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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Han, Zhu Liu, Jun Zhang, Yu Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781728164151

Studying the vibration of asymmetrical dual-rotor is very important for aero engines. In this paper, based on the vibration characteristics of an aero-engine, a different novel coupled dynamic model is proposed based on the spring recovery characteristics of rotor. The model dynamic equations of asymmetrical dual-rotor are obtained by the Lagrange equation, and vibration resonance curves of high pressure and low pressure rotors are numerically simulated and theoretically analyzed by using the Runge-Kutta algorithm. The research show that the system occurs combined vibration, harmonic vibration and superharmonic vibration. In addition, the vibration occurring mechanism was investigated and verified in detail through numerical simulation. For the first time, the concept of energy orbit was introduced into the dual-rotor model system. The energy orbit represents the vibration characteristics and energy exchange process of the model system. Energy orbit is a new energy orbit method for analyzing vibration characteristics of rotor system. The new researches of this paper will show a different research direction for complex dual-rotor systems. © 2020 IEEE.

关键词： Equations of motion

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Structure design and analysis of reconfigurable fixture robot based on the auto-body panels 15

Structure design and analysis of reconfigurable fixture robo...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Jilong Liu, Jun Wang, Xiaofeng Ge, Weimin School of Mechanical Engineering Tianjin University of Technology China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Binshui Xidao 391 Xiqing District Tianjin300384 China

ISBN: (纸本)9781538660720

The fixture is an important equipment, and is widely used in the auto-body panels to be assembled and welded. However, most fixtures, which installed on the production lines, are special to make the production cost higher and the production efficiency lower. Therefore, the reconfigurability of the fixture becomes a key factor that effects the production efficiency of automobiles. To handle the above problems, the new reconfigurable fixture robot is proposed in this paper, which can meet the handing, assembling and welding requirements of different automobile's sheet parts on the automobile production lines. First, the three-dimensional model and the kinematic equations of the proposed reconfigurable fixture robot are established. Then, the working space of the reconfigurable fixture robot is also obtained. Finally, the modal analysis of the reconfigurable fixture robot is performed to determine the cause of resonances. Reconfigurable fixture robots are capable of gripping the auto-body panels with the different radii of curvature, which can also meet the work scopes on the production lines. © 2018 IEEE.

关键词： Production efficiency

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Augmented Reality and Quick Response Code Technology in Engineering Drawing Course 17

Augmented Reality and Quick Response Code Technology in Engi...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Wang, Xiaofei Chen, Chenfei Li, Zhaotong Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China

ISBN: (纸本)9781728164151

Augmented reality (AR) technology is a cutting technology. It can enhance the perception of reality and provide more information of the real world. AR technology is used in many fields, like medical, industry, and education. In this paper, AR is introduced into engineering drawing course. Engineering drawing course is difficult to learn as it is a knowledge that students rarely contact with. To have a close contact with the models and the views, a convenient AR application (AR app) is proposed in the paper. With the help of the AR app, virtual models and real views are combined well. The models can be moved and rotated by touching the screen. Some videos of model assembly and disassembly can be obtained when scanning the quick response code (QR code). Thus, it is convenient for students to use mobile phone to study engineering drawing effectively. The interactive teaching environment enhances students' spatial thinking and cultivates their sense of innovation. © 2020 IEEE.

关键词： Augmented reality

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Analysis of Anchor-Based and Anchor-Free Object Detection Methods Based on Deep Learning 17

Analysis of Anchor-Based and Anchor-Free Object Detection Me...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Shujian Zhou, Haibo Li, Chenming Wang, Shuo Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China

ISBN: (纸本)9781728164151

As one of the core mission of computer vision, object detection has been widely applied with the rapid development of computer technology, especially in the fields of face detection, behavior detection, auto driving, and intelligent monitoring. Aiming at the shortcomings of the traditional object detection, such as low detection accuracy, low efficiency and poor robustness, this article summarizes deep learning-based detectors of two kinds of modules: Anchor-Based and Anchor-Free. The performance of each detector is compared and analyzed in this paper as well. In addition, we summarize the development of object detection's key technologies from the aspect of improvement of Backbone, the optimization of NMS, imbalance of positive and negative samples' solution etc. Finally, the development trend of object detection is discussed from the prospect of lightweight detection model, weakly supervision detection and small object detection etc. © 2020 IEEE.

关键词： Object detection

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Manipulator of robust fuzzy adaptive compensation control 3

Manipulator of robust fuzzy adaptive compensation control

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3rd Asia-Pacific Conference on intelligent Robot systems, ACIRS 2018

作者： Yangjian, Wang Xiaofei, Chen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineeringline Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781538672266

Dynamics system for reconfigurable manipulator of uncertainty, based on the fuzzy adaptive algorithm is proposed to approach the system control law from adaptation to friction and external disturbance, the compensation control of the reconfigurable robot arm. At the same time in order to improve the control law of compensation precision and anti-interference performance, reduce the approximation error of the algorithm and the robust items added in the control law. By Lyapunov stability theory proves that the proposed fuzzy adaptive robust fuzzy control law and the adaptive control law can be in reconfigurable manipulator dynamics contained in friction and the external disturbance to ensure the stability of the system. Last three do f reconfigurable robot arm as an example to design a reconfigurable robotic arm controller, the simulation results show that the algorithm has good trajectory tracking performance, and proves the feasibility and effectiveness of the algorithm. © 2018 IEEE.

