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检索条件"机构=Shenzhen Key Lab for Advanced Motion Control Technology and Modern Automation Equipment"

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Dynamics and Optimal Design of a 3-DoF Parallel Manipulator for Pick-and-Place Applications

Dynamics and Optimal Design of a 3-DoF Parallel Manipulator ...

引用

第17届中国系统仿真技术及其应用学术年会（17th CCSSTAE 2016）

作者： Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments School of Mechatronics Engineering and AutomationHarbin Institute of Technology(Shenzhen)

Robot acceleration is the bottleneck for high-speed pick-and-place *** this paper,the extreme acceleration at null velocity is proposed to characterize the acceleration *** dynamic model of the V3 robot is developed for computing the extreme *** each subchain of the robot is comparable to a cantilever beam structure,its bending deflection may be considerable and thus leads to manipulation *** bending stiffness is thus proposed characterized by the bending *** the acceleration and the bending stiffness with kinematic indices of velocity,accuracy,and dexterity,the optimal design problem is formulated to maximize the dextrous workspace having specified good *** optimal structure shows greatly improved performance in workspace,velocity,acceleration,and accuracy.

关键词： Dynamics Bending Deflection Pick-and-Place Optimal Design Parallel Manipulator

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A MVS based automatic 3D model reconstruction system from turntable image sequence

A MVS based automatic 3D model reconstruction system from tu...

引用

International Conference on Information and automation (ICIA)

作者： Xiaojun Wu Dong Zhou Peizhi Wen Control and Modern Automation Equipment Shenzhen Key Laboratory for Advanced Motion Shenzhen Guangdong School of Mechanical Engineering and Automation Shenzhen Graduate School Shenzhen Guangdong School of Computer and Information Security Guilin University of Electronic Technology Guilin Guangxi

ISBN: (纸本)9781509041039

Traditionally, multi-view stereo (MVS) based 3D reconstruction needs a lot of manual interactions, such as camera calibration, silhouette extraction, texture synthesis, etc. To overcome this disadvantage, we present an automatic 3D reconstruction method based on image sequence. First, we design a new checkerboard with included angle 120°. The camera parameters and the rotational axis can be calibrated simultaneously. Then, an automatic silhouette extraction method is presented based on super pixel and cellular automata, from which the color image sequence can be segmented into binary images. Next, we use MVS based 3D reconstruction method to obtain 3D mesh model with camera parameters, color images and silhouettes. Finally, by using the 3D model, projection matrix and color images, we can synthesize the texture map. A prototype is developed based on Canon SDK and a controller. This system can help user to acquire 3D models without professional knowledge. Experimental results with variety of objects demonstrate the effectiveness of our system.

关键词： Three-dimensional displays Cameras Calibration Solid modeling Image segmentation Image reconstruction automation

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High accurate 3D reconstruction method using binocular stereo based on multiple constraints

High accurate 3D reconstruction method using binocular stere...

引用

IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaojun, Wu Shenghua, Xiao Jingyang, Wei Shenzhen Key Laboratory for Advanced Motion Control and Modern Automation Equipment Shenzhen518055 China Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781467396745

In order to make an improvement of accuracy, completeness and robustness of the image based 3D reconstruction algorithm, we present a stereo matching approach under the condition of multi-resolution combined with multi-constraints to compute the 3D model of an object in this paper. In the first step, we build the image pyramid and stereo matching happens from the top level to the lowest level. In each level, we execute the following procedures: NCC matching, multi-constraints checking, re-matching and weighted median filter, disparity refinement. At last, we acquire an accurate and smooth disparity map in the bottom level. Combine with the calibration parameters, we can compute the 3D point cloud and use the Possion reconstruction method to generate the mesh model. The contributions of this paper are the proposal of choosing the pixel in the eight-neighborhood which has the highest match cost to guide the matching of center pixel during re-match, and design an anisotropic smoothing kernel to smooth the depth map and keep the detail at the same time in the disparity refinement. Experimental results show that the algorithm has the advantages of high precision, strong robustness and good model integrity. © 2015 IEEE.

