检索结果-内蒙古大学图书馆

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

作者： Yu, Lingtao Wang, Tao Song, Huajian Wang, Zhengyu Yu, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A mathematical model of static for a parallel mechanism is generally established by using the force Jacobin matrix [1], [2], [3], which is inaccurate due to ignoring of self-gravity of the linkage [4], [5]. In this paper, based on taking self-gravity of the linkage into account, static analysis of a novel 3-DOF parallel mechanism with RUU joint structure that can perform three-dimensional translations is put forward. Based on the inverse-kinematics of parallel mechanism and forces (torques) transfer mechanism between different hinges, static model is established in order to improve accuracy of static model. Then, a numerical example is given. © 2012 IEEE.

关键词： Static analysis

来源：评论

学校读者我要写书评

暂无评论

Layout space modeling for automation design of pipeline system

Layout space modeling for automation design of pipeline syst...

引用

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

作者： Feng, Haibo Fu, Yili Li, Liyi School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Automation design is of great significance to promote design quality and reduce design cycle for pipeline system design. But high complexity and strong design interference are two main problems in automation design process of pipeline system. Thus, this study proposes a novel layout space model to reduce high complexity and design interference in automation design of pipeline system. The proposed model uses grid methods to provide candidate layout space. The candidate layout space adopts random sampling to meet requirements of reducing complexity and design interference. Test experiment is provided to show that the proposed model is effective. © 2012 IEEE.

关键词： Automation

来源：评论

学校读者我要写书评

暂无评论

Design and Development of a Cheetah Robot under the Neural Mechanism Controlling the Leg's Muscles

Design and Development of a Cheetah Robot under the Neural M...

引用

IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun currently a PhD candidate in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China currently an associate professor in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (纸本)9781467317375

The high speed running of legged robot raise higher requirements on the design and development of the robot and the control method. The mammals' excellent performance, especially the cheetah, provides us much inspiration on control, mechanical design and etc. In this paper, a model of the cheetah robot is developed for researching the locomotory behaviors of fast running. Under the biological knowledge on neural mechanism, a new bio-inspired control method was proposed via controlling the muscles flexion and extension movements. Then, a bio-musculoskeletal hindlimb prototype was designed in this paper. The muscle-like actuator and the cheetah-like structure combining the bio-control approach provide more natural fashion for the new robot. Finally, the simulation of the bounding gait establishes good biological properties, cheetah-like leg's trajectory. Experiment with the real hindlimb prototype validates the design and the development of the structure and the controller. In the near future, a final prototype will be manufactured with onboard power and air source.

关键词： Neural Mechanism Controlling development extension movements cheetahs Robot Control Methods Legged robot AIR SUPPLIES Leg muscles

来源：评论

学校读者我要写书评

暂无评论

The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

The optimization of obstacle-crossing and the simulation in ...

引用

International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

作者： Weidong Wang Dongmei Wu Wei Dong Chun Xie Pengfei Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot's obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle.

关键词： Wheels Legged locomotion Robot kinematics Optimization Planning

来源：评论

学校读者我要写书评

暂无评论

Study of high-speed loading machine's missing chip detection system based on vacuum testing

Study of high-speed loading machine's missing chip detection...

引用

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

作者： Rong, Weibin Liu, Ruyi Fan, Zenghua Sun, Lining Department of State Key Laboratory of Robotics and System Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A method of missing chip detection based on vacuum testing is presented in the paper in view of the requirement of response time in high-speed loading machine. On the basis of analyzing the factors that influence response time in theoretical, the experimental platform of the detection system is set up. Some key factors that affect the response time are analyzed by experiments, and the improvement of experimental platform completed in final. The experimental results show that the improved detection system has faster response time on the basis of guaranteeing the stability, the response time of this system is about 38ms, and it has put into use. © 2012 IEEE.

关键词： Response time (computer systems)

来源：评论

学校读者我要写书评

暂无评论

An Interest Point Detector Based on Polynomial Local Orientation Tensor

引用

Acta Automatica Sinica 2012年第7期38卷 1183-1189页

作者： Rui LIN Wei-Dong WANG Zhi-Jiang DU Li-Ning SUN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 P.R. China

Abstract In this paper, aiming at application of vision-based mobile robot navigation, we present a novel method for detecting scale and rotation invariant interest points, coined polynomial local orientation tensor (PLOT). Our detector is based on the local orientation tensor, which is constructed from the polynomial expansion of the image signal. We first analyze the properties of the local orientation tensor of PLOT, and select a suitable tuning parameter to make the local orientation tensor extract invariant features. Automatic scale selection is also used in the computation of the local orientation tensor and the characteristic scale is selected to attain scale invariant features. Then, the true interest points are detected by the small eigenvalues of the orientation tensor. We evaluate the performance of our detector on the repeatability criteria and compare it with other existing approaches. Experimental results for PLOT show strong performance in different rotations, with varying scale changes and illumination changes in the real-world conditions.

关键词： Interest point detector scale invariant rotation invariant polynomial local orientation tensor (PLOT)

来源：评论

学校读者我要写书评

暂无评论

Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

引用

6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

引用

International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yang Xiao-hui Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer.

关键词： Vibrations Ceramics Acoustics Electrodes Transducers Shape Stators

来源：评论

学校读者我要写书评

暂无评论

Numerical investigation of hydrodynamics of flapping caudal fin

Numerical investigation of hydrodynamics of flapping caudal ...

引用

IEEE Symposium on Electrical & Electronics Engineering (EEESYM)

作者： Zhijun Wu Weishan Chen Junkao Liu Shengjun Shi Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467323635

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°~30°maximum angle of attack with 70°~90° difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency.

关键词：

来源：评论

学校读者我要写书评

暂无评论

4M-model based bionic design of artificial skeletal muscle actuated by SMA 1

引用

5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Zhang, Jianjun Zhu, Jianying State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China Mechatronics Research Institute Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents a novel 4M-model based artificial skeletal muscle (AM) actuated by shape memory alloy (SMA) wires. Different from Hill-and Huxley-model, the 4M-model is developed based on the microscopic working mechanism of molecular motor (4M), which is the origin of muscle contraction. Overlapped SMA wires and custom made passive composite (CMPC) of the AM were used to mimic biomechanical characteristics of skeletal muscle, which mainly refers to force-length relationship. Experimental results of the AM demonstrate the desired performance. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Shape memory effect

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：