检索结果-内蒙古大学图书馆

New Method for Type Synthesis of 2R1T Redundant Driven Parallel Mechanisms

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2019年第23期55卷 25-37页

作者： Li, Yongquan Zhang, Yang Guo, Yu Li, Xuran Zhang, Lijie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China

In the fields of milling, riveting and welding, 2R1T DOF actuators are required, especially in high stiffness, large workspace, good driving stability and other occasions, redundant actuators are required to improve the performance of 2R1T parallel mechanism. Therefore, based on Grassmann linear geometry and atlas method, a new method for typy synthesis of 2R1T redundant actuated parallel mechanism is proposed. The degree-of-freedom curve of the moving platform is obtained according to the motion mode of the mechanism, and then the constraint curve of the moving platform is obtained according to the dual rule. The redundant constraint curve and its equivalent curve were obtained by adding redundant lines to the moving platform constraint curve. According to the allocation principle of branch chain constraint, it is divided into 7 schemes. The corresponding branch chain are constructed based on the constraint scheme by using the atlas method, and the preliminary type of the mechanism is synthesized according to the selection and allocation rule of the branch chain. Each scheme synthesizes 12, 67, 96, 0, 12, 48 and 16 new types respectively, and a total of 251 new types are synthesized, including some 2R1T redundant parallel mechanisms studied in literature. The instantaneous analysis of the synthesized mechanism is carried out by the atlas method, and it is found that the synthesized mechanism of scheme 1 and scheme 2 is instantaneous. An improved method of coaxial placement with a pair of parallel force constraints in this kind of mechanism is proposed to eliminate its instantaneity. The feasibility and rationality of the synthesis method are verified by instantaneous analysis. The method is also suitable for type synthesis of redundant 4, 5 and 6 DOF parallel mechanisms. © 2019 Journal of Mechanical Engineering.

关键词： Mechanisms

来源：评论

学校读者我要写书评

暂无评论

Safety Evaluation Technologies for Defecation Assistance Devices

Safety Evaluation Technologies for Defecation Assistance Dev...

引用

IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Keiko Homma Kiyoshi Fujiwara Isamu Kajitani Takuya Ogure The Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Japan

ISBN: (纸本)9781538655481

We aim to develop safety evaluation technologies for defecation assistance devices. Even though the specifications of the target devices are unclear at present, the safety of such devices should be evaluated before they are commercialized in the near future as expected. We specify safety hazards associated with the target devices and determine the related safety requirements. We then determine tentative evaluation criteria based on a literature survey and propose testing methods.

关键词： Service robots Hazards Testing Instruments Pressure measurement

来源：评论

学校读者我要写书评

暂无评论

Survey on Bioinspired Adhesive Methods and Design and Implementation of A Multi-Mode Biomimetic Wall-Climbing robot

Survey on Bioinspired Adhesive Methods and Design and Implem...

引用

IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Jiajun Xu Linsen Xu Jinfu Liu Xiaohu Li Xuan Wu School of Engineering Science University of Science and Technology of China Hefei China CAS The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou China University of Science and Technology of China Hefei China CAS Hefei Institutes of Physical Science Changzhou China

Wall-climbing robot is an essential branch of robotics, and the adhesive method is the key technology. Nowadays, suction cups, magnets and grippers are three conventional modes for adhering. However, there are many limitations of the traditional methods, which make it difficult for the wall-climbing robots to adapt to most of the complicated environments. Bionics gives us inspiration to solve the limitation problems of conventional wall-climbing robots, and biomimetic wall-climbing robots have become a hot research area. Spiny feet and dry adhesives are two main bioinspired adhesive methods applied into wall-climbing robots, and relevant research status and development situation have been surveyed. In order to improve the adaption of biomimetic wall-climbing robots to both smooth and rough surfaces, we have developed a brand new multi-mode biomimetic wall-climbing robot employing four modes: spiny wheels, adhesive treads, spiny treads and a suction cup, which can switch different modes to conform to different terrains. The robot employs spiny wheels and spiny treads while meeting with rough surfaces and employs adhesive treads while encountering smooth surfaces. And a suction cup is applied all the time for assistive adhesive function. Design and prototype experiment about this robot have been represented.

