An aerial work platform (AWP) is a type of off highway vehicle with a long beam to provide temporary access to inaccessible areas [1]. The motivation of the research is to increase its productivity, safety and reduce ...
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This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hy...
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This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the...
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The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent ...
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In this work, a novel point stabilization control strategy for mobile robots which moves on uneven surface is presented. Firstly, sliding mode method is adopted to extend the nonlinear kenimatic control law to dynamic...
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To solve the conflict between OS's real time property and NC system's open and universal property [1], a compiled-typed NC system is advanced based on analysis and research of the structure of modern NC system...
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ISBN:
(纸本)9783037853993
To solve the conflict between OS's real time property and NC system's open and universal property [1], a compiled-typed NC system is advanced based on analysis and research of the structure of modern NC systems. This kind of system can diminish the affection of the real-time OS's respond precision to machining with high speed and high precision and improve the frequency of interpolation sampling and respond precision. Motion control experiment and parametric curve direct interpolation experiment are finished by bonnet polishing machine tool with compiled-typed NC prototype system, proving that working principle of compiled-typed NC system is correct and validity.
Singular configuration seriously affects the performance of the Gough-Stewart parallel mechanism and has attracted many researchers’ attentions. However, most of existing topics often focus on the position-singularit...
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Singular configuration seriously affects the performance of the Gough-Stewart parallel mechanism and has attracted many researchers’ attentions. However, most of existing topics often focus on the position-singularity of the mechanism for a constant-orientation, but few reports research the orientation-singularity for a given position. In order to investigate the orientation-singularity of the Gough-Stewart parallel mechanisms with two dissimilar semi-regular hexagonal platforms for a given position, after constructing the discrimination matrix of the singular configuration of the mechanism and computing the determinant of this matrix by using unit quaternion as the orientation parameters which can avoid the singularities in parameterization, a general symbolic expression representing the three-dimensional orientation-singularity locus for a given position is obtained and the three-dimensional view of the orientation-singularity locus is further described. The orientation-singularity-free void exists inside the orientation-singularity locus, but the shape of the orientation-singularity-free void is irregular and inconvenient for the design of the mechanism. The minimal inscribed sphere of the three-dimensional orientation-singularity locus namely the orientation-singularity-free ball is described. The radius of the ball orientation-capability is used as the measurement for the orientation-singularity-free void size. A new efficient algorithm is proposed for the computation of the orientation-capability. Finally, the influences of the geometry parameters and the different positions of the mechanism on the orientation-capability are discussed. A new method of the singularity analysis of the Gough-Stewart parallel mechanism is advanced based on the unit quaternion, and the research finds have important referential value for the configuration parameters optimization of this class of the parallel mechanisms with the goal of having the maximal singularity-free zone.
In this paper, a symbol identifier based recognition and relative positioning approach suitable for multi-robot systems is proposed. The symbol identifier is composed of central area and peripheral area, and there exi...
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Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic e...
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.
We consider a realistic wireless sensor deployment strategy by which mobile robot deploys sensor nodes when it moves along the linear backbone network with some branches. Because of its finite load capacity, the robot...
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