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2012 International Conference on Materials Engineering and Automatic control, ICMEAC 2012

作者： Wang, Mulan Xu, Kaiyun He, Chuan Zhou, Lei Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing Jiangsu 211167 China School of Automation Nanjing Institute of Technology Nanjing Jiangsu 211167 China School of Mechanical Engineering Changzhou University Changzhou Jiangsu 213016 China

ISBN: (纸本)9783037854587

Permanent Magnet Synchronous Torque Motor (PMSTM) has the main characteristics of low speed, high torque, high precision and excellent stability, which can be applied to implement the direct driving technology for CNC (Computer numerical control) machine tool. In this paper, the mathematical model of PMSTM is simply introduced, and the various control strategies are discussed in detail. According to the requirement of high performance for PMSTM driving servo system in CNC machine tool, the corresponding suitable control method is employed in the feed servo system. The proposed scheme is also promoted to apply in the spindle system, the tool holder and the turntable of machine tool. © (2012) Trans Tech Publications, Switzerland.

关键词： Servomechanisms

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Smooth trajectory planning for manipulator of cotton harvesting machinery based on quaternion and B-spline

Smooth trajectory planning for manipulator of cotton harvest...

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2012 International Symposium on Instrumentation and Measurement, Sensor Network and Automation, IMSNA 2012

作者： Wang, Mulan Li, Xiaoxia Xu, Kaiyun Jiang, Rong Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China Department of Electrical and Mechanical Engineering Jiangsu Food Science College Huaian China School of Automation Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Nanjing Institute of Technology Nanjing China

ISBN: (纸本)9781467324670

A planning method for manipulator of cotton harvesting machinery is proposed to accomplish smooth orientation adjustment in its task space. Quaternion is adopted to represent the orientation instead of the traditional homogeneous transformation matrix, and the corresponding conversion process is deduced. The smooth orientation trajectory is generated by interpolating key orientations with the quaternion three-dimensional spherical interpolation method. key joint positions are solved with the inverse kinematics algorithm according to discrete orientations sampled with specific positioning accuracy of the manipulator terminal, and then smooth joint trajectories with stable start-stop motion and continuous jerk are obtained through the interpolation method based on five degrees B-spline. Simulation results show that, the proposed trajectory planning method supplied manipulators with smooth adjustment of orientation and stable movement of joints, which made it an effective solution for the smooth orientation planning problem of manipulators in the cotton harvesting machinery. © 2012 IEEE.

关键词： Manipulators

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Workspace analysis of the underwater dexterous hand

Workspace analysis of the underwater dexterous hand

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2012 IEEE International Conference on Information and Automation, ICIA 2012

作者： Xu, De-Zhang Wei, Ran Zhang, Wan Wang, Zhihong Wang, Buyun Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Anhui Polytechnic University WuHu City AnHui Province 241000 China Institute of Intelligent Machines Chinese Academy of Science Hefei City AnHui Province 230031 China

ISBN: (纸本)9781467322386

This paper describes the present research work on IUDH underwater dexterous hand equipped with three fingers, six joints and four actuators, Which has been development at Anhui Polytechnic University and Hefei Institute of Intelligent Machine of Chinese Academy of Science. According to structure of IUDH, Every finger kinematics equations formulations for determining the boundary to manipulator are derived, by employing Denavit-Hartenberg representation. Further, every fingertip motion envelopment space is mapped. Moreover, volume and size of objects grasped by IUDH is certified. Thus, structure and geometric parameters of the hand are demonstrated and abilities for grasping objects are validated. ©2012 IEEE.

关键词： Kinematics

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Three-dimensional surface topography simulation of ultra- precision milling based on point cloud

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and technology (Natural Science Edition) 2012年第8期40卷 1-6页

作者： Peng, Fangyu Fang, Zhenglong Wu, Jing Yan, Rong State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China National Engineering Research Center for Numerical Control System Huazhong University of Science and Technology Wuhan 430074 China

A three-dimensional surface topography simulation algorithm for ultra-precision milling was proposed. In order to illustrate the formation of surface topography, blade point clouds which were consisted by a serial of blade points according to calculating the instantaneous locations of static discrete blade points in machining process, was introduced as the research object. Meanwhile the servo bounding boxes which were constructed by meshing simulation surface were utilized to selecting sampling points. The comparison between simulation results and measurement pictures shows that the algorithm can clearly illustrate the distribution of scallop in different directions, as well as the influence on the topography caused by initial cutter phrase. Hence, it provides a method to the research the surface topography composition in the range of ultra-precision milling machining.