关键词： Pixels

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Real-time visual hull computation based on GPU

Real-time visual hull computation based on GPU

引用

IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

作者： Dafeng, Gong Xiaojun, Wu Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China Shenzhen Key Laboratory for Advanced Motion Control and Modern Automation Equipment Shenzhen518055 China

ISBN: (纸本)9781467396745

A real time visual hull parallel computation method is proposed based on GPU. Firstly, an effective Octree data structure is built on GPU, which establishes the correspondence between voxels and the thread ID of CUDA. Secondly, for large-scale parallel data in the projection test of visual hull calculation, the convex hull of the projected vertices is accelerated to use the GPU programmable features. Finally, the redundant edge computation in marching cubes algorithm is reduced by building the edge lookup table. Then, parallel streaming data reduction based on prefix-sum excludes empty voxels from the lookup table, which can improve the computation effectively. Experimental results show that, for large-scale data, accurate visual hull can be efficiently reconstructed by the proposed algorithm on a common PC and GPU platform. © 2015 IEEE.

关键词： Graphics processing unit

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Inverse solution optimization of universal five-axis machine tools 11

Inverse solution optimization of universal five-axis machine...

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2014 11th World Congress on Intelligent control and automation, WCICA 2014

作者： Jing Zi, Zhou Gang, Jian Dong, Xiao Harbin Institute of Technology Shenzhen Graduate School Xili University Town China Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Xili University Town Shenzhen China KEJIE Machinery Automation Co. Ltd. of Guangdong No:61Yongsheng Road Pengjiang District Jiangmen City Guangdong China

Inverse solution of five-axis machine tool is that given the excepted point of tool-tip and the excepted vector of tool-axis to solve the G codes of five axes, it is the key step of five-axis machining. Based on the exponential product method, this paper proposed the inverse solution which is general and applicable to any form of orthogonal and non-orthogonal machine tools. At the same time, the singular algorithm is proposed, which used the inverse solution interpolation method to solve the problem of abrupt change of rotation axes and interference near singular area. And verified the algorithm is correct by simulation. Due to the inverse solutions have many situations which are no solution, two solutions and infinite solutions, this paper according to the optimization principle to optimize the inverse solutions. © 2014 IEEE.

关键词： Generality Optimization of inverse solution Singular algorithm

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Error analysis of connection frame deformation considering magnetic force and thermal-structural coupling effects 14

Error analysis of connection frame deformation considering m...

引用

2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Zhang, Lufan Long, Zhili Fang, Jiwen Nian, Longsheng State Key Lab. for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China Shenzhen Key Lab. for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Dongguan Huazhong University of Science and Technology Manufacturing Engineering Institute Dongguan China

ISBN: (纸本)9781479956227

Connection frame has been a key module in a macro-micro platform. The error of connection frame deformation must be taken into account for nano-positioning motion in working process. While working, the nano-positioning motion is affected by the two major deformation error sources: magnetic force and thermal structural coupling effects. These error models were built by response surface method. Each experiment result can be obtained by calculation of finite element method. Their input variables of orthogonal experiment design were imported to the commercial software ANSYS to calculate and obtain output. The response surface model was built by the input and output data. Based on these models, change trends of deformation errors with design parameters can be revealed. And an optimal model of total deformations errors would be built. Finally, the minimum error of connection frame deformation considering magnetic force and thermal structural coupling effect was calculated by genetic algorithm. The optimal solutions were obtained when the total error iterate to 15 times as follows, D=32mm, L1=80mm, R=64mm. The improvement of deformation error considering magnetic force, thermal-structural coupling force and high acceleration is 86.48%, 0.26%, 26.85% These results can provide a more accurate prediction of error analysis in more widely used cases and also offer a theoretical support for improving nano-positioning accuracy of macro-micro platform. © 2014 IEEE.