关键词： Mobile robots Wheels Switches Rough surfaces Surface roughness Foot

来源：评论

学校读者我要写书评

暂无评论

Evaluation Experiments for Lane Keeping Assistance System under Several Conditions

Evaluation Experiments for Lane Keeping Assistance System un...

引用

International Conference on Computational Science and Computational Intelligence (CSCI)

作者： Naohisa Hashimoto Simon Thompson Yusuke Takinami Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology(AIST) Tsukuba Ibaraki Japan

Automobile technology, which includes driver assistance system, has improved. These days, accuracy and reliability of image processing using camera systems have also improved. On the other hand, in severe conditions, it is impossible to see the lane marker by using the image processing because of the effect of heavy rain or dark conditions. High reflection lane markers have been proposed in order to solve this problem, and it is presumed that image processing performance can be improved by using these types of lane markers. Experiments to evaluate two types of high reflection lane markers were performed under several conditions and with scenarios. The experimental results show the validity of high reflection tape under rainy weather and dark condition. In addition, analysis of the low lane recognition rate of ordinary lane markers is presented.

关键词： Image recognition Reflection Roads Rain Vehicles

来源：评论

学校读者我要写书评

暂无评论

Design of lower extremity rehabilitation robots with magnetorheological dampers and wire-driven system

Design of lower extremity rehabilitation robots with magneto...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Xu, Jiajun Xu, Linsen Li, Youfu Liu, Jinfu Li, Xiaohu Lu, Linlin University of Science and Technology of China No. 96 Jinzhai Road Hefei Anhui Province China City University of Hong Tat Chee Avenue Kowloon Hong Kong Hefei Institutes of Physical Science CAS Changzhou China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

Lower extremity rehabilitation robots play significantly important role in rehabilitation medicine, which aims to bring back the capabilities of patients' lower limbs because of illness, injury and disease. However, controllability, energy consumption and control precision of the robot motion remain difficult to solve out. In many cases, electric motors are required to have high output torque to move the entire machine legs along with human legs, while extravagant motor torque may lead to excessive bending, fracture or other secondary damages. And the motors would generate the braking torque to prevent this at the cost of consuming large armature current. Controllable braking torque also counts while patients' active anti-resistance training. Smart materials have provided inspiration and magneto-rheological (MR) fluids vary in rheological behavior with responding to applied magnetic field. Based on the characteristics, magnetorheological dampers (MR dampers) were developed and have realized variable damping resistance according to different magnetic field. Besides, wire-driven system is another guarantee of safety and controllability due to its flexible structure and compliant control. So, with combination of MR dampers and wire-driven system, the lower extremity rehabilitation robot would perform better, more efficiently and more safely. Actually, such robot can hardly be seen in previous related research or publication. In this paper, three kinds of rehabilitation robots with MR dampers and wire-driven system are introduced. They are standing/walking rehabilitation robot with cylindrical dampers, standing/walking rehabilitation robot with discal dampers and sitting/lying rehabilitation robot with discal dampers. Their advantages and drawbacks are also explained. © 2018 IEEE.

关键词： Energy utilization

来源：评论

学校读者我要写书评

暂无评论

Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal

引用

IOP Conference Series: Materials Science and Engineering 2019年第7期490卷

作者： Hongbo Wang Hao Yan Yonggan Yan Yungui Li Baoshan Niu Meng Liu Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering & Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Fabrication of the lens array mould with embossing type surface by using a fast tool servo with large displacement up to hundreds of micro meter 17

Fabrication of the lens array mould with embossing type surf...

