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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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Parasitic motion Based Optimal Design of Parallel Manipulators

Parasitic Motion Based Optimal Design of Parallel Manipulato...

引用

第15届中国系统仿真技术及其应用学术会议

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 Guangdong Shenzhen 518055

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 *** 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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The design and simulation of the ultrasonic machining driver based on BUCK DC chopper

The design and simulation of the ultrasonic machining driver...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Jianjun Wang Zhili Long Yang Zhao Harbin Institute of Technology Shenzhen Graduate School and the Shenzhen Key Lab for Advanced Motion Control and Modem Automation Equipment's Shenzhen China Key Laboratory of Mechanical Equipment Manufacturing and Control Technology(Guangdong University of Technology) Ministry of Education Guangzhou China

ISBN: (纸本)9781479973989

For the current problems of resent ultrasonic machining driver, for example, output power is single and power regulation is not precise. This paper presents a new type of ultrasonic machining driver based on BUCK DC chopper. The new type of ultrasonic machining driver consists of STM32F106, DDS waveform generating circuit, signal processing circuit and the most important circuit which is BUCK DC chopper circuit. Principle of the power regulation, transmission's efficiency, the working principle and operating characteristic under current continuous mode of BUCK DC chopper circuit are established in this paper. The parameters related to BUCK DC chopper circuit are calculated. The system of ultrasonic machining driver is simulated by Matlab and related experiments of the driver were carried out. The experiments results show that the driver of new type based on DC chopper can achieved the expect function.

关键词： Choppers (circuits) Acoustics Machining Inverters Power generation Power amplifiers Inductors

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

Error analysis of connection frame deformation considering m...

引用

IEEE Conference on Nanotechnology

作者： Lufan. Zhang Jiwen. Fang Zhili. Long Longsheng. Nian 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)9781479956234

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.

关键词： Magnetic forces Acceleration Thermal force Couplings Force Optimization Deformable models

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Position/force switching control based on velocity damping

Position/force switching control based on velocity damping

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2013 IEEE International Conference on Information and automation, ICIA 2013

作者： Long, Zhili Fang, Jiwen Zhao, Jiping Chao, Zhu Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China Shenzhen Key Lab for Advanced Motion Control Technology and Modern Automation Equipment Shenzhen 518055 China State Key Lab for Manufacturing Systems Engineering Xi'An Jiaotong University Shenzhen 710049 China Dongguan Huazhong University of Science Technology Manufacturing Engineering Institute Dongguan 523808 China

ISBN: (纸本)9781479913343

Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity damping, is proposed for motion switching of automated equipment. At first, the control models were established by analyzing displacement control and pressure control. To solve the shortage of direct switching between displacement and pressure, switching control based on the velocity damping is presented. The effectiveness of this method is verified by using piezoelectric sensor in experiment. Compared to direct switching control, the proposed switching control becomes more accurate and faster. The measurement data shows that the maximal impact force of control system is 0.4N and the amplitude of forces of fluctuations are within the range of ±0.03N. © 2013 IEEE.

关键词： control systems

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MWEDM constant tension control system

MWEDM constant tension control system

引用

IEEE Conference on Nanotechnology

作者： Ruining Huang Xianglong Fang Yunjiang Lou Harbin Institute of Technology Shenzhen Graduate School Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9781479910267

To achieve higher accuracy of Micro Wire Electrical Discharge Machining (MWEDM) and solve the problem that the wire electrode is easy to broken, this paper studies the dual-motor optimal control of wire electrode constant tension system. Aiming to eliminate the tension measurement noise caused by the vibration of wire electrode etc., Kalman filtering algorithm is proposed to fuse tension and speed sensor. The accurate dual input dual output mathematical model of wire drawing and tension wheel is established, the minimum performance index which is the sum of the wire speed and tension squared error is achieved by optimal control, which make the accuracy of the tension improved greatly. The disturbance observer is employed for the actual processing environment to cancel the modeling error and interference. The simulation results show that the expected control performances are achieved.

关键词： Wheels Mathematical model Wire drawing AC motors Observers Electrodes

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Vision guided navigation based on dark regions and template matching for capsule endoscopies

Vision guided navigation based on dark regions and template ...

