral pedicle 4 screws and 2 rods internal fixation; only lateral interbody fusion; intact model. The models were supported to a 500N follower load with a 7.5-N.m moment of flexion, extension,lateral bending,and rotation. The change of the range of motion (ROM) and intervertebral disc pressure (IDP) of the surgical segment and adjacent segments are compared. Results: Compared with the intact model, both surgical methods reduce the range of motion at the surgical segment in all motion modes, but have almost no effect on adjacent segments. The addition of fixation induce the further reduction of ROM in the surgical segment, and the ROM is almost 0° in all motion modes except for rotation. While for the model of only lateral interbody fusion, the ROM range from 0.4° to 2.2°. Moreover, the variation of the intervertebral disc pressure in surgery groups are extremely subtle in all the segments and all the postures. Conclusion: Compared to the only lateral interbody fusion,the traditional internal fixation with bilateral pedicle 4 screws and 2 rods for lateral interbody fusion showed more bimechanical stability of the surgical segment. The extra fixation for lumbar lateral interbody fusion is indispensable for surgeon.

关键词： Surgery Finite element analysis Read only memory Spine Motion segmentation Biological system modeling Fasteners

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mechanical Design of Out-pipe Detection Mechanisms for Pipeline Defects

Mechanical Design of Out-pipe Detection Mechanisms for Pipel...

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IEEE International Conference on Mechatronics and Automation

作者： Guangyin Nie Xinhua Zhao Yihan Ren Liang Liu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Pipes in various are dominated in in the process of industrial production. To avoid the pipeline leak due to inner corrosion, it is essential to develop pipe inspection mechanisms to detect the wall thickness of the pipes used in production. The paper presents three kinds of out-pipe detection mechanisms (ODM) for different petrochemical pipeline detection demands based on eddy current testing (ECT) method. A linear inspection mechanism with fixed length is firstly proposed to detect defects of straight pipe. Secondly, a rotary inspection mechanism is designed for pipeline weld detection. Besides, an out-pipe scanning wheeled robotic mechanism is developed to detect wall thickness of pipes and avoid small obstacles such as valves on the pipelines. Lastly, detection experiments and simulations are carried out to verify the effectiveness of the designed out-pipe detection mechanisms.

关键词： Mechatronics Welding Pipelines Production Inspection Valves Petrochemicals

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Gait Planning and Simulation of 3-RRP Legged Mobile Robot

Gait Planning and Simulation of 3-RRP Legged Mobile Robot

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IEEE International Conference on Mechatronics and Automation

作者： Jinyuan Wang Bin Li Yue Ma Xinjie Wang Pai Peng Wei Peng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

In order to meet the requirements of keeping the body posture level with the ground during the movement of the quadruped robots, this paper designs a quadruped robot with three joints and three degrees of freedom in each leg, which is a 3-RRP kinematic chain. The legs and body of the quadruped robot are virtually modeled by SolidWorks. Combining the forward and inverse kinematics analysis, the reasonable and ideal foot trajectory and body motion trajectory are planned in Matlab. The gait stability is based on the ZMP stability criterion and is quantified by the stability margin. According to the structural characteristics of the quadruped robot in this paper, the body posture adjustment strategy is proposed. Finally, the simulation is carried out under the two gait plannings of straight driving and turning using ADAMS. The simulation results show that the quadruped robot has a reasonable walking gait on the flat road surface with little impact on the body. The minimum stability margin of the strategy with body adjustment is improved compared with the strategy without body adjustment.

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Analysis of Anchor-Based and Anchor-Free Object Detection Methods Based on Deep Learning

Analysis of Anchor-Based and Anchor-Free Object Detection Me...

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IEEE International Conference on Mechatronics and Automation

作者： Shujian Liu Haibo Zhou Chenming Li Shuo Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

As one of the core mission of computer vision, object detection has been widely applied with the rapid development of computer technology, especially in the fields of face detection, behavior detection, auto driving, and intelligent monitoring. Aiming at the shortcomings of the traditional object detection, such as low detection accuracy, low efficiency and poor robustness, this article summarizes deep learning-based detectors of two kinds of modules: Anchor-Based and Anchor-Free. The performance of each detector is compared and analyzed in this paper as well. In addition, we summarize the development of object detection's key technologies from the aspect of improvement of Backbone, the optimization of NMS, imbalance of positive and negative samples' solution etc. Finally, the development trend of object detection is discussed from the prospect of lightweight detection model, weakly supervision detection and small object detection etc.

