检索结果-内蒙古大学图书馆

Hybrid Robotic Arm for Autonomous Aerial Refueling

Chinese Journal of Mechanical Engineering 2024年第6期37卷 429-440页

作者： Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China School of Mechatronics Engineering Harbin 150080China

Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.

关键词： Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method

来源：评论

学校读者我要写书评

暂无评论

Path Tracing and Validation of Omni Wheeled Mini Robot Using Visual Feedback 11

Path Tracing and Validation of Omni Wheeled Mini Robot Using...

引用

11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Ahamed, Aftaab Jayaraj, Karthik Fazil, Shibin Nikitha, S. Sudheer, P.A. National Institute of Technology Calicut Robotics Interest Group Mechatronics Robotics Laboratory India National Institute of Technology Calicut Mechatronics/Robotics Laboratory Mechanical Engineering Department India

ISBN: (纸本)9798350379136

Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other drive mechanisms. Open-loop control of omnidirectional bots can be achieved with relative ease whereas automating it is not as easy. When trying to create an automated system with lower cost, off the shelf components and hardware, other problems may arise as a result of the poor performance of the components. Here a three wheeled omnidirectional robot that can trace a predefined path without human intervention has successfully been developed. © 2024 IEEE.

关键词： Open loop control

来源：评论

学校读者我要写书评

暂无评论

Newton-Euler based Computational Modeling and Trajectory Planning in Human Arm Flexion-Extension Movements: A Preliminary Study for Collaborative Robot Implementation in Rehabilitation 11

Newton-Euler based Computational Modeling and Trajectory Pla...

引用

11th IEEE International Conference on Advances in Computing and Communications, ICACC 2024

作者： Mohamed Shahid, A.P. Krishnaprasad Varma, M. Guru Revathi, B. Sudheer, P.A. National Institute of Technology Calicut Mechatronics/Robotics Laboratory India

ISBN: (纸本)9798350379136

Human arm movement analysis is an important process in upper limb rehabilitation which helps in the restoration of motor function post injury. This will help in framing the strategies for rehabilitation with the aim of personalization and improved effectiveness. The current work focuses on modeling the human arm as a three-link system, representing the shoulder, elbow, and wrist joints. The arm's mass, size, and flexion-extension limit angles are determined based on anthropometric data. These data are used for dynamic analysis, where a variable weight is placed at the fingertip and precisely simulated using the Newton-Euler approach. The torque variations along with the generated trajectory at each joint are significant, which can provide an analytical approach for understanding the arm dynamics that can lead to the implementation of collaborative robots in rehabilitation. This approach provides the tailor-made rehabilitation programs ensuring that robotic assistance is effectively aligned with the specific needs of the user. © 2024 IEEE.

关键词： Collaborative robots

来源：评论

学校读者我要写书评

暂无评论

Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

引用

Frontiers of Mechanical Engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

来源：评论

学校读者我要写书评

暂无评论

Comparison of UAVs' Trajectories for Sea Surface Survey within Fish Search

Comparison of UAVs' Trajectories for Sea Surface Survey with...

引用

2024 International Conference on Ocean Studies, ICOS 2024

作者： Belchenko, Filipp M. Ermolov, Ivan L. Nagajcev, Georgij N. Sukhanov, Artem N. Ostrikov, Pavel P. Institute for Problems in Mechanics Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798331532307

Within this paper we suggest to use UAVs for fishes' search. We investigate existing methods used in this area. Basing on selected photogravimetry method we suggest UAVs trajectory for motion over the sea surface. Some calculations for various trajectories lengths at various altitudes. Scenarios of using these trajectories are discussed. © 2024 IEEE.

关键词： Fish

来源：评论

学校读者我要写书评

暂无评论

Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

引用

Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

来源：评论

学校读者我要写书评

暂无评论

AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DETECTION IN UNKNOWN ENVIRONMENTS FOR REACTIVE AUTONOMOUS MOBILE ROBOTS

AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DET...

