检索结果-内蒙古大学图书馆

2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Liu, Jinfii Xu, Linsen Chen, Shouqi Xu, Hong Cheng, Gaoxin Liu, Lei Xu, Jiajun Hefei Institutes of Physical Science CAS University of Science and Technology of China No.96 Jinzhai Road Hefei230026 China Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province No.801 Changwu Road Changzhou213164 China University of Science and Technology of China No.96 Jinzhai ad Hefei230026 China

ISBN: (纸本)9781728137261

Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces. © 2018 IEEE.

关键词： Wheels

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking Control Based on RBF Neural Network of The Lower Limb Rehabilitation robot

Trajectory Tracking Control Based on RBF Neural Network of T...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jia Shi Linsen Xu Gaoxin Cheng Jiajun Xu Shouqi Chen Xingcan Liang University of Science and Technology of China No. 96 Jinzhai Road Hefei City Anhui Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science CAS Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The lower limb rehabilitation robot has been widely applied to the recovery of the patient's limb. For patients without autonomous movement ability, the robot will drive their limbs the planned trajectory to carry out rehabilitation training, and the accuracy of the trajectory tracking effect should be guaranteed. PID control is a conventional method for trajectory tracking. Due to the dynamic model uncertainties and lack of good adjustment ability of PID control method, this paper proposes a control method combining neural network and PID. In this study, Magnetorheological (MR) damper and motor are combined to provide actuation for the robot. The control is simulated in Simulink. By comparing the trajectory tracking errors under PID control and RBF-PID control, it is verified that the RBF-PID control has better anti-interference performance. In the process of rehabilitation robot work, the flexibility of movement and the real-time and stability of track tracking are improved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Virtual and distance experiments: pedagogical alternatives, not logistical alternatives

Virtual and distance experiments: pedagogical alternatives, ...

引用

113th Annual ASEE Conference and Exposition, 2006

作者： Lindsay, Euan Good, Malcolm Curtin University of Technology Australia Curtin University of Technology Perth Australia University of Melbourne Australia Department of Mechanical and Manufacturing Engineering Australian Robot Association International Advanced Robotics Program Australia Advanced Engineering Centre for Manufacturing

Remote and virtual access to laboratory classes are increasingly prevalent in undergraduate engineering courses, but as yet there have been few, if any, studies, that adequately evaluate the learning outcomes of these alternative access modes. The move to alternative access modes has been driven primarily by logistical imperatives such as increased flexibility of delivery, and potential cost reductions. This focus on the "how" of implementing the laboratories has come at the expensive of the "why" - the impact upon the students' learning has been largely overlooked. This paper reports a study into remote and virtual access to laboratory equipment, and shows that there are statistically significant differences between the students' achievement on a number of learning outcomes. In particular, it shows that certain types of learning outcomes are impacted differently in different modes. This fine-grained analysis avoids the common pitfall of simply comparing overall aggregated marks, and shows that rather than no effect upon outcomes, there are instead multiple changes in learning outcomes whose combined effects upon the students' marks cancel out. The transparency of the interface was found to be a key factor in determining the quality of learning outcomes in the remote mode;however, it was not found to be significant in the simulation mode. This finding, whilst surprising, is explained when the theory pertinent to separation is considered. The take home message of this paper is that moving to remote and virtual access to laboratory hardware leads to significant changes in the learning outcomes of the students who experience this laboratory. In the face of such changes, these alternative access modes must be considered pedagogical alternatives, rather than simply logistical conveniences. © American Society for Engineering Education, 2006.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Energy-efficient narrow wall climbing of six-legged robot

引用

ROBOMECH Journal 2018年第1期5卷 1页

作者： Ohara, Kenichi Toda, Takeshi Kamiyama, Kazuto Kojima, Masaru Horade, Mitsuhiro Mae, Yasushi Arai, Tatsuo Department of Mechatronics Engineering Faculty of Science and Technology Meijo University 1-501 Shiogamaguchi Tempaku NagoyaAichi468-8502 Japan Graduate School of Engineering Science Osaka University 1-3 Machikaneyama ToyonakaOsaka568-8502 Japan The University of Electro-Communications 1-5-1 Chofugaoka ChofuTokyo182-8585 Japan Beijing Advanced Innovation Center for Intelligent Robot and Systems Beijing Institute of Technology No.5 Zhongguancun South Street Haidian Beijing100081 China

In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies. © 2018, The Author(s).

