Global model of permanent magnet linear synchronous motor(PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor dr...
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Global model of permanent magnet linear synchronous motor(PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor driver, PMLSM, mechanism structure and sensor. 20-sim software is used to simulate the global model and do analysis of system's character. Simulation results illustrate that time constant of inverter in motor driver results in response lag, and sensor resolution influences the following accuracy. The process of modeling and analyzing fully shows the superiority of bond graph method and 20-sim software in multi domain system.
In this paper, we constructed a three-dimensional dynamic simulator for Hit MSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algori...
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In this paper, we constructed a three-dimensional dynamic simulator for Hit MSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What's more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment.
A new type standing wave ultrasonic motor is proposed in this studyIn this design,three longitudinal vibration transducers are clamped on the inner side of a ring with driving teeth by screwsBending standing wave can ...
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A new type standing wave ultrasonic motor is proposed in this studyIn this design,three longitudinal vibration transducers are clamped on the inner side of a ring with driving teeth by screwsBending standing wave can be generated in the ring by the longitudinal vibrations of the transducersThus,oblique linear simple harmonic vibrations are formed on the teeth,which can drive the rotor by frictional forceThe structure and working principle of the proposed design are introducedThe motor is designed and analyzed by using FEM methodA standing wave is gained after the degeneration between the bending vibration of the ring and the longitudinal vibration of the transducerThe test results of the prototype motor verify the feasibility of the proposed design
A rotary ultrasonic motor using longitudinal and bending vibration modes is proposed in this study. The proposed motor contains two exponential shape horns located on two ends, and the end tips of the horns are used a...
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A rotary ultrasonic motor using longitudinal and bending vibration modes is proposed in this study. The proposed motor contains two exponential shape horns located on two ends, and the end tips of the horns are used as the driving feet. Two groups of PZT elements(Longitudinal PZT and Bending PZT) are clamped in the middle of the motor by a double head flange bolt to excite the longitudinal vibration mode and bending vibration mode of the motor, respectively. By the composing of the longitudinal and bending vibration modes, elliptical trajectory vibrations can be generated on the end tips of the horns, which have the same rotation directions and can driving the rotor together by frictional force. After the introducing of the working principle, modal analysis is developed to tune the resonant frequencies of the longitudinal and bending vibration modes to be close with each other. At last, transient analysis is developed to gain the vibration characteristics of the motor, and the gained elliptical trajectory motions of particles on the driving parts verify the feasibility of the proposed design.
A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the r...
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A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Its design features are super payload capability, precise navigation and positioning, ultrasonic obstacle avoidance and Anti- magnetic. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely.
A novel hexapod biomimetic robot named Spider is fabricated for autonomous navigation under complicated terrain conditions. The mechanical configuration of the robot with capability of omnidirectional locomotion was d...
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A novel hexapod biomimetic robot named Spider is fabricated for autonomous navigation under complicated terrain conditions. The mechanical configuration of the robot with capability of omnidirectional locomotion was designed, and the structure parameters were optimized according to the estimation function of mobility;the hardware control system of the robot was constructed in which a ARM chip was used as central controller and a FPGA chip was employed as coprocessor;a walking controller was realized based on function-behavior-integration, which was employed to generate statically stable free gait. In the simulations and experiments, the ability of adaptive omnidirection-walking on irregular terrain of the hexapod robot were testified.
In order to study the reliability of arc welding robot which is used in the production and application,based on the theory of general structure design of robot,the article is dedicated to constructing the finite eleme...
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ISBN:
(纸本)9781612848334
In order to study the reliability of arc welding robot which is used in the production and application,based on the theory of general structure design of robot,the article is dedicated to constructing the finite element model of robot forearm in ANSYS,using the probability analysis module of ANSYS(ANSYS/PDS),taking geometry,material properties and pressure loads as random input variables and analyzing the structural reliability of arc welding robot forearm with Monte-Carlo *** maximum stress probability distribution of the finite element analysis model and sensitivity are obtained,which provide theory basis for the optimization design and system reliability analysis of the arc welding robot *** that,the results also show that the reliability of arc welding robots meets the requirements.
An Omni-directional mobile manipulator with capability of zero-radius rotation is developedMechanism structure of the mobile platform and the manipulator are introduced, and the wheel model of the robot is designed wi...
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An Omni-directional mobile manipulator with capability of zero-radius rotation is developedMechanism structure of the mobile platform and the manipulator are introduced, and the wheel model of the robot is designed with differential compensation structureMulti-sensor system comprising ultrasonic sensors, infrared sensors and force/torque sensor are used for achieving precise control for the robotMeanwhile, motion control of the mobile platform is analyzed, and servo control based on hierarchical structure of the manipulator is proposedFinally, experiments of the robot are executed, and the results show the error of the platform for forward 4m is 8mm approximately after corrected by ultrasonic sensors, average error of zero-radius rotation is 3.7658 mm, average error of re-orientation motion is 0.3mm, which verify the proposed omnidirectional mobile manipulator designed reasonable, and can achieve precise operation effectively.
A new type ultrasonic materiel transmission system is proposed in this *** this new design,bending vibration traveling wave is generated in an elastic pipe by using two uniform sandwich type longitudinal vibration ***...
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A new type ultrasonic materiel transmission system is proposed in this *** this new design,bending vibration traveling wave is generated in an elastic pipe by using two uniform sandwich type longitudinal vibration ***,elliptical trajectory motions can be formed at particles on the pipe wall,which can drive the materiel by frictional *** adopting of sandwich transducer in this device can gain large vibration amplitude and improve the electromechanical coupling *** structure and working principle of the proposed design are *** transducer and the pipe are designed and analyzed by using FEM *** longitudinal vibration mode of the transducer and the bending vibration mode of the pipe are analyzed,and the resonant frequencies of these two modes are tuned to be close.A prototype system is fabricated and measured.
Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantag...
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