引用

International Conference on Information and automation (ICIA)

作者： Ying Zhao Yunjiang Lou Harbin Institute of Technology Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China

ISBN: (纸本)9781479913329

In this paper, a novel navigation based on vision for wireless capsule endoscopies is proposed. The algorithm based on dark regions was improved by setting the Region of Interest (ROI) to limit the search coverage around the last navigation point, introducing the morphology method to eliminate diverticula and vesicae and raising the concept of position weight to reckon navigation points in the case of lacking for valid dark regions. Besides that, we proposed the method based on template matching, which is common in industrial detection, to navigate when the method mentioned above fails. Finally, the two methods were fused and it's proved beneficial to both the success rate and the computation speed by simulation and experiments.

关键词： Navigation Endoscopes Image segmentation Image edge detection Algorithm design and analysis Visualization Three-dimensional displays

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Position/force switching control based on velocity damping

Position/force switching control based on velocity damping

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International Conference on Information and automation (ICIA)

作者： Zhili Long Jiwen Fang Jiping Zhao Zhu Chao Shenzhen Key Lab for Advanced Motion Control Technology & Modern Automation Equipment Shenzhen State Key Lab for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an Shenzhen Graduate School Harbin Institute of Technology Shenzhen Shenzhen Graduate School Harbin Institute of Technology 518055 China

ISBN: (纸本)9781479913329

关键词： Switches Damping Force Welding Pressure control Process control

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Error analysis of stiffness in double parallel four-bar mechanism

Error analysis of stiffness in double parallel four-bar mech...

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IEEE Conference on Nanotechnology

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

ISBN: (纸本)9781479910267

Traditionally, based on the pseudo rigid body model method, the ideal stiffness of double parallel four-bar mechanism is obtained by virtual work principle while support arm bar is regard as a rigid rod. However, a terrible error between ideal and real stiffness will be caused in practice as a result of the bending deformation of support arm bar. Therefore, it is urgent to analyze the error of stiffness in double parallel four-bar mechanism and to explore the condition in which the support arm bar could be equivalent to rigid rod. In the paper, an accurate expression of stiffness in the double parallel four-bar mechanism is derived by integral method while the support arm bar is studied as a variable cross section beam through force analysis and deformation analysis. The error between stiffness derived from virtual work principle and integral method is obtained, and whose changing trend with the structural parameters of the right-angle flexure hinge and the support arm bar is analyzed. The result demonstrates that the error is less than 1% when the thickness ratio is larger than 6 and the length ratio is between 6 and 25, that is, the support arm bar can be equivalent to rigid rod, and whose bend deformation can be neglected.

关键词： Fasteners Force Equations Mathematical model Educational institutions Structural beams Market research

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Driving process and control analysis in macro-micro dual stage

Driving process and control analysis in macro-micro dual sta...

引用

International Conference on Information and automation (ICIA)

作者： Jiwen Fang Zhili Long Lufan Zhang Longsheng Nian 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 Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9781479913329

This paper presents a macro-micro dual stage using hybrid actuators composed of voice coil motor (VCM) and piezoelectric actuator (PZT). Connecting coarse (driven by voice coil motor) and fine (actuated by the piezoelectric), in series, to achieve a large travel range and high precision positioning. In the structure of redundant actuation, the micro stage is applied to compensate the error generated by the macro stage. The compensating method of point-to-point (PTP) positioning is divided into two types: compensation before steady state (macro/micro single input dual output) and compensation before steady state (macro/micro dual input dual output). A corresponding driving process is described in each type. In the driving process, the interference behavior between macro stage and micro stage is considered and the dynamic coupling model established. In the process of control analysis, because of the saturation of micro stage, switching control plays an important role in realizing precision positioning. Mode switching control is achieved by using switching function according to the two types of positioning way. Finally, step response shows that the positioning accuracy of dual stage is higher than single macro stage, and also can realize nano-positioning.

关键词： Switches Actuators Process control Force Equations Mathematical model

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Optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place applications

Optimal kinematic design of a new 3-DOF planar parallel mani...

引用

2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Liao, Bin Lou, Yunjiang Harbin Institute of Technology Shenzhen Graduate School Shenzhen Key Lab. for Advanced Motion Control and Modern Automation Equipments Shenzhen China

ISBN: (纸本)9781467312776

This paper presents an optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place operations. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of 3-DOF parallel manipulator is presented with a co-axis actuated joints arrangement and three subchains in parallel planes. First, the loop-closure equations of the robot are derived. The inverse kinematics and singularity analysis are discussed. After that, the index of the average inverse condition number is used for design. For kinematics, velocities are important for pick-and-place applications. Bounded velocities indices are also used to limit the lengths of the links. Finally, the result of the optimal design has been analyzed. This optimal method can be applied to other manipulators for pick-and-place operations. © 2012 IEEE.

关键词： Inverse kinematics

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