关键词： robots

来源：评论

学校读者我要写书评

暂无评论

Characteristics of a Beetle's Free Flight and a Flapping-Wing System that Mimics Beetle Flight

引用

仿生工程学报(英文版) 2010年第1期7卷 77-86页

作者： Quoc Viet Nguyen[a] Hoon Cheol Park[a][b] Nam Seo Goo[a][b] Doyoung Byun[b][c] [a] Department of Advanced Technology Fusion Konkuk University Seoul 143-701 Korea [b] Artificial Muscle Research Center & Smart Robot Center Konkuk University Seoul 143-701 Korea [c] Department of Aerospace Engineering Konkuk University Seoul 143-701 Korea

In this work, we first present a method to experimentally capture the free flight of a beetle (Allomyrina dichotoma), which is not an active flyer. The beetle is suspended in the air by a hanger to induce the free flight. This flight is filmed using two high-speed cameras. The high speed images are then examined to obtain flapping angle, flapping frequency, and wing rotation of the hind wing. The acquired data of beetle free flight are used to design a motor-driven flapper that can approximately mimic the beetle in terms of size, flapping frequency and wing kinematics. The flapper can create a large flapping angle over 140° with a large passive wing rotation angle. Even though the flapping frequency of the flapper is not high enough compared to that of a real beetle due to the limited motor torque, the flapper could produce positive average vertical force. This work will provide important experience for future development of a beetle-mimicking Flapping-Wing Micro Air Vehicle (FWMAV).

关键词： biomimetics beetle free flight wing kinematics flapper Scotch yoke linkage mechanism

来源：评论

学校读者我要写书评

暂无评论

Improved interfacial bonding strength of laser TC4/UHMWPE joints via a hybrid surface pretreatment

引用

Applied Surface Science 2025年

作者： Zhaoyang Chen Jin Yang Yinjiao He Ruijun Wang Yulong Li Ruijie Hao Yixuan Zhao Caiwang Tan Xiaoguo Song Jianguang Zhai School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai 201620 China School of Intelligent Manufacturing Shanghai Zhongqiao Vocational and Technical University Shanghai 201514 China Key Lab for Robot & Welding Automation of Jiangxi Province School of Advanced Manufacturing Nanchang University Nanchang 330031 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001 China

Titanium alloys and ultra-high molecular weight polyethylene (UHMWPE) are extensively utilized in biomedical implants due to their biocompatibility. As a kind of non-polar polymer, UHMWPE exhibits low surface activity and hydrophobicity, hindering a strong bonding to titanium alloys. This study introduced a novel hybrid modification method aimed at improving the reliability of artificial joint prostheses with a hybrid structure of Ti-6Al-4 V titanium alloy (TC4) and UHMWPE. Firstly, the introduction of polar groups on the UHMWPE surface using an ultraviolet (UV) lamp/ozone. Secondly the textured grids were processed on the TC4 surface using laser processing. The two materials were laser joined via heat transfer mode with a TC4-on-UHMWPE configuration. The bonding interface and fracture were characterized and analyzed by scanning electron microscopy (SEM), energy spectroscopy (EDS), X-ray photoelectron spectroscopy (XPS), and X-ray diffraction (XRD), which indicated the formation of mechanical interlocking and the generation of new chemical bonds at the interface. The bonding mechanism at the joint interface was also confirmed by density functional theory (DFT) calculations. The bidirectionally modified TC4-UHMWPE hybrid structure obtained a maximum tensile shear of 1233 N, realizing joint strength matching. This provides a new solution for the joining of non-polar polymers to metals. It is also essential for the development of more durable and reliable biomedical implants and prostheses.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation robot

Research on Fuzzy PID Control Algorithm for Lower Limb Rehab...