关键词： Friction

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Vibration absorption of parallel-coupled nonlinear energy sink under shock and harmonic excitations

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Applied Mathematics and Mechanics(English Edition) 2021年第8期42卷 1135-1154页

作者： Jian’en CHEN Wei ZHANG Jun LIU Wenhua HU Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures College of Mechanical EngineeringBeijing University of TechnologyBeijing 100124China

Nonlinear energy sink(NES)can passively absorb broadband energy from primary *** multiple NESs connected in parallel exhibit superior performance to single-degree-of-freedom(SDOF)*** this work,a linear coupling spring is installed between two parallel NESs so as to expand the application scope of such vibration *** vibration absorption of the parallel and parallel-coupled NESs and the system response induced by the coupling spring are *** results show that the responses of the system exhibit a significant difference when the heavier cubic oscillators in the NESs have lower stiffness and the lighter cubic oscillators have higher ***,the efficiency of the parallel-coupled NES is higher for medium shocks but lower for small and large shocks than that of the parallel *** parallel-coupled NES also shows superior performance for medium harmonic excitations until higher response branches are *** performance of the parallel-coupled NES and the SDOF NES is *** is found that,regardless of the chosen SDOF NES parameters,the performance of the parallel-coupled NES is similar or superior to that of the SDOF NES in the entire force range.

关键词： coupling influence nonlinear energy sink(NES) vibration absorption

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An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control

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Optoelectronics Letters 2023年第11期19卷 686-692页

作者： QIAO Zhifeng FU Kang LIU Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China

Aiming at the problem of poor accuracy consistency of large sections’docking assembly,an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was *** the solution of the pose of the docking section,real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser *** the automatic control of the docking process,the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted,and the fully-automated docking of large sections is ***,an experimental verification system was set up,and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy,and the effectiveness of the automatic docking scheme was successfully verified.

关键词： coordinate deviation system

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An accurate pose measurement method of workpiece based on rapid extraction of local feature points

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Optoelectronics Letters 2022年第6期18卷 372-377页

作者： ZHANG Jiangtao QIAO Zhifeng WANG Shihao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin 300384China

Ceramic sanitary products with complex curved surfaces are generally fragile and difficult to *** the industrial robot is utilized to realize the automatic grinding of such products,the precise positioning of the product is required *** this paper,an accurate pose measurement system for complex curved surface parts is designed by point cloud registration *** order to improve the stability of the system,this paper combines the advantages of normal vector features and fast point feature histogram(FPFH)features,and proposes a point cloud registration algorithm based on the rapid extraction of local feature *** results verify that the improved algorithm has improved both efficiency and accuracy,and the system can effectively achieve accurate positioning of products.

关键词： robot system curved

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Multi-objective optimization of heat sink with multi-cross-ribbed-fins for a motor controller

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Journal of Engineering and Applied Science 2022年第1期69卷 1-21页

作者： Zhang, Chao Chen, Liang Tong, Zhiting 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 Tianjin300384 China

A novel multi-cross-ribbed-fin layout was proposed to supersede the original smooth fin to fulfill the lightweight requirement of the air-cooled heat sink for the electrical vehicle motor controller. The thermal design with multi-cross-ribbed-fins was optimized using the multi-objective optimization method to minimize the chip’s temperature rise and the weight of the heat sink simultaneously. The design variables are the number of multi-cross-ribbed-fins ranging from 12 to 24, the number of cross ribs on either side varying from 1 to 4, and cross rib height in the region of 1.00–2.50mm. The standard k-Ε turbulence model was validated compared to the experimental data for the original heat sink with smooth fins. The Pareto front solution set was obtained by performing the mixed-level orthogonal design procedure with the numerical simulations, constructing the surrogated-based model with backpropagation neural net training, and implementing the genetic algorithm. The numerical results showed that the recommended optimal designs have the multi-cross-ribbed-fin number of 17–19, the number of cross ribs of 2–3, and a cross rib height of 2.13–2.50mm. The maximum decreases in the temperature rise and weight are 7.63% and 9.45%, respectively. For verifying the superiority of current optimal designs, one of the optimal designs of the heat sink, which yields comparative temperature rise of the chip but reduced weight, was selected to be experimentally tested and compared with the data for the original heat sink. © 2022, The Author(s).

关键词： Genetic algorithms

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A calibration method of external parameters of 2D laser in rotary 3D scanning

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Optoelectronics Letters 2022年第12期18卷 730-736页

作者： WANG Shihao QIAO Zhifeng HUANG Jiahao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China

Aiming at the problem of external parameter calibration in the combined rotating three-dimensional(3D) scanning process of laser radar and turntable, a fast 3D data scanning and accurate equipment calibration method suitable for industrial application scenarios is proposed. The coordinates of the center of the circle in the laser radar coordinate system are obtained by fitting the coordinates of the center of the circle with the scanning arc. Through the standard size and rotation angle of the target ball, the coordinates of the ball center in the turntable coordinate system are obtained. The rotation parameter R and the translation parameter T of the minimum value of the data set conversion error function in the two coordinate systems are calculated. The experimental results show that the error between the converted data and the actual data is within 0.1 mm, which meets the actual work requirements. This calibration method has the advantages of high accuracy and strong robustness.

关键词： coordinate rotation parameter

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