关键词： Surface topography

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A Defect Detection Experimental System for Microwave Heated In-Place Recycling of Asphalt Pavements

A Defect Detection Experimental System for Microwave Heated ...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Songqing Zhu Jinfei Shi Ruiqiong Zhou School of Automation Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Nanjing Institute of Technology Nanjing 211167 China Advanced Numerical Control Technology Key Laboratory Nanjing Institute of Technology Nanjing 211167 China

ISBN: (纸本)9781467316439

In order to promote the intellectualization of the microwave hot recycling maintenance vehicle, an asphalt pavement defect detection system based on machine vision was applied to microwave heating recycling of asphalt pavements. A pavement defect image acquisition experimental system was built which including image acquisition, image preprocessing, defect objective extraction, distortion correction and image recognition. A weighted neighborhood average filtering algorithm was used to filter the image and the OTSU method combined with region growing method was employed to extract the defect object. The cubic polynomial method based on control object was used to correct barrel distortion and re-projection method was used to correct inclination distortion. In addition, the mapping relationship between defect-image-size with microwave-heater activated number was built to receive the controls parameters of maintenance vehicle. Experimental results demonstrate that the defect image detection system has better integration and reliability for developing efficient and flexible vehicle.

关键词： asphalt civil engineering computing computer vision filtering theory flaw detection image recognition maintenance engineering microwave heating recycling roads

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Smooth trajectory planning for manipulator of cotton harvesting machinery based on quaternion and B-spline

Smooth trajectory planning for manipulator of cotton harvest...

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International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA)

作者： Mulan Wang Xiaoxia Li Kaiyun Xu Rong Jiang Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China Department of Electrical and Mechanical Engineering Jiangsu Food Science College Huaian China School of Automation Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Nanjing Institute of Technology Nanjing China

关键词： Quaternions Manipulators Joints Trajectory Planning Interpolation Splines (mathematics)

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Development of FPGA-based arithmetic module in CNC system

Development of FPGA-based arithmetic module in CNC system

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2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Wang, Mulan Zhu, Xinghua Wang, Baosheng Li, Xiaoxia Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

ISBN: (纸本)9781612847221

Many complex computational problems have to be overcome in the Computer numerical control (CNC) system, such as tool compensation calculation, contour interpolation, speed decomposition, position control and so on. If all the functions are accomplished by software, the corresponding execution time will affect the velocity of the CNC system. This paper has put forward a scheme of software hardening technique based on FPGA (Flied Programmable Gate Array), and developed an independent arithmetic calculating module for CNC system to improve the feed-rate of machine tool. VHSIC Hardware Description Language (VHDL) is adopted in Quartus II 9.0 development environment, based on FPGA chip of Altera company CYCLONE II series. Several algorithm operation processes relating to complex calculation are introduced in detail, such as addition, subtraction, multiplication and division operation of floating-point numbers. The simulation results prove that the proposed design methods of the arithmetic module are feasible and reasonable, which can also enhance the portability and applicability of floating-point calculating module in CNC system. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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A study of mode on influencing quality elements in NC processing

A study of mode on influencing quality elements in NC proces...

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作者： Li, Yuzhong Department of Mechatronic Guangdong Polytechnic Normal University Guangzhou 510635 China Key Laboratory of Numerical Control Technology Guangdong Higher Education Institutes China

ISBN: (纸本)9783642237522

The paper analyzes error sources of the NC machine tool in the process. Errors of CNC machine control system were molded, analyzed, and determined in various parameters in the mode. In order to improve the control process and it proposes the use of neural network method. The causes of errors are analyzed, its error mode is set up, and the ways to decrease error are put forward. The last part of this paper analyses the error of the programming process and workpieces in the assembly process, and improving methods. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Errors

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Study of virtual design based on reverse engineering

Study of virtual design based on reverse engineering

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International Conference on Measuring technology and Mechatronics Automation

作者： Li, Yuzhong Zhou, Li Department of Mechatronic Guangdong Polytechnic Normal University Guangzhou 510635 China Key Laboratory of Numerical Control Technology Guangdong Higher Education Institutes Guangzhou 510635 China

ISBN: (纸本)9780769542966

The paper realized virtual design by constructing virtual design expert database using reverse engineering methods. Through systematic analysis of common mechatronic system, virtual design problems based on reverse engineering were studied. The process of reverse design were divided into system reverse and part reverse. Because of different principles and characteristics of two processes, different modeling methods were used. Integrated model structure of system reverse of virtual design was studied. System reverse model, basic information model of part, assembly model, relationship models of location, connection, movement were established. Architecture of reverse virtual design of part entity, key techniques of 3D modeling and reconstruction of part were studied. © 2011 IEEE.

关键词： Reverse engineering

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Configuration optimization of physical prototype for 6-3-3 parallel mechanism

Configuration optimization of physical prototype for 6-3-3 p...

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2nd Annual Conference on Electrical and control Engineering, ICECE 2011

作者： Gao, Hong Xiao, Ping Zhang, Haitao School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu 241000 China Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu 241000 China

ISBN: (纸本)9781424481637

Configuration optimization of physical prototype for 6-3-3 parallel mechanism was modeled mathematically, and then an idea of embedding finite element method in optimization algorithm was presented for solving optimizing model. In optimization design toolbox of ANSYS software, configuration optimization of the parts for the mechanism was realized by means of establishing parameterized model with parts, defining design variables, restraint and objective function. The investigation provided theoretical basis for lightweight part design with physical prototype of the parallel mechanism. © 2011 IEEE.

关键词： Finite element method

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