关键词： Deformation

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A collision detection algorithm of Robot in off-line programming system

A collision detection algorithm of Robot in off-line program...

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International Conference on Information Science and technology (ICIST)

作者： Ruining Huang Taoyu Tang Yunjiang Lou Maolin Xiao Institute of Technology Shenzhen Graduate School and the Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China

In the off-line programming system, robot collision detection is one of the key technology and that was an important factor to improve virtual realistic system. In order to attain robot trajectory in the virtual environment, accurate and fast collision detection is requested. Aiming at this case, this paper adopts an accurate and fast collision detection algorithm based on space subdivision method. Through the using of hierarchical bounding box method and space decomposition method comprehensively, it can reduce the logarithm of triangles in the collision detection algorithm and increase the efficiency. One measure to be taken is to update moving objects' bounding boxes at any time, but don't change the stationary objects' bounding boxes which are built initially. Moreover, the distance threshold is also introduced, which make the collision detection more accurate. The simulation result shows that the detection method can meet the requirements of accuracy in complex virtual environment.

关键词： Collision avoidance Robots Joints Binary trees Programming Virtual environments Algorithm design and analysis

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Parasitic motion Based Optimal Design of Parallel Manipulators

Parasitic Motion Based Optimal Design of Parallel Manipulato...

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第15届中国系统仿真技术及其应用学术会议（15th CCSSTA2014）

作者： Zhang Song-zhen Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School

Parasitic motion is widely believed a drawback of lower mobility parallel *** researchers tried to eliminate or reduce it by kinematic optimization or by special architectural ***,the parasitic motion enables the implementation of a higher degrees-of-freedom(DoF)motion task with a lower DoF parallel manipulator to a certain *** contrast to the traditional elimination of parasitic motion,in this paper we first propose to take advantage of parasitic motion/By the example of planar five-bar parallel manipulator,we demonstrate to maximize the parasitic rotation so that it is able to accomplish planar manipulation of workpieces with their orientations in a given *** new design concept will lead to lower cost,lower complexity of kinematics and control.

关键词： Parallel Manipulator Parasitic motion Optimal Design

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Modeling and simulation of magnet-guided active endoscopic capsules manipulated by robots

Modeling and simulation of magnet-guided active endoscopic c...

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International Conference on Information and automation (ICIA)

作者： Guangzeng Chen Xun Wang Yunjiang Lou Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

The rising use of wireless endoscopy capsules for the medical examination of the digestive tube has brought about an innovative step of medical experience. However, proceeding only by means of gravity and visceral peristalsis greatly restricts its clinical application, since their location, posture, and velocity cannot be controlled. The technology described in this paper uses an external magnetic field which is generated by two cuboidal extern permanent magnets (EPM) to drive the endoscopy capsule with one cuboidal permanent magnet (IPM) inside. EPM1 and EPM2 are fixed on the end-effector of two robots respectively. By changing the relative postures of robots, the interaction force and torque between IPM and EPMs change so that the endoscopy capsule can be controlled for full degree of freedom. In this paper, the interaction magnetic force components and torque components are analytically calculated based on Ampere molecular current hypothesis, Dipole theory and BiotSavart's law. The exact 3D analytical expressions are obtained and used for calculating the magnetic forces and torques, shape optimization and velocity control directly rather than ordinary numerical methods.

关键词： Torque Magnetic flux Magnetic fields Magnetic forces Permanent magnets Magnetization Mathematical model

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A collision detection algorithm of Robot in off-line programming system

A collision detection algorithm of Robot in off-line program...

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2014 4th IEEE International Conference on Information Science and technology

作者： Ruining Huang Taoyu Tang Yunjiang Lou Maolin Xiao the Harbin Institute of Technology Shenzhen Graduate School and the Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments IEEE

关键词： Collision detection Bounding box Virtual simulation of robot,Threshold of distance

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