A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-makin...
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The method to build the bio-electromechanical model of wearable assistant bone-setting parallel robot system is studied. Firstly, the finite element model of human leg structure is established and the map from the rel...
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The method to build the bio-electromechanical model of wearable assistant bone-setting parallel robot system is studied. Firstly, the finite element model of human leg structure is established and the map from the relative pose of the broken bones to the force maintaining the relative pose unchanged is obtained. Then the static model of the parallel robot is established and the map from the load of the platform to the driving force of the branched chains maintaining the relative pose of the two platforms of the parallel robot unchanged is also obtained. The finite element model of human leg and the statics model of the robot are integrated, the appropriate coordinate transformation is made, and the bio-electromechanical model is built. Finally, simulation curves are obtained through simulation experiment, and the corresponding analysis is given.
Because the center of gravity (CG) position plays an important role in the process of leaping over a ditch, the CG position kinematics model is built. By using this model, the CG change situation is obtained, and the ...
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The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient lo...
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The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.
Self-reconfigurable robots are different from other kinds of robots. The important difference is that these robots are self-reconfigurable based on their parts being intrinsically mobile. In order to give self-reconfi...
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Self-reconfigurable robots are different from other kinds of robots. The important difference is that these robots are self-reconfigurable based on their parts being intrinsically mobile. In order to give self-reconfigurable robots this ability, the authors conducted research using a structural features analysis of a DL-Cube module unit. On this basis a windmill-like meta-module (WLMM) was constructed. A design was made using the hierarchical planning method, on the basis of the WLMM, providing motion to the parts of the self-reconfigurable robot by a configuration that consists of WLMMs in the horizontal plane. At the same time, the WLMMs mobility allows changes to the azimuth of modules and the carrying of other modules. Thus the reconfiguration proceeds from an initial rectangular configuration to one that consists of 24 modules in an " H" configuration. Simulation experiments were given to prove the effectiveness of the hierarchical planning method and the feasibility of creating reconfigurability using WLMMs.
The development of multi-DOF prosthetic hand appeals for classfying more hand gestures based on myoelectric signals extracted from the forearm. Six surface electromyography (EMG) electrodes were used to acquire myoele...
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The development of multi-DOF prosthetic hand appeals for classfying more hand gestures based on myoelectric signals extracted from the forearm. Six surface electromyography (EMG) electrodes were used to acquire myoelectric signals. Each channel's sample means are used to constitute feature vectors for training the support vector machines (SVM). Then 19 modes of hand gestures can be discriminated effectively. Comparing with some traditional training methods that use the steady-state features of myoelectric signals, the new method improves the predicting accuracy both on full scale features and the ones between the mode transitions. This will benefit the on-line recognition of the hand gestures, therefore make the multi-DOF prosthetic hand's EMG control more intuitive and effective.
Because the movement of mobile manipulator has an effect on the obstacle-climbing performance and stability, the center of gravity (CG) position kinematics model was built. Using this model, the change of the CG and t...
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Because the movement of mobile manipulator has an effect on the obstacle-climbing performance and stability, the center of gravity (CG) position kinematics model was built. Using this model, the change of the CG and the effect of mobile manipulato's postures on obstacle-climbing performance are obtained in the process. And the dynamic model of key posture of climbing up obstacle was built. The effects of the velocity and the acceleration of the mobile manipulator on obstacle-climbing performance were calculated by this model. Finally, several experiments verified the analysis. The analysis can help to design and control the robot.
To overcome the high risk and cost of manned satellite servicing, a space robot arm is fixed on satellite body and a monocular camera is mounted on the arm to realize vision based satellite self servicing instead of t...
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To overcome the high risk and cost of manned satellite servicing, a space robot arm is fixed on satellite body and a monocular camera is mounted on the arm to realize vision based satellite self servicing instead of teleoperation. A new hybrid switching visual servo control is proposed following on-line calculation of object depth and pose to select PBVS or IBVS. By integrating some advantages of both methods, the trajectories of image and Cartesian space are controllable simultaneously. For wide range servo movement, especially rotation movement, PBVS is adopted, and for short distance servo movement IBVS is adopted. Thus, space robot of auto visual servo is realized in wide range. Taking account of space environment, cooperative object recognition has been designed and implemented. Therefore, servo features can be obtained quickly and stably in complex circumstances. Simulation and real experimental results demonstrate this approach is positioning accurate and robust for the measurements and the calibration errors as dealing with wide range visual servo.
A kinematics model of the center of gravity (CG) position was set up based on the coordinate formula and robot kinematics. Then the change of CG in the process of climbing up an obstacle for tracked mobile robot was o...
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A kinematics model of the center of gravity (CG) position was set up based on the coordinate formula and robot kinematics. Then the change of CG in the process of climbing up an obstacle for tracked mobile robot was obtained by using this model, and the maximum height of the obstacle which can be climbed up was obtained. The margin of angle for stability was calculated. The relationship between the pitch angle of the robot and the height of the obstacle was obtained. From above analyses, the motion planning for climbing up the obstacle based on the margin of stability was presented. Experiments were conducted to verify the feasibility of established kinematics model and the motion planning.
An integrated micro xy-stage is designed and fabricated for application in nanometer-scale operation and nanometric positioning precision. This device integrates the functions of both actuating and sensing in the same...
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