检索结果-内蒙古大学图书馆

Establishment of Constraint Relation of Robot Dynamics Equation Based on Kinematic Influence Coefficients Method

Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 450-456页

作者：徐亚茹李克鸿商新娜金晓明刘荣张建成 Beijing Engineering Research Center of Smart Mechanical Innovation Design Service Beijing Union UniversityBeijing 100027China College of Robotics Beijing Union UniversityBeijing 100020China Robotics Institute Beihang UniversityBeijing 100191China

Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly *** is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking ***,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients ***,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba *** problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is *** the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.

关键词： industrial robot constraint relationship kinematic influence coefficients method Jacobian matrix Hessian matrix

来源：评论

学校读者我要写书评

暂无评论

3-Dimentional path planning and movement control of red blood cell immersed in plasma medium among moving obstacles 12

3-Dimentional path planning and movement control of red bloo...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Mehrabani, Mahboube Rahnavard Ronizi, Ahmad Reza Korayem, Moharam Habibnejad School of Mechanical Engineering Iran University of Science and Technology Robotics Research Laboratory Tehran Iran

ISBN: (纸本)9798331529734

This research focuses on planning the 3-dimensional path and controlling the movement of red blood cells in a blood plasma medium among moving obstacles. This research evaluates the performance of genetic algorithm and fuzzy logic control in navigating red blood cells through such environments. Results show that both methods achieve high path efficiency, with genetic algorithm at 90.75% and fuzzy logic control at 88.31%. fuzzy logic control demonstrated faster computation times, making it suitable for fewer or unpredictable obstacles, while genetic algorithm is preferable for environments with many or predictable obstacles. © 2024 IEEE.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Enhanced Optimal Control of a Magnetically Actuated Capsule Endoscope Using Electromagnetic Coils Considering Small Intestine Dynamics 12

Enhanced Optimal Control of a Magnetically Actuated Capsule ...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Jamali, Mahdi Zarifi Khameneh, Mohammadreza Sarkhosh, Mohammadhossein Pishkenari, Hossein Nejat Sharif University of Technology Micro/Nano Robotics Laboratory Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Active locomotion of capsule endoscopes has become a prominent progress in minimally invasive diagnostic procedures. Utilizing external magnetic fields for this purpose enables contactless actuation and enhanced maneuverability. This study presents an optimal control technique for magnetically actuated capsule endoscopes (MACE) within the small intestine, using a modified OCTAMAG setup. The objective is to minimize input currents while ensuring accurate path tracking, thereby preventing coil overheating and avoiding actuation inaccuracies. A correction force is also incorporated into the controller to stabilize it against external disturbances. The proposed method is evaluated using a path inspired by the small intestine and compared to conventional PID control. Results show that the optimal controller achieves superior path tracking while maintaining input currents within safe limits. Additionally, the disturbance rejection capabilities of the optimal controller are comparable to those of the PID. © 2024 IEEE.

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

Structures’ Global Stiffness, a Criterion for the Materials’ Selection 1

引用

18th International Scientific Conference Civil engineering and Buildings Services, CIBv 2023

作者： Mocanu, Ştefan Dumitriu, Cristian Ştefan Sasu, Anca Ruxandra Faculty of Mechanical Engineering and Robotics for Construction Technical University of Civil Engineering Bucharest 59 Calea Plevnei Bucharest Romania

ISBN: (数字)9783031607653

ISBN: (纸本)9783031607646

Structural and material optimization remains crucial in today’s constructive design and machine building area. The importance of this topic relies on its applications for testing the behavior of different materials under the action of various loading and the evaluation of the computation error. When choosing the materials for a specific application, an important criterion is the global structure stiffness, which must be precisely determined. This paper presents a case study of a statically indeterminate, circular plane structure used in specific engineering devices. This structure’s particular construction requires determining a dimensional parameter from the viewpoint of optimal rigidity (structure stiffness) to ensure minimal device size. A dual approach, the traditional calculus versus the Finite Element Method simulation, is used to solve the problem. The results of the two finite element software (Axis and SolidWorks) used in this study are also compared. Correlating the structural stiffness to the material properties is the best approach to the optimal design solution. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Finite element method

来源：评论

学校读者我要写书评

暂无评论

Process planning and contour-based error compensation for precision grinding of miniature scalpels

引用

先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

来源：评论

学校读者我要写书评

暂无评论

Direct Ink Writing Method of Fractal Wearable Flexible Sensor Based on Conductive Graphene/Polydimethylsiloxane Ink

引用

Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 18-26页

作者： CHEN Junling GAO Feiyang ZHANG Liming ZHENG Xiongfei State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical Engineering Shenyang Ligong UniversityShenyang110159China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China

Flexible electronic technology has laid the foundation for complex human-computer interaction system,and has attracted great attention in the field of human motion detection and soft *** has received an extensive attention due to its excellent electrical conductivity;however,how to use it to fabricate wearable flexible sensors with complex structures remains *** this study,we studied the rheological behavior of graphene/polydimethylsiloxane ink and proposed an optimal graphene ratio,which makes the ink have an good printability and conductivity at the same ***,based on the theory of Peano fractal layout,we proposed a two-dimensional structure that can withstand multi-directional tension by replacing the traditional arris structure with the arc *** that,we manufactured circular arc fractal structure sensor by adjusting ink composition and printing structure through direct ink writing ***,we evaluated the detection performance and repeatability of the *** method provides a simple and effective solution for fabricating wearable flexible sensors and exhibits the potential to fabricate 3D complex flexible electronic devices.

