Paper Title:
Force-Pose Nonlinear Mapping Algorithm for Assembling Micro-Mechanical System
  Abstract

In order to precisely get the assembly statement when two micro-mechanical parts are touching, assembly methods mapping the nonlinear relationship between micro-force/torque and assembling pose are studied. The research platform is 12 degree-of-freedom (DOF) microassembly system with large-motion-range and precise-motion-accuracy. After assembly mechanism of micro- mechanical system is introduced, assembly methods utilizing both three-dimensional (3D) search algorithm and Back Propagation (BP) neural network are brought forward on the basis of micro-force/torque information feedback. In addition, two different neural network algorithms -- gradient descent and Levenberg-Marquardt (L-M) -- are further applied in the assembly process. Comparison among above algorithms was carried out in experiments, and the results indicated that BP neural networks were more reliable than 3D search algorithm in the relationship mapping process while the convergence rate of L-M algorithm was much faster than that of the gradient descent.

  Info
Periodical
Advanced Materials Research (Volumes 314-316)
Chapter
Micro-Machining Technology
Edited by
Jian Gao
Pages
1829-1835
DOI
10.4028/www.scientific.net/AMR.314-316.1829
Citation
X. Ye, Z. J. Zhang, X. F. Zhang, "Force-Pose Nonlinear Mapping Algorithm for Assembling Micro-Mechanical System", Advanced Materials Research, Vols. 314-316, pp. 1829-1835, 2011
Online since
August 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Tian Pei Zhou, Wen Fang Huang
Abstract:In the process of recycling chemical product in coking object, ammonia and tar were indispensable both metallurgy and agriculture, so the...
1945
Authors: Ji Gang Wu, Kuan Fang He, Bin Qin
Abstract:Aiming at the subpixle edge detection of speckle in autofocus for micro-machine vision, a novel accurate subpixel edge detection algorithm...
228
Authors: Wei Feng Wang, Jun Tao Yuan, An Lin Zhang, Meng Li
Chapter 5: Road and Bridge Engineering
Abstract:For present-day bridges.cable tensions test is a vitally important job in course of construction.The tensions condition of cables plays an...
1117
Authors: Na Rui Bu, Run Shan Bai, Zhang Zhen Li, De Zhong Lin
Chapter 6: Vibration, Noise Analysis and Control
Abstract:Analysis of slope stability based on BP neural network, the analytical model of slope stability is built. Aiming at the defects that BP...
1263
Authors: Xue Feng Wu, Yu Fan
Chapter 6: Mechatronics
Abstract:A new algorithms for parameters of an image irregular boundary circle parameters is presented, which is based on “Curve-Approximate Method”...
639