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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Wang, Jinyuan Li, Bin Ma, Yue Wang, Xinjie Peng, Pai Peng, Wei Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

In order to meet the requirements of keeping the body posture level with the ground during the movement of the quadruped robots, this paper designs a quadruped robot with three joints and three degrees of freedom in each leg, which is a 3-RRP kinematic chain. The legs and body of the quadruped robot are virtually modeled by SolidWorks. Combining the forward and inverse kinematics analysis, the reasonable and ideal foot trajectory and body motion trajectory are planned in Matlab. The gait stability is based on the ZMP stability criterion and is quantified by the stability margin. According to the structural characteristics of the quadruped robot in this paper, the body posture adjustment strategy is proposed. Finally, the simulation is carried out under the two gait plannings of straight driving and turning using ADAMS. The simulation results show that the quadruped robot has a reasonable walking gait on the flat road surface with little impact on the body. The minimum stability margin of the strategy with body adjustment is improved compared with the strategy without body adjustment. © 2023 IEEE.

关键词： Stability criteria

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error 20

A Model-Data Compound Driven Method For Compensating Robot T...

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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Peng, Pai Liu, Qi Li, Bin Peng, Wei Wang, Xinjie Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque;and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%. © 2023 IEEE.

关键词： Error compensation

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Teaching Innovation and Practice of Mind Mapping Applied to Engineering Drawing Course 12

Teaching Innovation and Practice of Mind Mapping Applied to ...

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12th IEEE International Conference on Educational and Information Technology, ICEIT 2023

作者： Xue, Yahong Mu, Haozhi Xue, Lijun Wang, Xiaofei Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9781665475518

Engineering drawing is a compulsory technical foundation course for mechanical majors. Its main task is to cultivate students' ability to draw and read engineering drawings. The content of this course is complicated and abstract and not easy to understand, which makes it difficult for students to learn. Mind mapping is a visual thinking tool to systematize and organize abstract and complicated knowledge. Taking the application of mind mapping to various teaching processes of engineering drawing course, such as the construction of framework, the sorting out of fragmented knowledge, the solution of drawing geometry and sectional view, and the group project for important and difficult content as examples, we illustrate the importance of mind map in cultivating students' knowledge generalization ability, independent learning ability, enhancing students' logical thinking, creative thinking, divergent thinking, and stimulating students' interest in learning. © 2023 IEEE.

关键词： Students

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Feature Pyramid Network Based on Skip Connect for Vehicle Prediction 2

Feature Pyramid Network Based on Skip Connect for Vehicle Pr...

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2nd International Conference on Robotics, Automation and intelligent control, ICRAIC 2022

作者： Li, Peixin Liu, Jiaqi Yang, Lu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China

The trajectory prediction of the target vehicle can improve the perception ability of autonomous driving vehicles in the open world environment and is an essential technology for realizing high-level fully automatic driving. The traditional vehicle trajectory prediction model based on image input is sensitive to the image style of the dataset and has weak generalization ability. The prediction model based on intermediate features can overcome the problem of different dataset styles. However, there are relatively few explorations on building models based on intermediate semantic features. Inspired by the feature pyramid in image processing, this paper proposes an FPSP (Feature Pyramid network based on Skip connect for vehicle Prediction) network. By adding the pyramid feature branch, the original network is improved. The initial coarse information is hierarchically introduced into corresponding abstract high-dimensional features. Experiments on the KITTI dataset prove that FPSP achieves considerable improvement with only a slight increase in time consumption. © Published under licence by IOP Publishing Ltd.

关键词： Forecasting

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Structural model updating based on metamodel using modal frequencies

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Frattura ed Integrita Strutturale 2021年第58期15卷 114-127页

作者： Wang, Jutao Liu, Zhenzhong Xue, Lijun Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

Modal frequencies are often used in structural model updating, based on the finite element model, while the metamodel approach is often used in the respective optimization process. In this work, the Kriging model is adopted as the metamodel. First, the influence of different correlation functions of Kriging model is inspected, followed by the investigation of the approximate capability of Kriging model by inspecting the approximate accuracy of nonlinear functions. Next, a model updating procedure is proposed, based on the Kriging model, constructed using samples generated via the method of Optimal Latin Hypercube. Finally, a typical frame structure is taken as a case study, demonstrating the feasibility and efficiency of the proposed approach. The results show that, the Kriging model can match the target functions very well, while the finite element model can achieve accurate frequencies and can reliably predict the frequencies after model updating. © 2021, Gruppo Italiano Frattura. All rights reserved.

关键词： Interpolation

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Structural Optimization of a Magnetically Operated Actuator Mechanism for 10kV Circuit Breaker 25

Structural Optimization of a Magnetically Operated Actuator ...

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25th IEEE China Conference on system Simulation Technology and its Application, CCSSTA 2024

作者： Liang, Chao Tian, He Zhao, Guanqiao Li, Jiangping Zhu, Ziliang Shen, Ruixuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China Tianjin Sanyuan Power Equipment Manufacturing Co. Ltd Tianjin China

ISBN: (纸本)9798350366600

As the demand for reliable power supply in power systems grows, ensuring the performance of circuit breaker operating mechanisms is crucial. This performance is pivotal to the stability of the power grid, the speed of fault recovery, and the equipment's lifespan. In this paper, we introduce a structural optimization plan for a new magnetic control operating mechanism designed for 10kV circuit breakers. Employing three-dimensional and mathematical modeling, complemented by finite element analysis with Maxwell software, we delved into an in-depth study of the mechanism's structure, performance, and materials. We further conducted a parametric design and comparative analysis of key components. The simulation results, which exclude the spring load, demonstrate that the optimized circuit breaker can achieve a closing velocity of 3.07 m/s, an electromagnetic force peaking at 2.7 kN, and a closure time minimized to 8.5 ms. These enhancements notably improve the mechanism's closing efficiency. Consequently, our research introduces a novel perspective to the field of reliability studies for magnetic control operating mechanisms. © 2024 IEEE.

