This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. C...
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This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator.
This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This...
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This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.
This paper proposes an efficient approach to rare feature recognition from a boundary representation solid model with fuzzy ART neural networks. A definition of rare feature is given, the complement coding is used at ...
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This paper proposes an efficient approach to rare feature recognition from a boundary representation solid model with fuzzy ART neural networks. A definition of rare feature is given, the complement coding is used at the preprocessing stage to solve the category proliferation problem, and the normalized input vector which is suitable for the fuzzy ART neural network is adopted to represent the features. To learn the rare feature rapidly, fast learning is adopted in the fuzzy ART neural network. Finally, a case study is given to verify the proposed approach.
Three-level neutral-point-clamped (NPC) inverters are very appropriate for high-power adjustable-speed drive applications. Direct torque control is characterized by the merits of fast response, simple structure and st...
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Three-level neutral-point-clamped (NPC) inverters are very appropriate for high-power adjustable-speed drive applications. Direct torque control is characterized by the merits of fast response, simple structure and strong robustness to motor parameters variations. This paper presents a 3-level inverter-fed direct torque controlled (DTC) induction motor (IM) drive based on optimized switching table. The problems of high voltage jump, smooth vector switching and neutral point balance are investigated and solved by introducing appropriate intermediate vectors. Furthermore, a speed-adaptive flux observer is employed to enhance the performance of the system by estimating the state variables including the stator flux and state current. Large starting current, which can occur in conventional DTC drives, is controlled effectively by introducing pre-excitation of the stator flux. Both simulation and experimental results are presented to verify the effectiveness of the proposed schemes introduced in this paper.
Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design s...
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In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel ba...
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In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel ba...
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ISBN:
(纸本)9781424424948
In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference.
Studying on the technics flow of manufacturing product process in detail, a calculating method is presented in this paper for estimating the build-time of rapid-precision casting. Firstly, the build-time is composed o...
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ISBN:
(纸本)9781424425020
Studying on the technics flow of manufacturing product process in detail, a calculating method is presented in this paper for estimating the build-time of rapid-precision casting. Firstly, the build-time is composed of two main timeslices, such as facture time of rapid prototyping and rapid mould. Secondly, the facture time of rapid prototyping and rapid mould is calculated with facture time of rapid prototyping and facture time of silicone rubber mould, which includes time of prototyping surface process, installing time and backout time of prototyping, and so on. Lastly, the calculation formula of build-time is derived by considering all above timeslices. A practical application example is presented in this paper. The calculation results show that the build-time estimation method is practicable, effective and quite accurate. So it is helpful for foundry enterprise to check cost and quote.
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