This paper describes a driving direction estimation algorithm of a wheel-less snake robot and verifies that the algorithm allows the robot to locomote as desired in ROS-based simulation. Snake robots have serious oper...
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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 driv...
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作者：
Liu, YingLi, YuwenShanghai University
Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai201900 China East China Jiaotong University
School of Mechatronics and Vehicle Engineering Nanchang330013 China
Due to the inaccuracy of absolute positioning, it is still challenging to apply industrial robots for precise and efficient tracking of the end-effector tool along a continuous path, especially for those frequently ch...
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Recent advances in control units and innovations in battery technology have greatly improved the accessibility of personal mobility, also known as personal mobility. However, most of the personal mobility developed to...
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This paper overviews the feature-based machine learning and image-based deep learning techniques to automatically classify elliptical cancer cells at the single-cell level by using marker-free digital holographic imag...
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A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of sel...
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A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of robotics and mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.
This paper proposes an optimal design methodology for Parallel Elastic Actuators (PEAs) that minimizes torque and power consumption for tasks with external conditions. Furthermore, the paper advocates for selecting an...
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The Atmospheric plasma spraying method (APS) is one of most used methods for deposition on layers with different thickness on surfaces with different degrees of complexity. This paper presents a new concept of thermal...
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ISBN:
(纸本)9781634394321
The Atmospheric plasma spraying method (APS) is one of most used methods for deposition on layers with different thickness on surfaces with different degrees of complexity. This paper presents a new concept of thermal barrier coating for the prevention of delaminating of the sprayed layer and this consists of an adherent layer of Ni Mo Al (90-5-5) and a top coat of Al2O3-TiO2, deposited by atmospheric plasma spraying (APS) on specimens of nodular cast iron of which the camshaft are made of the internal combustion engine The samples studied in this paper were obtained by thermal spray using an atmospheric plasma spray installation SPRAYWIZARD - 9MCE. To highlight results, SEM (Scanning Electron Microscopy) analyses were performed using a Quanta 200 3D Microscope Dual Beam. Using x-ray analysis it was possible to detect the existing phases and constituents in the layer deposited with the plasma spray method and comparisons were made about the composition of the used powders. Testing adhesion and cohesion of the coating by the "scratch" was made with micro tribometer UMTR 2M-CTR.
Ceramics and ceramic materials are materials with promising technical applications and with relatively high characteristics in terms of mechanical strength, but at the same time very low properties due to the fragilit...
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ISBN:
(纸本)9781634394321
Ceramics and ceramic materials are materials with promising technical applications and with relatively high characteristics in terms of mechanical strength, but at the same time very low properties due to the fragility and the cracks appearing in the cooling layer. The cracking resistance is important not only for the technical products which operates in the mechanical thermal loads domain but also for structural components, cracks of which fragility is unacceptable even in arbitrary *** this paper its being revealed a new concept of TBC with an exfoliation prevention of the sprayed layer and it consists in an adherent layer of NiMoAl (90-5-5) sprayed through an electric arc and a top coat of ZrO2/20%Y2O3, deposited by atmospheric plasma spraying (APS) on specimens of Ni base superalloy, of which the aircraft turbine blades are made. There were made some attempts of spraying at different distances, namely: 100 mm respectively 110 mm. These samples had been then subjected to mechanical bending tests to observe adhesion to the substrate. Highlighting and interpretation of structural changes caused by the tests carried out have been made using modern methods of structural analysis.
The method of plasma spraying for obtaining superficial layers with special properties has begun to be increasingly used in industry. In this paper are described and presented a series of layers experimentally obtaine...
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ISBN:
(纸本)9781634394321
The method of plasma spraying for obtaining superficial layers with special properties has begun to be increasingly used in industry. In this paper are described and presented a series of layers experimentally obtained, using powders of WC-Co type on different substrates (steel and Ni alloy) in order to observe the influence of the substrate on the interface and the characteristics of the deposited layer. The attention was paid to the layers that must meet the hardening requirements of the steam inlet borders in the rotor blades network of the low-pressure body of the steam turbines. The analyzed samples were obtained by thermal spraying, using an atmospheric plasma spray installation type SPRAYWIZARD - 9MCE. To highlight the results were performed analyses of scanning electron microscopy (electron microscope type QUANTA 200 3D DUAL BEAM) and X-Ray diffraction (diffractometer X'PERT PRO MRD) for determining the phases and constituents from the deposited layer.
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