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共 196 条记录，以下是61-70 订阅

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Research on Stress Analysis of Flexspline in Harmonic Drive 17th

Research on Stress Analysis of Flexspline in Harmonic Drive

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Ji, Xinyu Zuo, Zheqing Guo, Xibin Song, Xiancheng Xu, Qiang Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663192

This paper takes shg-20 cup type flexible wheel harmonic reducer as the research object. Based on the theory of elastic thin-walled shell, the deformation and stress of the flexible wheel of the harmonic reducer are theoretically analyzed and calculated, and the finite element simulation method is adopted. The parametric model of harmonic flexible wheel and wave generator is established to obtain the stress of flexible wheel under different structural parameters and working conditions. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stress analysis

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Prediction-Based Particle Swarm Optimization Algorithm for Solving the Inverse Kinematics of Spatially Dexterous Finger 17th

Prediction-Based Particle Swarm Optimization Algorithm for S...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Zhang, Junning Lv, Bohan Guo, Yajing Li, Pengfei Wang, Hao Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663192

Aiming at the problem of complex and computationally intensive inverse kinematics solution of the self-developed spatial humanoid dexterous hand, this paper proposes a prediction-based empirical shared Q-learning hybrid particle swarm algorithm (LQHPSO). Firstly, the fireworks algorithm is introduced into the particle swarm optimization algorithm (PSO) to update the individual particle extrema by using the fireworks explosion characteristic to improve the global search capability of the algorithm;secondly, a perturbation factor is introduced to the individual extrema after the explosion to improve the convergence speed of the algorithm;then a Q table is added to each particle and an experience sharing mechanism is designed to enhance the learning capability of the particles by sharing the behavioral experience of the optimal particles balance the global and local search ability of the algorithm;in addition, the LQHPSO algorithm combines the characteristics of spatial humanoid dexterity hand to predict the initial values of iterations, thus substantially improving the computational efficiency. The experimental results show that the LQHPSO algorithm has better real-time performance compared with other intelligent algorithms with the same convergence accuracy. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Computational efficiency

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Application of ADRC Based on Reduced Order Model in Electromechanical Actuation System of Rudder 17th

Application of ADRC Based on Reduced Order Model in Electrom...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Xu, Wen-bo Wei, Ze-yu Ni, Yong-jian Jiang, Di-kai Beijing Institute of Precise Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663277

In this paper, the model of the rudder electromechanical actuation system is established, and the effect of the pole-zero on the resonance is analyzed. Furthermore, Linear extended state observer (LESO) was designed on the premise of retaining the zero of the linear displacement of the servo actuator. The state and disturbance of the system were observed and compensated, and the active disturbance rejection control (ADRC) law was designed according to the desired poles. Simulation results show that the proposed control strategy can suppress the resonance caused by the system structure and the fluctuation of system performance caused by load disturbance, and obtain the dynamic quality of line and angle feedback. Moreover, the system shows good adaptability and robustness to the variation of parameters and load torque in a large range. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Disturbance rejection

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An Energy Optimal Control Strategy of Stepping Motor 17th

An Energy Optimal Control Strategy of Stepping Motor

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Zhang, Hao Yang, Zelin Zhi, Jiankang Li, Tongtong Yang, Tao Wang, Yanbo Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission NanDaHongMen Street 1 Fengtai Beijing China

ISBN: (纸本)9789811663277

This paper introduces a two-phase hybrid stepping motor’s mathematical model and control and driving principle. And base on it, according to the energy consumption requirements of the stepping motor used in the aerospace field, the energy relationship during the operation of the motor is analyzed. And propose a optimal control method corresponding to the current frequency, so that the motor uses the least energy under the premise of meeting the output torque requirement. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stepping motors

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Contact Force Minimization Strategy for Space Floating Manipulator

Contact Force Minimization Strategy for Space Floating Manip...

引用

2022 International Conference on Electronic Information Technology, EIT 2022

作者： Cai, He Deng, Songbo Wang, Qu Chen, Zhihong Wang, Yanbo Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Fengtai NanDaHongMen Street 1 Beijing China

ISBN: (纸本)9781510655096

When a space manipulator captures an object in orbit, the excess contact force during collision causes the uncontrollable vibration of the manipulator and object. To devise a strategy for reducing this vibration, this paper leverages the multiple configurations of a redundant manipulator and seeks to identify the optimal configuration and contact direction based on the effective mass method. In this paper, a collision model is first established between the end effector and the object based on the continuous contact force method. Then, the peak force, maximum compression, and contact duration between the two bodies during the collision are obtained. For a certain task, the magnitude of the contact force only depends on the effective mass of the space manipulator. Hence, the mapping relationship between the effective mass and the configuration and contact direction of the space manipulator is established, and an ellipsoid is used to describe it. Accordingly, a contact force minimization strategy is designed. The optimal manipulator configuration and collision direction corresponding to the minimum contact force are obtained, and the correctness and effectiveness of the calculations are verified using MATLAB and Adams simulations. © 2022 SPIE.

关键词： Manipulators

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Structural optimization and fatigue life analysis of landing gear upper lock

Structural optimization and fatigue life analysis of landing...

