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World Congress on intelligent Control and Automation (WCICA)

作者： Yupei Yan Yangmin Li University of Macau Taipa Macau MO Dept. of Electromechanical Engineering University of Macau Macao SAR Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467384155

The mobile robot has been one of the hottest fields in recent years, it has been widely applied in the most critical and efficient occasions in the industry, meanwhile, path planning becomes a frontier and interesting research topic for the mobile robot. In this paper, firstly mobile robot is introduced, some universal path planning algorithms of the mobile robot are reviewed, then a fuzzy logic and filter smoothing based on the data from the laser scan sensor is proposed, the path planning and autonomous obstacle avoidance based on this algorithm is emphasized because it can automatically find the best path according to the size and position of gaps between the obstacles in the dynamic environment, finally our designed mobile robot and corresponding Android APP are introduced, the path planning and obstacle avoidance algorithms are tested on this mobile robot, the testing results show this algorithm has the advantage of responding quickly, global optimized and hardware resource saved compared with other algorithms, it is suitable for the mobile robot that is designed on the embedded system and it can meet our designed requirement.

关键词： Mobile robots Heuristic algorithms Path planning Robot sensing systems Algorithm design and analysis Turning Fuzzy logic

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Modelling and analysis of planar robotic arm dynamics based on an improved transfer matrix method for multi-body systems 14

Modelling and analysis of planar robotic arm dynamics based ...

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14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Chen, W. Li, H. Zhang, X.Z. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Academy of Military Medical Sciences Tianjin China

ISBN: (纸本)9789860460988

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This model contains both kinematic and dynamic characteristics of the system. According to the motion transformation relation between the joint space and the operational space of the manipulator, the solution and the procedure are developed for both forward and inverse kinematics of the unified model. The simulation results of a 2DOF planar manipulator show the rightness of the modelling method and exhibit its superiority to other methods.

关键词： Inverse kinematics

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CQ COMSOC: CALLING ALL COMSOC RADIO AMATEURS

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IEEE COMMUNICATIONS MAGAZINE 2015年第7期53卷 6-8页

作者： Benedetto, Sergio Zuckerman, Doug Mobility Services Laboratory Nissan Motor Co. Japan Guangdong Province Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences (CAS) China Graduate School of Media Design Keio University Japan Chinese Academy of Sciences (CAS) Shenzhen Institutes of Advanced Technology Shenzhen China

This month’s President’s Page is devoted to the initiatives and plans of the IEEE Communications Society (ComSoc) in the area of education and training. Enhancing the IEEE societies’ activities in the area of education and training is one of the strategic goals of IEEE, and it has been recognized as such also by ComSoc’s strategic and planning committee (see the January 2015 President’s Page). Education and training can be developed as the third pillar of ComSoc’s major technical activities and a revenue source to complement the two existing pillars: publications and conferences.

关键词： Green computing

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Finite Element Analysis of Absorbable Sheath to Prevent Stress Shielding of Tibial Interlocking Intramedullary Nail

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IOP Conference Series: Materials Science and Engineering 2017年第1期224卷

作者： Yansheng Dong Yongqing Wang Limin Dong Peng Jia Fengcheng Lu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China Dept of Orthopaedics the Fourth Central Hospital of Tianjin Tianjin 300140 China Tianjin University of Traditional Chinese Medicine Tianjin 300314 China Dept of Orthopaedics Tianjin Medical University Tianjin 300314 China

The nail with absorbable sheath (AS nail) is designed to reduce the stress shielding effect of internal fixation with interlocking intramedullary nail. In order to verify its feasibility, two types of the finite element models of internal fixation of tibia with the AS nail and the common metal nail (CM nail) are established using the Softwares of Mimics, Geomagic, SolidWorks and ANSYS according to the CT scanning data of tibia. The result of the finite element analysis shows that the AS nail has great advantages compared with the CM nail in reducing the stress shielding effect in different periods of fracture healing. The conclusion is that the AS nail can realize the static fixation to the dynamic fixation from the early to the later automatically to shorten the time of fracture healing, which also provides a new technique to the interlocking intramedullary nail.

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Compensation of friction and elastic deformation for ball screw drive system

Compensation of friction and elastic deformation for ball sc...

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IEEE International Conference on Mechatronics and Automation

作者： Hongbiao Xiang Shoujun Wang Chunqiu Zhang Xingfei Li Jun Liu Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin CN Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University Tianjin Tianjin CN

Nonlinear friction and elastic deformation seriously affect both static and dynamic performance of mechanical serve system, especially in the high-speed and high-precision systems. This paper focuses on modeling, identification, and compensation of non-linear friction and elastic deformation for ball screw drive system. Firstly, the parameters of the stribeck model are identified by the method of extended kalman filter. And then the parameters of stiffness model of the ball screw are identified by the method of the least square based on force analysis of system. Finally, the feed-forward compensation of friction and elastic deformation is performed. The experimental results show that: after the compensation, the steady state error of low-speed motion decreases from 42μm to ±3μm, and that of high-speed motion decreases from 95μm to ±5μm. Therefore, the method proposed can effectively compensate the disturbance of friction and elastic deformation, and improve the tracking accuracy of the ball screw drive system.

