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Dynamic analysis of the spherical joints of a C60-configuration robot 5

Dynamic analysis of the spherical joints of a C60-configurat...

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2024 5th International Conference on Advanced Materials and intelligent Manufacturing, ICAMIM 2024

作者： Ma, Shuaizhao Liu, Fucong Wang, Haoran Tian, Baokaidi Tianjin University of Technology and Education Tianjin300222 China Tianjin Intelligent Robot Technology and Application Enterprise Key Laboratory Tianjin300222 China Co. Ltd. Tianjin300453 China

Aiming to address the problem of traditional robot joints not having the ability to perform three-degree-of-freedom omnidirectional movement, the C60 configuration robot spherical joint is designed. Dynamics analysis is performed to achieve precise control of the rotational motion of the spherical joints. Firstly, the spherical joints of a C60 configuration robot with three degrees of freedom and omnidirectional motion capability are designed. Next, the principle of motion of the spherical joint is analyzed. Then, a mathematical model is established for the coordinate position of the permanent magnet and PCB solenoid coil. The drive unit that can provide magnetic force for the target direction is selected, and the robot's spherical joint voltage control strategy is proposed for experimental validation. It is shown that the spherical joints of the C60 configuration robot have perfect symmetry, achieving a lightweight design and omnidirectional rotational motion in three degrees of freedom. A voltage control strategy for robotic spherical joints is proposed to improve response speed, reduce control complexity, and realize efficient and high-precision control. 2025 Published under licence by IOP Publishing Ltd.

关键词： Spheres

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Optimization design of welding parameters of key components of car body based on finite element 5

Optimization design of welding parameters of key components ...

引用

2024 5th International Conference on Advanced Materials and intelligent Manufacturing, ICAMIM 2024

作者： Li, Lina Fa, Ping Sun, Hongchang He, Chuan Qiao, Zhiliang Department of Automobile Engineering Tianjin Transportation Technical College Tianjin China Huaiyuan County Vocational and Technical School Anhui Province Bengbu City China School of Mechanical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Intelligent Robot Technology and Application Enterprises Tianjin China

The characteristics of the welding heat source, the morphology of the molten pool, the formation mechanism of the weld, and the amount of heat input have an important and direct influence on the welding quality and performance of the joint. At present, the empirical curve that depends on the experimental results or the calculation formula of statistics cannot comprehensively evaluate the impact of welding on the mechanical properties of the whole structure. Therefore, this research is based on the finite element analysis technique of Simufact Welding software and analyzes the evolution of the temperature field, stress field, and the deformation of the residual stress in the welding process, and provides a powerful tool and a lot of support for welding technology. The aim of the study is to develop an accurate numerical simulation method for the weld temperature field and a dynamic simulation analysis system for the weld stress field and deformation. 2025 Published under licence by IOP Publishing Ltd.

关键词： Residual stresses

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Study on the Active Movement Capsule robot for Biopsy 17

Study on the Active Movement Capsule Robot for Biopsy

引用

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

作者： Guo, Shuxiang Huang, Fang Guo, Jian Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory Application in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extention 391 Tianjin China

ISBN: (纸本)9781728164151

In this paper, a novel biopsy robot is proposed. In order to solve the problem of the single function of the commercial capsule endoscope, this paper proposes a novel biopsy capsule robot driven by an external magnetic field. The module includes two radial magnetized magnetic rings and a biopsy mechanism. Without considering the addition energy consumption, using the coupling effect of the three-axis Helmholtz coil and the robot's built-in magnet, the crank slider mechanism converts the torque acting on the magnet by a uniform rotating magnetic field into the cutting force during biopsy. The magnetic switch used to control the switching between the motion function of the anchor biopsy robot and the anchor biopsy function. Finally, the functional modules in the pipeline of anchored biopsy robot is verified by experiments. The results show that the biopsy robot can realize the robot's anchoring in the intestine while performing the biopsy function. The realization of the biopsy capsule robot has important medical diagnostic significance. © 2020 IEEE.