关键词： Magnetic actuators

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Structure design and kinematics modeling of a new continuum parallel robot 20

Structure design and kinematics modeling of a new continuum ...

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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Wang, Xinjie Li, Bin Ma, Yue Peng, Wei Peng, Pai Wang, Jinyuan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

ISBN: (纸本)9798350320831

Compared with the traditional rigid robots, the continuum robot has been widely studied because of its advantages of compact design and flexible motion. The design of continuum parallel robots are similar to that of the traditional rigid-link parallel robot, and the precision, stability and strength characteristics of rigid-link parallel robots are combined with the compactness and flexibility characteristics of continuum robots. In recent research advances, it is well appreciated to suggest that the use of parallel continuum robots with passive supports is supported by elastic rods. The passive branch undergoes deformation along its entire length and uses complex formulas to describe its shape and kinematics. According to different methods, this paper proposes the design of a parallel robot dual continuum translation passive branch chain. This continuum joint will assume a constant curvature bend and use this assumption for kinematic modeling. Since the continuum joint is a flexible joint that utilizes the characteristics of new materials, it uses material deformation to replace the motion pair, which successfully realizes that the passive branch joint can replace the universal joint and the ball hinge in the parallel robot, and the joint can be bent more than 90 0 to achieve a larger range of workspace. Each passive branch of the new continuum robot is a continuum structure composed of two mutually coupled flexible hinge joints, and the translational motion of the end effector is inherently realized by using its material properties. The paper includes a new mechanism description and kinematics modeling. © 2023 IEEE.

关键词： Kinematics

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An optimal design and fuzzy control method for a new flapping-wing robot 3

An optimal design and fuzzy control method for a new flappin...

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3rd International Conference on Electrical Engineering and control Science, IC2ECS 2023

作者： Zhang, Chunxiao Zhao, Yansen Zhang, Ting Liu, Qi Li, Bin Ma, Yue Suo, Mengze Li, Changrui School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350382426

Bionic flapping-wing robot has the advantages of good maneuverability, low noise and strong stealth performance. It is widely used in military intelligence collection, field rescue and investigation. In this paper, an optimal design method of bionic flapping-wing robot non-phase difference driving mechanism is proposed. By setting the constraints of flapping angle amplitude, fuselage height and slider stroke, the scale parameters of the mechanism are optimized by using the minimum transmission angle;on this basis, the effectiveness of fuzzy PD control in improving the tracking accuracy of the drive system is verified by means of ADAMS and MATLAB / Simulink electromechanical coupling simulation. This research has practical value for designing new flapping-wing robot and improving its control quality. © 2023 IEEE.

关键词： flapping-wing robot fuzzy PD control kinematics scale optimization

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control Strategy of Permanent Magnet Synchronous Motor and Brushed DC Servo Motor Based on ADRC 20

Control Strategy of Permanent Magnet Synchronous Motor and B...

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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Liu, Liang Liu, Haikui Nie, Guangyin Gao, Yang Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Adaptive disturbance rejection control (ADRC) is a rapidly evolving and promising control method that has been widely applied in various industrial fields and may yield better results than traditional method. In order to promote the controller performance, ADRC technology was employed to construct a three-loop structure for the controllers of permanent magnet synchronous motor (PMSM) and brushed DC Servo Motor (BDSM). Firstly, the mathematical models of the both kinds of motors were presented and combined with the ADRC, respectively. Secondly, the simulation models based on ADRC were constructed in MATLAB/SIMULINK, respectively. Finally, comparative experiments were carried out by ADRC and Proportional-Integral (PI) methods. The simulation results showed that ADRC outperforms PI control in terms of response speed, overshoot reduction, and anti-interference capability, which verified the proposed method can exhibit superior dynamic properties in the induction motor control. © 2023 IEEE.

关键词： controllers

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Research on control Strategy of Manipulator Based on Deep Reinforcement Learning 23

Research on Control Strategy of Manipulator Based on Deep Re...

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3rd International Conference on Artificial Intelligence, Automation and Algorithms, AI2A 2023

作者： Xu, Nuo Shao, Yanpeng Fan, Xiaoyan National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798400707605

Abstract: Today, the traditional control algorithm of the manipulator is difficult to meet in the complex and changing working environment, and the development of artificial intelligence has achieved remarkable results in the field of manipulator control. As a branch of artificial intelligence, deep reinforcement learning combines the perception ability of deep learning with the decision-making ability of reinforcement learning, which can greatly improve the work efficiency and adaptability of the manipulator. This paper expounds on the principle of deep reinforcement learning, compares and analyzes the application examples of the single manipulator and multi-manipulator control algorithms based on deep reinforcement learning, and demonstrates the achievements of deep reinforcement learning in the motion control of manipulators. The intelligent control research provides a reference. © 2023 ACM.

关键词： Reinforcement learning

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