引用

ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024

作者： Raju, Vomsheendhur Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND United States

ISBN: (纸本)9780791888636

Interest in autonomous vehicles has attracted research into developing better navigation systems. Autonomous navigation systems guide unmanned vehicles to traverse any environment without human intervention;they require clear knowledge of the environment to make correct decisions. Information about the environment can be obtained from either ranging or vision sensors. Although ranging sensors such as LiDARs, radars, or sonars can detect the presence and location of obstacles, they don’t provide any information on whether the obstacles are traversable. On the other hand, vision sensors produce images similar to how human eyes perceive the environment, which can be processed to determine whether the sensed obstacle is traversable. Since vision sensors are light, less costly, and consume low power compared to LiDARs or Radars, there is an increasing interest in using them in autonomous navigation of unmanned ground vehicles. The main limitation of vision sensors for this purpose is their failure to directly identify the locations of the obstacles. Often, the location is determined by using a depth map, which is not always accurate and can be very computational. This paper proposes a new method of processing a depth map with improved accuracy. The depth of the closest objects to the stereo camera is extracted using the horizontal and vertical field of view of the sensor. It is further enhanced using morphological operations and the P-Tile segmentation technique to segment the obstacle(s) from its background and noise. This approach generates a denser map without any discontinuities, which leads to improved accuracy in locating close-by objects at less computational cost. Information from this depth map can be used as a low-cost alternative to ranging information in the navigation system for ground vehicles. Copyright © 2024 by ASME.

关键词： Stereo image processing

来源：评论

学校读者我要写书评

暂无评论

Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

引用

Chinese Journal of Aeronautics 2025年第2期38卷 577-596页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Centre for Precision Manufacturing DMEMUniversity of StrathclydeGlasgow G11XJUK State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.

关键词： Tool reciprocating motion Spiral trajectory Micro-dimpled structure Micromachining Simulation modelling with diamond tool Surface texture

来源：评论

学校读者我要写书评

暂无评论

ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A DYNAMIC MODEL APPROACH

ADVANCING AUTONOMOUS BACKING OF TRACTOR-TRAILER SYSTEMS: A D...

引用

ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024

作者： Sah, Dhirendra K. Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND58102 United States

ISBN: (纸本)9780791888636

Recent developments in sensing and information processing technology have seen an increased interest in applications of autonomous vehicles. Many driverless vehicles have been tested in various places and environments across the world. Automated backing of tractor-trailer systems is one of the problems yet to be fully addressed in this endeavor, even experienced drivers find it challenging to perform backup maneuvers of tractor-trailer systems in confined spaces. Achieving a fully automated backup maneuver of a tractor-trailer vehicle requires, among other things, the presence of a high-fidelity mathematical model of the vehicle. Often this problem is approached from a kinematic standpoint where the vehicle and the trailer are modeled using a bicycle structure formulation by concentrating weights at the axle centers only, which limits not only the maneuverability of the vehicle system but also its speed. This paper proposes a dynamic model of a tractor-trailer that treats the system as a finite structure of interconnected multi-bodies subjected to various forces and moments emanating from terramechanics and other non-conservative forces acting on the vehicle. This approach presents are more realistic motion of the vehicle even in confined spaces enabling it to avoid colliding with unintended objects during the maneuver. Simulation results by using such a model show that the vehicle can autonomously perform back up maneuvers in as limited clearances as 5% of the vehicle width at moderate speeds without significant slip. Copyright © 2024 by ASME.

关键词： Truck trailers

来源：评论

学校读者我要写书评

暂无评论

Investigation on New Applications of Climbing and Walking Robots in Marine Environment

Investigation on New Applications of Climbing and Walking Ro...

引用

2023 International Conference on Ocean Studies, ICOS 2023

作者： Ermolov, Ivan Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences Laboratory of Robotics and Mechatronics Moscow Russia

ISBN: (纸本)9798350382457

The article discusses the some new results of investigation of new applications of climbing and walking robots in marine environment. One of the perspective applications is a robot for hull cleaning. Another robot is designed to perform inspection operations at sea shelf deposit platform. Both robots use walking propulsion technology. Within this paper we discuss basic scenarios for their application and a outcoming general view on their structure. Some ideas of main components to be used within these robots are also presented. © 2023 IEEE.

关键词： Mobile robots

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：