引用

17th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2017

作者： Kim, Ho-Sang Lee, Chan-Hee Lee, Won-Gi Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin Kyonggi-do Korea Republic of

ISBN: (纸本)9780995775107

We performed the fabrication of the lens array mould with embossing type surface by using a fast tool servo. To overcome the nonlinear hysteresis characteristics of the piezoelectric actuator in fast tool servo, the proportional integral controller with feedforward compensator was used. Also, to meet the large optical sag required in most of commercial optical devices, the fast tool servo with large displacement up to hundreds of micro meter has been integrated into the diamond turning machines. To synchronize the fast tool servo and the diamond turning machine, the precision encoder signal from the CNC was read and used to update the control input to the high voltage amplifier for the piezoelectric actuator. The machined result shows that the proposed controller and tool servo can be successfully integrated into the machine and can fabricate the complex optical surfaces with embossing shape.

关键词： Fabrication

来源：评论

学校读者我要写书评

暂无评论

Development of two-dimensional piezoelectric laser scanner with large steering angle and fast response characteristics

Development of two-dimensional piezoelectric laser scanner w...

引用

ASPEN/ASPE 2017 Spring Topical Meeting on Manufacture and Metrology of Structured and Freeform Surfaces for Functional Applications

作者： Kim, Ho-Sang Lee, Chan-Hee Lee, Won-Gi Lee, Dae-Hee Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin Kyonggi-do Korea Republic of

We describe a two-dimensional piezoelectric laser scanner designed and tested to obtain the large steering angle of 1 degree and fast response characteristics with 200 Hz. To overcome the relatively small expansion capability of piezoelectric actuator, the displacement amplification mechanisms are employed to magnify the end tip of the lever which is connected to the 0.5" aluminum mirror. For fast response characteristics, several shapes of the displacement amplification mechanisms are proposed and their natural frequencies calculated by using finite element analysis technique. As a result of performance testing of hinge mechanisms by exciting the actuator, the resolution of the proposed piezoelectric scanner shows the excellent capability in beam steering. Also, the actual machining test of the proposed laser scanner in the burning paper are performed to show that it is capable of steering the laser beam in 1 degree and with frequency of 200 Hz.

关键词： Piezoelectric actuators

来源：评论

学校读者我要写书评

暂无评论

Driving force synchronous control of redundantly actuated parallel manipulator

引用

Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS 2018年第9期24卷 2140-2149页

作者： Liu, Xiaofei Yao, Jiantao Zhao, Yongsheng Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao066004 China Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao066004 China

To improve the actuation coordination of redundantly actuated parallel manipulator, a novel model-based driving force synchronous control method was proposed. With 6PUS+UPU parallel manipulator as the research object, the dynamics model was deduced based on virtual work principle, and the coordination mechanism of driving force under scheduled motion was analyzed. On the basis of force-position hybrid actuation, a driving force synchronous control method was proposed, and the control algorithm was designed with coordination mechanism. Simulation and prototype experiment were used to verify the proposed control method. © 2018, Editorial Department of CIMS. All right reserved.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

Model-based Synchronous Control of Redundantly Actuated Parallel Manipulator with Neural Network

引用

Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 2018年第2期49卷 367-375页

Redundantly actuated parallel manipulator demands higher actuation coordination than the non-redundantly actuated one, thanks to its degree of actuation exceeding its degree of freedom. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel model-based driving force synchronous control method with neural network was proposed. With 6PUS+UPU parallel manipulator as object, dynamic model was derived based on virtual work principle. To improve the actuation coordination of redundantly actuated parallel manipulator, a novel driving force synchronous control method was proposed on basis of force-position hybrid actuation. The synchronous control method was based on the driving force error of actuated joints and driving force adjustment was calculated by the synchronous controller. The synchronous controller was designed with neural network. What's more, the learning law of neural network controller was derived with manipulator's dynamic model to improve the learning efficiency. Model simulation and prototype experiment were carried out, and a performance comparison analysis with traditional force-position hybrid actuation method was made to verify the proposed control method. Comparison analysis revealed that, comparing with the traditional force-position hybrid actuation method, driving force synchronous control with neural network proposed could effectively improve the actuation coordination of redundantly actuated parallel manipulator. The results revealed that the synchronous control method reduced the driving force errors of whole manipulator by properly magnifying the control error of force actuated joint. © 2018, Chinese Society of Agricultural Machinery. All right reserved.

关键词： Dynamic models

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：