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control Strategy of Permanent Magnet Synchronous Motor and Brushed DC Servo Motor Based on ADRC

Control Strategy of Permanent Magnet Synchronous Motor and B...

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IEEE International Conference on Mechatronics and Automation

作者： Liang Liu Haikui Liu Guangyin Nie Yang Gao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Adaptive disturbance rejection control (ADRC) is a rapidly evolving and promising control method that has been widely applied in various industrial fields and may yield better results than traditional method. In order to promote the controller performance, ADRC technology was employed to construct a three-loop structure for the controllers of permanent magnet synchronous motor (PMSM) and brushed DC Servo Motor (BDSM). Firstly, the mathematical models of the both kinds of motors were presented and combined with the ADRC, respectively. Secondly, the simulation models based on ADRC were constructed in MATLAB/SIMULINK, respectively. Finally, comparative experiments were carried out by ADRC and Proportional-Integral (PI) methods. The simulation results showed that ADRC outperforms PI control in terms of response speed, overshoot reduction, and anti-interference capability, which verified the proposed method can exhibit superior dynamic properties in the induction motor control.

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Kinematic modeling and simulation of a 5-DOF hybrid mechanism for active vibration isolation

Kinematic modeling and simulation of a 5-DOF hybrid mechanis...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoqing Qiu Yue Ma Zijie Wang Bin Li Lin Pin Doudou Duan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Vibration generated by road bumps can cause secondary injury to patients. The risk of secondary injury can be significantly reduced by attaching an active suspension system to isolation medical beds. In this paper, a five DOFs (degree of freedoms) hybrid mechanism is designed by combining a 3-P(UU) 2 mechanism and a 2-PUS mechanism through a universal joint, leading to 3T2R movement capabilities to reduce the vibration. The kinematic models are firstly established to evaluate the displacement, velocity and acceleration of the hybrid mechanism. On this basis, a typical trajectory is planned to simulate the movement capabilities of the mechanism by using the trapezoidal acceleration curve motion law. Finally, the effectiveness of the kinematic models is verified by compared the results with those simulated by SolidWorks. The research results of this paper provide a solid foundation to the dimensional synthesis of the hybrid mechanism.

关键词： Vibrations Performance evaluation Solid modeling Roads Kinematics Solids Vectors

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Structure design and kinematics modeling of a new continuum parallel robot

Structure design and kinematics modeling of a new continuum ...

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IEEE International Conference on Mechatronics and Automation

作者： Xinjie Wang Bin Li Yue Ma Wei Peng Pai Peng Jinyuan Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Compared with the traditional rigid robots, the continuum robot has been widely studied because of its advantages of compact design and flexible motion. The design of continuum parallel robots are similar to that of the traditional rigid-link parallel robot, and the precision, stability and strength characteristics of rigid-link parallel robots are combined with the compactness and flexibility characteristics of continuum robots. In recent research advances, it is well appreciated to suggest that the use of parallel continuum robots with passive supports is supported by elastic rods. The passive branch undergoes deformation along its entire length and uses complex formulas to describe its shape and kinematics. According to different methods, this paper proposes the design of a parallel robot dual continuum translation passive branch chain. This continuum joint will assume a constant curvature bend and use this assumption for kinematic modeling. Since the continuum joint is a flexible joint that utilizes the characteristics of new materials, it uses material deformation to replace the motion pair, which successfully realizes that the passive branch joint can replace the universal joint and the ball hinge in the parallel robot, and the joint can be bent more than 90 0 to achieve a larger range of workspace. Each passive branch of the new continuum robot is a continuum structure composed of two mutually coupled flexible hinge joints, and the translational motion of the end effector is inherently realized by using its material properties. The paper includes a new mechanism description and kinematics modeling.

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