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Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

Chinese Journal of Mechanical Engineering 2024年第3期37卷 62-82页

作者： Xuejian Ma Zhenghe Xu Yundou Xu Yu Wang Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Currently,two rotations and one translation(2R1T)three-degree-of-freedom(DOF)parallel mechanisms(PMs)are widely applied in five-DOF hybrid machining ***,there is a lack of an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design *** is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design *** the operational status of 2R1T PMs,the bending and torsional stiffness are considered as indices to evaluate PMs'configuration ***,a specific method is proposed to calculate these stiffness ***,the various types of structural and driving stiffness for each branch are assessed and their specific values ***,a rigid-flexible coupled force model for the over-constrained 2R1T PM is established,and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire ***,the driving force and constraint force of each branch in the whole working space are calculated to further elucidate the stiffness evaluating results by using the proposed method *** obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x and y-directions are larger than the other four mechanisms.

关键词： Parallel mechanism Stiffness Over-constrained Three degrees of freedom

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Motion design of a hybrid wheeled/legged robot for lunar exploration

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Journal of Harbin Institute of technology(New Series) 2003年第3期10卷 246-249页

作者：陈学东田文罡李小清渡边桂吾 School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Dept. of Advanced Systems Control Engineering Saga University Japanhe robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism and can quickly move on the relatively plane ground with the wheeled mechanism and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.

The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.

关键词： Lunar exploration robot Quadruped mechanism Mobile mechanism Hybrid wheeled/legged

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Decision-Level Fusion Method for Emotion Recognition using Multimodal Emotion Recognition Information 15

Decision-Level Fusion Method for Emotion Recognition using M...

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15th International Conference on Ubiquitous robots, UR 2018

作者： Song, Kyu-Seob Nho, Young-Hoon Seo, Ju-Hwan Kwon, Dong-Soo Department of Robotics Program Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Human-Robot Interaction Research Center Korea Republic of

ISBN: (纸本)9781538663349

Human emotion recognition is an important factor for social robots. In previous research, emotion recognizers with many modalities have been studied, but there are several problems that make recognition rates lower when a recognizer is applied to a robot. This paper proposes a decision level fusion method that takes the outputs of each recognizer as an input and confirms which combination of features achieves the highest accuracy. We used EdNet, which was developed in KAIST based Convolutional Neural Networks (CNNs), as a facial expression recognizer and a speech analytics engine developed for speech emotion recognition. Finally, we confirmed a higher accuracy 43.40% using an artificial neural network (ANN) or the k-Nearest Neighbor (k-NN) algorithm for classification of combinations of features from EdN et and the speech analytics engine. © 2018 IEEE.

关键词： Engines

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A study on the process robustness of Nd:YAG laser-MIG hybrid welding of aluminum alloy 6061-T6

A study on the process robustness of Nd:YAG laser-MIG hybrid...

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ICALEO 2003 - 22nd International Congress on Applications of Laser and Electro-Optics

作者： Lee, Kyoung-Don Park, Ki-Young Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin-city Kyonggi-do Korea Republic of

ISBN: (纸本)0912035757

Laser-arc hybrid welding is an attractive tool that has high potential in welding lightweight structure. The welding quality is improved by deep penetration with gap-bridging ability. This study examines the effectiveness an arc leading welding process through plasma phenomenon, melting efficiency and gap bridging ability experiment in melting pool. We apply hybrid welding using sheet aluminum welding to a vehicle body. We use 3KW cw Nd:YAG laser and 350A class MIG welding machine as an experiment device, high speed camera for melting phenomenon observation in melting pool and welding current measurement device for arc state observation.

关键词： Welding machines

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Total system of advanced subsea robot

Total system of advanced subsea robot

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International Conference on advanced robotics (ICAR)

作者： S. Nonose T. Osanai Advanced Robot Technology Research Association Mitsui Engineering and Shipbuilding Company Limited Chuo Tokyo Japan

Concerns a research and development project of advanced robot technology in Japan, finished in FY 1990. This project aimed to develop robots which could carry out inspection, maintenance, rescue operations or others in the field of nuclear power, subsea and disaster fighting. The various elementary technologies have been developed and the conceptual designs of total systems of the robots have been made taking those results into consideration. This paper describes the total system of the advanced subsea robot which supports the offshore oil exploitation and the verification experiment by the experimental robot which was carried out in December 1990.< >

关键词： robots Inspection Petroleum Ocean temperature robotics and automation Optical surface waves Sea surface Surface cleaning Optical control Legged locomotion

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Gesture motion programming by applying robot motion hierarchy structure for the educational/entertainment robot Engkey

Gesture motion programming by applying robot motion hierarch...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Jaewoo Kim Kyoung Soo Chun Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

Educational/entertainment robots are usually designed to perform various gesture motions for nonverbal communication or interaction with humans[1]. This paper proposed a robot motion programming methodology by applying three-level robot motion hierarchical structure and a gesture variation method that can easily apply emotional attributes (Joy, Normal or Sad) to a robot's gesture. Experiments and evaluation tests are conducted with a graphical robot motion simulator and a real robot named Engkey, which is developed to carry out several tasks for interactive English education in elementary school or interactive games for elderly people.