关键词： Biopsy

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Research on trajectory tracking of wheeled mobile robots using fuzzy PID based on TD3 5

Research on trajectory tracking of wheeled mobile robots usi...

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2024 5th International Conference on Electrical technology and Automatic Control, ICETAC 2024

作者： Wang, Kai Deng, Sanpeng Zhang, Xiangling Cao, Yucong Zhang, Shiping Institute of Robotics and Intelligent Equipment Tianjin University of Technology and Education Tianjin300222 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300350 China Tianjin Bonus Robotics Technology Co. Ltd. Tianjin300350 China

This study addresses the issues and limitations of trajectory tracking for Non-holonomic wheeled mobile robot (NWMR) under traditional PID control, including low accuracy, high response delay, poor robustness, and stability concerns. We propose a strategy that combines the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm with fuzzy PID control to optimize PID parameter tuning for more precise robot trajectory tracking. Fuzzy logic is introduced to adjust the PID controller parameters, making them more adaptive and robust. The bidirectional long short-term memory (BiLSTM) network enhances the time series processing capability of the Actor-Critic network, improving the system's state representation and prediction abilities. A curiosity-driven exploration method is employed to increase policy diversity and avoid premature convergence. Simulation experiments using the ROS Noetic and Gazebo platforms demonstrate that this method significantly outperforms traditional PID and TD3 algorithms in terms of trajectory alignment, training time, accuracy, and stability. © Published under licence by IOP Publishing Ltd.

关键词： Three term control systems

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Detection of Positional Accuracy Degradation of Industrial robots Based on Kinematic Analysis

Detection of Positional Accuracy Degradation of Industrial R...

引用

2023 IEEE International Conference on Electrical, Automation and Computer Engineering, ICEACE 2023

作者： Yang, Kongping Qi, Yuming Xie, Bing Deng, Sanpeng Mo, Kaidi Institute of Robotics and Intelligent Equipment Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Science and Technology Tianjin China School of Technology Beijing Forestry University Beijing China

ISBN: (纸本)9798350309614

Aiming at the problem of positional accuracy degradation of industrial robots in long-term operation, a positional accuracy degradation detection method of industrial robots based on kinematic analysis is proposed. Firstly, the accuracy of the joint angles collected from the robot control cabinet and external high-precision sensors is compared and analyzed based on the MD- H method;secondly, the positional degradation detection model of the industrial robot is established based on the principle of differential kinematics;and finally, an experimental platform is built based on the KUKA KR 3 R540 industrial robot and experimental validation is carried out. The experimental results show that the root-mean-square error between the detected position error and the actual position error is 0.049 mm, and the method can effectively detect the position accuracy degradation of the robot. © 2023 IEEE.

关键词： Accuracy degradation Industrial robot MD-H method Position error

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Bearing Fault Detection Based on Correntropy and Hermitian Wavelet Transform

Bearing Fault Detection Based on Correntropy and Hermitian W...

引用

International Conference on Wireless Communications, Networking and applications (WCNA 2022)

作者： Li, Hui Dai, Kun Qi, Yuming School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Automation Engineering Tangshan Polytechnic College Hebei Tangshan063299 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300222 China

ISBN: (纸本)9789819939503

Correntropy uses kernel function to map Euclidean space data to reproducing kernel Hilbert space. Correntropy is a local measurement which is very useful to process non-zero mean, non-Gaussian, with large abnormal outliers. Correntropy not only characterizes the statistical characteristics of random temporal signals, but also depicts its time configuration. Correntropy can not only restrain the Gaussian noise and abnormal outliers in the signal, but also effectively extract the intrinsic periodic components in the random temporal signals. Hermitian continuous wavelet transform (HCWT) is a kind of complex wavelet transformation, which can effectively extract the singularity of the random temporal signals. The advantages of correntropy and Hermitian wavelet are taken into account, and a bearing fault diagnosis method is put forward which is on the basis of Hermitian continuous wavelet transform amplitude and phase diagram of correntropy. The experiments have proved that correntropy based Hermitian continuous wavelet amplitude and phase plot afford a maiden robust solution for rolling element bearing defect detection and identification. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Roller bearings