关键词： direct ink writing conductive graphene ink wearable flexible sensor strain sensing fractal structure

来源：评论

学校读者我要写书评

暂无评论

Case Study of the Stress and Deformation in Spring Body as a mechanical Dumping Element

Case Study of the Stress and Deformation in Spring Body as a...

引用

2023 International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2023

作者： Mocanu, Ştefan Dumitriu, Cristian Ştefan Sasu, Anca-Ruxandra Tonciu, Oana Technical University of Civil Engineering Faculty of Mechanical Engineering and Robotics in Constructions Bucharest Romania

ISBN: (纸本)9798350322972

The damping elements used in shock and vibration attenuation come in various shapes and sizes. However, one of the most common solutions being the spring shape, recent developments are using steel cable frames with beam-like behavior. The present paper is focused on the elementary strength of materials calculus concerning stress and deflection state versus finite element analysis results for a simple curve-shaped beam example. © 2023 IEEE.

关键词： Stresses

来源：评论

学校读者我要写书评

暂无评论

Path planning of mobile robot based on reinforcement learning to reach faster training 12

Path planning of mobile robot based on reinforcement learnin...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Takzare, Niloofar Lademakhi, Naeim Yousefi Korayem, Moharam Habibnejad School of Mechanical Engineering Iran University of Science and Technology Robotics Resaerch Laboratory Tehran Iran

ISBN: (纸本)9798331529734

Recent advances in reinforcement learning have to its adoption for solving complex and challenging problems in robotics, which has been well received by researcher. One of the advantages of deep reinforcement learning (DRL) is its ability to be applied without prior knowledge of the system. Path planning of mobile robots and avoid obstacle are among the biggest challenges in mobile robotics. In this article, a reinforcement learning algorithm is proposed, which automatically learns an optimal state for controlling the robot using several action parameters and a proposed artificial potential new reward function. Therefore, the robot path planning finds its way to the goal with fast training and less time. The simulation has been performed for two command and proposed algorithms in the environment with and without obstacle. The results of the simulations showed that the robot is able to reach all the set goals faster with the proposed new reward function. Also, the path planning has been validation with the feedback linear control. The reason is that the feedback linearization method takes a smoother path than DQN, but the DQN algorithm with the proposed reward function learns much faster and reaches all the set target points. © 2024 IEEE.

关键词： Deep reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Bending results of graphene origami reinforced doubly curved shell

引用

Defence Technology（防务技术） 2024年第5期35卷 198-210页

作者： Nan Yang Yunhe Zou Mohammad Arefi School of Architecture and Civil Engineering Qiqihar UniversityQiqihar 161006HeilongjiangChina School of Mechanical Engineering Inner Mongolia University of TechnologyHohhot 010051Inner MongoliaChina Inner Mongolia Key Laboratory of Special Service Intelligent Robotics Hohhot 010051Inner MongoliaChina Faculty of Mechanical Engineering Department of Solid MechanicsUniversity of KashanKashan87317-51167Iran

The present work investigates higher order stress,strain and deformation analyses of a shear deformable doubly curved shell manufactures by a Copper(Cu)core reinforced with graphene origami auxetic metamaterial subjected to mechanical and thermal *** effective material properties of the graphene origami auxetic reinforced Cu matrix are developed using micromechanical models cooperate both material properties of graphene and Cu in terms of temperature,volume fraction and folding *** principle of virtual work is used to derive governing equations with accounting thermal *** numerical results are analytically obtained using Navier's technique to investigate impact of significant parameters such as thermal loading,graphene amount,folding degree and directional coordinate on the stress,strain and deformation responses of the *** graphene origami materials may be used in aerospace vehicles and structures and defence technology because of their low weight and high stiffness.A verification study is presented for approving the formulation,solution methodology and numerical results.

关键词： Graphene origami Copper matrix Doubly curved Shear deformable Auxetic metamaterial

来源：评论

学校读者我要写书评

暂无评论

Experimental and Finite Element Analysis of Corroded High-Pressure Pipeline Repaired by Laminated Composite

引用

Computer Modeling in engineering & Sciences 2024年第8期140卷 1783-1806页

作者： Seyed Mohammad Reza Abtahi Saeid Ansari Sadrabadi Gholam Hosein Rahimi Gaurav Singh Hamid Abyar Daniele Amato Luigi Federico Faculty of Mechanical Engineering Tarbiat Modares UniversityTehran***Iran A.Leon Linton Department of Mechanical Robotics and Industrial EngineeringLawrence Technological UniversitySouthfieldMI48075USA Department of Mechanical Engineering Faculty of EngineeringMeybod UniversityYazd***Iran Department of Industrial Engineering University of SalernoVia Giovanni PaoloⅡFiscianoItaly Italian Aerospace Research Center(C.I.R.A.) Via MaioriseCapuaCE81043Italy

Repairs of corroded high-pressure pipelines are essential for fluids transportation under high *** of the methods used in their repairs is the use of layered *** composite used must have the necessary ***,the experiments and analytical solutions presented in this paper are performed according to the relevant standards and codes,including ASME PCC-2,ASME B31.8S,ASME B31.4,ISO 24817 and ASME *** addition,the experimental tests are replicated numerically using the finite element *** the strain gauges at different distances from the defect location,can reduce the nonlinear effects,deformation,and fluctuations due to the high *** direct relationship between the depth of an axial defect and the stress concentration is observed at the inner side edges of the *** reparation reduces the non-linearities related to the sharp variation of the geometry and a more reliable numerical simulation could be performed.

关键词： High-pressure pipeline composite repair ASME PCC-2 ISO 24817

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：