引用

IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Hongbo Wang Tingting Lu Baoshan Niu Hao Yan Xincheng Wang Jianyu Chen Yungui Li Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province

ISBN: (纸本)9781538653746

Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

关键词： Training Rehabilitation robotics Legged locomotion PI control PD control robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Safety design of an assisting robotic arm for minimally invasive thoracic surgery

Safety design of an assisting robotic arm for minimally inva...

引用

2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Hu, Ying Zhang, Jun Li, Chao Cheng, Sheng Wang, Ludan Zhang, Jianwei Center for Robot Engineering and Cognitive Technologies Lab Shenzhen Institute of Advanced Technology Shenzhen Guangdong China TAMS University of Hamburg Hamburg Germany

ISBN: (纸本)9781424426799

Based on the analysis of the first prototype of an Assisting robotic Arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A selfgravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is modified to widen the surgeon's field of view. The current pedal brake is replaced with an operating pushbutton to avoid maloperation. A control system for the improved ARA is developed. The experimental results show that the workspace and the locking torque can satisfy the basic requirements of a surgery. © 2008 IEEE.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Mechanical response joint under of the TiAl/steel brazed torsional load

引用

China Welding 2014年第3期23卷 42-47页

作者：李玉龙赵诚冯吉才何鹏 Key Lab for Robot & Welding Automation of Jiangxi Province Mechanical & Electrical Engineering School Nanchang University Nanchang 330031. State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001.

An attempt to investigate the mechanical response to the torsional load, torsional tests of TiA1/steel brazed joints were conducted at room temperature. The TiAl/steel joints used in the torsional loading tests were brazed under the optimum parameters of 1 173 K and 300 s. Torsional strength, fracture path and the behavior of the reaction phases were studied. The results show that the average torsional strength of the joints with the diameters of 13mm, 16 mm and 20 mm is 136 N · m, 270 N · m and 490 N · m, respectively; which is 81.9% , 85.5% and 86. 2% of the TiAl base metal, respectively. Fracture path and crack propagation process analysis shows, when subjected to the torsional load, Ag-based solid solution is deformed and cracks germinate at the interface of Ag-based solid solutioa/AlCu2 Ti particles or Ag-based solid solution/AlCu2 Ti layers, grow up and propagate into the Al-Cu- Ti brittle reaction layers, then propagate into the TiAl base metal, subsequently result in failure.

关键词： TiAl brazing torsional test fracture path

来源：评论

学校读者我要写书评

暂无评论

Regulation and control of wet friction of soft materials using surface texturing:A review

引用

Friction 2023年第3期11卷 333-353页

作者： Meng LI Wenbin SHI Jun SHI Tao WANG Liping SHI Xiaolei WANG Key Laboratory of Green Fabrication and Surface Technology of Advanced Metal Materials Anhui University of TechnologyMa'anshan 243002China Anhui Province Key Laboratory of Special and Heay Load Robot Anhui University of TechnologyMa'anshan 243032China School of Mechanical Engineering Anhui University of TechnologyMa'anshan 243032China College of Mechanical&Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Surface texturing is a smart strategy that is commonly used in nature or industry to improve the tribological properties of sliding ***,we focus on the recent research progress pertaining to the wet friction modification of soft elastomers via *** consider the pertinent physical mechanisms,we present and discuss the fundamentals of wet sliding on soft surfaces(including dewetting and wetting transitions in compliant contacts).Subsequently,we consider the methods in which the characteristic textures regulate and control wet sliding behaviors on soft surfaces;these textures range from conventional patterns of dimples to bioinspired architectures and can either positively or adversely impact the interfacial friction ***,we briefly address the perspectives,potential applications,and challenges of texture design for modifying the friction characteristics of soft materials.

关键词： soft material surface texture wet sliding friction

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：