关键词： robot motion Wheels Joints Hardware Programming profession

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Ubiquitous robot: Recent Progress and Development

Ubiquitous Robot: Recent Progress and Development

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SICE Annual Conference

作者： Jong-hwan Kim Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology South Korea

Summary form only for tutorial. This paper provides an overview on the recent progress and developments in the development of the ubiquitous robot. First the concepts of the ubiquitous robot, which incorporates the software robot (Sobot), embedded robot (Embot) and mobile robot (Mobot), are presented. The Ubiquitous robot, Ubibot, comprising of a core intelligence of a Sobot Rity, perceptive abilities through a variety of Embots, and a personal robot type Mobot called Mybot is presented. Rity, an artificial creature testing robot genome is described in detail including the technique for creating the chromosome which dictates its personality and traits. The technique for evolving a new personality, thus creating a Genetic robot, is also briefed upon. The nearly limitless possibilities evident in this new paradigm in robotics can be obviously seen.

关键词： Intelligent robots Mobile robots Service robots robot sensing systems Competitive intelligence Orbital robotics Embedded software Context awareness Artificial intelligence Genomics

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A Visual Based robot Trajectory Teaching Method for Traditional Chinese Medical Moxibustion Therapy

A Visual Based Robot Trajectory Teaching Method for Traditio...

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International Conference on Computer and Communications (ICCC)

作者： Jiaxun Liu Qujiang Lei Yukai Qiao Guangchao Gui Xiuhao Li Jintao Jin Weijun Wang Intelligent Robot & Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou China

ISBN: (数字)9781728186351

ISBN: (纸本)9781728186368

At present, Chinese traditional physiotherapy is more and more trusted and valued by people, among which moxibustion is a very effective treatment. In order to improve the efficiency of human-computer interaction and help physiotherapists to use robots to replace human power, this paper proposes a visual based robot arm trajectory teaching method. The physiotherapy staff only needs to use an optical marker to demonstrate the therapeutic trajectory on the patient's back, and the robotic arm can pick up the expected trajectory and repeat the same work. We use LK optical flow algorithm to obtain marker's motion trajectory, and then smoothen the trajectory through SG filter, which is more executable for robot arm. Finally, we design an experiment and simulate it on MATLAB to obtain the accuracy of the trajectory and the results is impressive.

关键词： Optical filters Integrated optics Visualization Biomedical optical imaging Education Manipulators Trajectory

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Development of a novel H2S gas sensor based on CuO-doped SnO2 hollow nanospheres

Development of a novel H2S gas sensor based on CuO-doped SnO...

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IEEE Sensors 2009 Conference - SENSORS 2009

作者： Liu, Jinhuai He, Lifang Chen, Xing Meng, Fanli Li, Minqiang Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of IntelligMachines CAS Hefei China

ISBN: (纸本)9781424445486

An effort has been made to develop a kind of CuO-doped SnO2 gas sensors for detecting trace amount of H2S gas at relative low temperature. The CuO-doped SnO2 hollow nanospheres are prepared from SnO2 hollow spheres (employing carbon nanospheres as temples) and Cu precursor by dipping method. The sensitivity and selectivity of the sensors based on the as-prepared CuO-doped SnO2 hollow nanospheres have been studied in details. It had been found that trace amount of H2S gas can be detected by the sensors at a relative low temperature of 35°C. The good sensing performances might be attributed to two factors. Firstly, using SnO2 hollow nanospheres might increase the chances of formation of p-n junctions between CuO nanoparticles and SnO2 nanoparticles. Secondly, the existence of porous structure would improve the active sensing surface area and enhance the efficient gas diffusion. In one word, CuO-doped SnO2 hollow nanospheres might be one of the most promising materials for detecting trace amount of H2S gas. ©2009 IEEE.

关键词： Copper oxides

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The role of mental model and shared grounds in human-robot interaction

The role of mental model and shared grounds in human-robot i...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Jung-Hoon Hwang KangWoo Lee Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper investigates the role of mental model and shared grounds in human-robot interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative human-robot interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task.

关键词： Cognitive science robot kinematics Human robot interaction Intelligent robots Collaboration robot vision systems Research and development Couplings Medical services Cleaning

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