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Robust Regression Based on Correntropy Induced Metric

Robust Regression Based on Correntropy Induced Metric

引用

International Conference on Wireless Communications, Networking and applications (WCNA 2022)

作者： Li, Hui Zhang, Yuping Dai, Kun School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Automation Engineering Tangshan Polytechnic College Hebei Tangshan063299 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300222 China

ISBN: (纸本)9789819939503

A robust regression model based on correntropy induced metric is theoretically researched within the frame of information theoretic learning. The basic notion of mean square error criterion is briefly reviewed and the correntropy induced metric based regression is introduced. Correntropy induced metric based regression model is robust under the Gaussian or non-Gaussian noise disturbance which can achieve both more accurate approximation and sufficient robustness. Simulative experiments of linear and non-linear regression are carried out and compared with the mean square error based regression methods. The experimental results are also provided to confirm the superior advantage of the proposed correntropy induced metric based regression model. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mean square error

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Design and experimental verification of microgravity simulation system for lunar sampling manipulator 7

Design and experimental verification of microgravity simulat...

引用

7th International Conference on Electromechanical Control technology and Transportation, ICECTT 2022

作者： Chen, Ming Zeng, Lei Ni, Wencheng Zhang, Yun Zhao, Jianfei Jiang, Shuiqing Beijing Key Laboratory of Space Intelligent Robot System Technology and Application Beijing Space Vehicle General Design Department Beijing China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300458 China

ISBN: (纸本)9781510656659

According to the requirements of ground test task of lunar sampling manipulator, a microgravity simulation system based on suspension method is designed and developed. The system is mainly composed of Position tracking system, Force compensation system, Suspension system, Posture measurement system and Integrated control system. The simulation system has completed the ground test and ground verification of lunar sampling manipulator, which has been successfully launched, and successfully completed the on-orbit mission. The microgravity simulation system of manipulator has good universality and expansibility, and can be applied to the ground test of other space manipulator products. © 2022 SPIE

关键词： Microgravity

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A VR-based upper limb rehabilitation hand robotic training system 15

A VR-based upper limb rehabilitation hand robotic training s...

引用

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

作者： Guo, Jian Li, Nan Guo, Shuxiang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

With the development of science and technology, virtual reality technology has been applied to various fields. Virtual reality technology is proposed into rehabilitation medical treatment, which can avoid dull rehabilitation training, improve the initiative of patients' rehabilitation and improve the overall effect of rehabilitation training. In order to help patients with hand grab function training, we proposed a virtual reality-based upper limb rehabilitation hand training system. In this paper, we can obtain the bending angle data of fingers and force feedback through the upper limb rehabilitation hand robot with CyberGlove. We established the high precise 3D model, set up the mapping relationship between CyberGlove and the virtual hand to realize the human-computer interaction. Based on the previous work, a VR-based upper limb rehabilitation hand robotic training system is proposed and has collision detection and force feedback, which makes users feel more realistic when interacting with objects in the virtual environment. The relevant verification experiment confirmed that virtual hand and upper limb rehabilitation robot interact well, which increases the interest of training. © 2018 IEEE.

关键词： Patient treatment

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Performance evaluation of a magnetically actuated microrobot with screw jet motion in vertical plane 15

Performance evaluation of a magnetically actuated microrobot...

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

作者： Fu, Qiang Guo, Shuxiang Guo, Jian Tianjin Key Laboratory for Control Theory Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa761-0396 Japan

ISBN: (纸本)9781538660720

Various kinds of magnetically actuated microrobot have been proposed to deal with the performance evaluation in medical application and industry application. In this paper, we discuss the mechanical structure design and the control method for obtaining the optimal performance of the microrobot in fluid condition. We analyzed the magnetic field to obtain the relationship between the magnetic flux density and the region of interest in the three-axis Helmholtz coils to adjust the position and posture of the microrobot which is controlled by our proposed magnetic actuation system. This result indicated that the magnetically microrobot has characteristics of multi-functions, controllability, stability. © 2018 IEEE.

关键词： Image segmentation

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