引用

2022 International Conference on Mechanical, Aerospace Technology and Materials Application, MATMA 2022

作者： Hou, Dingqi Li, Guanghui Zhu, Yan Wang, Yu Ma, Xiaochen Wang, Lipeng Qiao, Jing Zhao, Jun Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

The upper lock is a key component of the landing gear system, and its fatigue life affects its service life and reliability. In this paper, the modal analysis, random vibration analysis, and fatigue life calculation are carried out for the upper lock. According to the analysis results, the upper lock structure is optimized, and the optimization scheme is proposed. The natural frequency, stress, and fatigue life are analyzed, and the scheme meets the design requirements. Finally, the optimized structure is verified to be reasonable and feasible through experiments. © Published under licence by IOP Publishing Ltd.

关键词： Locks (fasteners)

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Research on Real-Time Obstacle Avoidance Algorithm for Space Redundant Manipulator in NULL Space 17th

Research on Real-Time Obstacle Avoidance Algorithm for Space...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Li, Tongtong Yang, ZeLin Zhang, Hao Yang, Tao Wang, Yanbo Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Fengtai NanDaHongMen Street 1 Beijing China

ISBN: (纸本)9789811663277

The real-time obstacle avoidance of space redundant manipulator in NULL space is an important function in the operation of space robots. This paper simplified obstacle avoidance model, and proposes a real-time obstacle avoidance strategy for a space redundant manipulator in NULL space. The matlab-vrep co-simulation platform is used to verify its effectiveness. After the DSP6701 test, its obstacle avoidance planning frequency can reach more than 30 hz, which satisfies the space real-time obstacle avoidance requirements for redundant manipulators. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Redundant manipulators

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A Real-Time Assistance Control Strategy for Active Knee Exoskeleton 17th

A Real-Time Assistance Control Strategy for Active Knee Exos...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Zhou, Shitong Zhao, Zhe Liu, Xulinag Zhu, Xiaorong Chen, Jing Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

Climbing stairs under weight-bearing conditions increases the risk of firefighters’ knee pain and even synovial damage. The active knee exoskeleton can help firefighters indirectly lift the load by providing a positive auxiliary torque on the wearer’s knee joint, and reduce the load on the knee patella tendon and quadriceps during climbing stairs. Additional force reduces the risk of knee injury. Most of the existing active knee exoskeletons cannot automatically adapt to the power-assisted mode switching in the process of climbing stairs and walking on the ground, and cannot establish accurate motor control models and dynamic models used in human-robot interaction, resulting in unsatisfactory control results. In this paper, we propose a simple but effective real-time assist control strategy for knee exoskeleton control. This strategy uses only exoskeleton integrated sensors and wirelessly transmitted gait detection insoles, without any extra sensors to capture human motion intentions. It takes the human-robot interaction force as the control target, and establishes a multi-mode switching control system with discrete dynamic variables (such as gait) and continuous dynamic variables (such as joint position and joint speed) of human-robot interaction system, so as to save the complex motor control model and human-robot dynamic model. This makes the auxiliary assistance control strategy of knee joint more practical for applications in the task environment where the ground and stairs are interlaced. A healthy subject participated in this study to test the effectiveness of the algorithm. The experiment demonstrated a significant reduction of metabolic consumption for climbing stairs with a load of 20 kg comparing Knee-Exo On to Knee-Exo Off (3.3%). These results validate the promise of applying the proposed real-time assistance control strategy for knee exoskeleton control aiming at climbing stairs assistance. © 2022, The Author(s), under exclusive license to Springer Nat

关键词： Stairs

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Joint Angle Prediction of Lower Extremity Exoskeleton Based on sEMG Signal 17th

Joint Angle Prediction of Lower Extremity Exoskeleton Based ...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Chen, Jing Tao, Yunfei Huang, Yuping Zhao, Zhe Zhou, Shitong Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789811663239

Surface electromyography (sEMG) signal is widely used in lower limb exoskeleton system because it can reflect human motion intention. Aiming at the problem of low decoding accuracy of joint motion angle of lower limb exoskeleton robot, a knee motion angle prediction method based on sEMG signal is proposed. Firstly, in order to solve the problem of high time efficiency and insufficient stability of single time domain feature extraction method for sEMG signal, the eigenvalues are extracted from time domain, frequency domain and time-frequency domain respectively, and the prediction error of different channel sEMG signal feature parameter combination model is analyzed. Then, an innovative particle swarm optimization LSTM deep learning algorithm (PSO-LSTM) is proposed to establish the mapping model between sEMG signal and knee joint angle, and determine the PSO-LSTM model corresponding to the optimal feature parameter combination to realize the accurate prediction of knee joint angle. Finally, the experimental results show that the predicted results of the model are highly consistent with the real angle values, which is helpful to improve the human-computer cooperation of the lower limb exoskeleton system. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Forecasting

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Compliance Control and Experimental Study of Contact Operation for Manipulator 17th

Compliance Control and Experimental Study of Contact Operati...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Duan, Jiaqi Wang, Qu Wang, Yanbo Chen, Zhihong Deng, Songbo Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Fengtai NanDaHongMen Street 1 Beijing China

ISBN: (纸本)9789811663192

Aiming at the problem of contact operation of manipulator with uncertain model, a compliant control method was proposed and verified by experiments. When the manipulator contacts with the environment, the force needs to be controlled stably and accurately. If the force is too small, the mission may fail, otherwise it will damage the equipment. Considering that the parameters of the manipulator are not ascertained, the adaptive control method is introduced to solve the problem of control. Taking a typical plug task as an example, the effectiveness of the compliance control method is verified by comparing several groups of experiments. This method is helpful to improve the robustness and intelligence of the manipulator, expand its working range and adaptability. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Manipulators

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