关键词： Friction Fasteners Mathematical model Servomotors Deformable models Tracking Force

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design of dual-frequency bioreactor control system

Design of dual-frequency bioreactor control system

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IEEE International Conference on Mechatronics and Automation

According to tissue engineering and basic principle of bionic, the low-frequency high-amplitude loading on articular cartilage is to simulate human walking or other activities, and the high-frequency low-amplitude loading is to maintain the cartilage framework structure from muscles, ligaments and other tissue. In order to build appropriate mechanical environment for cartilage tissue engineering, this paper design a dual-frequency bioreactor, and the control precision and performance is improved by a method of friction compensation. The control system is full closed loop composed of liner motor and grating scale, based on PC+PMAC opened control platform. Firstly, a dynamic equation of an open servo system is given and the friction characteristics are described based on Stribeck model. Secondly, Considering the parameters of friction model changed with the system, the controller of adaptive sliding friction compensation is designed by backstepping method, and the corresponding adaptive laws and switching functions are given. Besides, this method give analysis of its global asymptotic stability, proved by Lyapunov theorem. Finally, the adaptive sliding friction compensation control strategy is realized by Programmable Multi-Axis Controller (PMAC), and the effectiveness of the method is verified by experiments. Results show that the steady state error of sinusoidal motion is decreased from the ± 22μm to ± 4μm compared with the velocity and acceleration forward feed-compensation. The dual-frequency bioreactor can simulate the mechanical environment of artificial cartilage tissue engineering on micrometer level, furthermore, it laid a foundation for the research of mechanobiology of cartilage.

关键词： Friction Mathematical model Tissue engineering Loading Adaptation models Servomotors

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Study on Tool Path Optimization in Multi-axis NC Machining

Study on Tool Path Optimization in Multi-axis NC Machining

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2015年第二届机电一体化与机械工程国际学术会议

作者： Xinghua Niu Tianding Wang Bofei Shen Tiemin Zhao Qianyou Huang Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology

This paper presents a new generation algorithm for tool path based on the optimization of traditional ***,the tool path on an impeller is generated with UG software,and it is used to make contrasts and verifications for the effect of ***,VERICUT software with the function of the simulating on the whole manufacturing process is utilized to verify the feasibility of the optimized algorithm.

关键词： NC machining path optimization UG VERICUT

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Path planning for mobile robot using the novel repulsive force algorithm

Path planning for mobile robot using the novel repulsive for...

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2015 5th International Conference on Computer Sciences and Automation Engineering(ICCSAE 2015)

作者： Yunwei Jia Guoqiang Yin Lianyu Zhao Xueping Li Siyue Sun School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System

A new type of repulsive force algorithm is proposed to solve the problem of local minimum and the target unreachable of the classic artificial potential field method in this paper. The Gaussian function that is related to the distance between the robot and the target is added to the traditional repulsive force, solving the problem of the goal unreachable with the obstacle nearby;variable coefficient is added to the repulsive force component to resize the repulsive force, which can solve the local minimum problem when the robot, the obstacle and the target point are in the same line. The effectiveness of the algorithm is verified by simulation experiments based on MATLAB.

关键词： Artificial potential field localminimum goal unreachable mobile robot

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Formulation and verification to invalidation of the error evaluation for coordinate transformation by euclidean distance between markers

Formulation and verification to invalidation of the error ev...

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2015 IEEE 12th International Conference on Electronic Measurement & Instruments

作者： Tan Qimeng Sun Yikun Gao Sheng Chen Lei Wei Qingqing Bai Mei Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing Special Engineering Design and Research Institute

Spatial markers can be used to not only complete coordinate transformation between two or more different Cartesian coordinate systems, but also to provide the error evaluation of the above transformation. On the one hand, a group of transforming markers is responsible for accurate parameters i.e. rotation matrix and translation vector;on the other hand, a group of checking markers can be used to quantify the accuracy of the results between coordinate transformation by Euclidean distance between markers. In this article, an invalidation of the error evaluation for coordinate transformation by relative Euclidean distance has been concluded and proven that the indexes are always constant because of an invariant group of checking markers, independent of the other group checking markers.

关键词： error evaluation coordinate transformation Euclidean distance between markers formulation

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The Validity Analysis of Regression: Combining Uniform Experiment design with Nonlinear Regression

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Applied Mathematics 2015年第6期6卷 996-1008页

作者： Nan Yang Dawei Zhang Yanling Tian School of Mechanical Engineering Tianjin University Tianjin China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical Engineering Tianjin University of Technology Tianjin China

The data topology structure of uniform experiment design (UD) is too complex to be reasonable regressed. In this paper, the principle and method of distinguish the training data and testing data were described to make a reasonable regression when uniform experiment design combined with support vector regression (SVR). Two equivalent ways which were the smallest enclosing hypersphere perceptron (SEH) and the enclosing simplex perceptron (ES) were provided to discover the topology relationship of the process parameter datum. To give an application, a series of experiments about laser cladding layer quality were conducted by UD to get the relationship of load, velocity and wearing capacity. Results showed that only the testing datum recommended by the two perceptrons got a good forecasting by SVR. Therefore, the two perceptrons could guide experiments with process parameter data of complex topology structure. Further, the application could be extended over a much wider field of experiments.

关键词： the enclosing simplex support vector machine uniform experiment design the smallest enclosing hyper sphere

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