Papers by Author: Chi Wu Bu

Abstract: A mobile grinding robot is present here for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding wheel. A mobile manipulator robot is built up with a mobile platform and a robotic arm mounted on it. The dynamic model of the robot is built, and the dynamic model of the two subsystems is derived from it, so the dynamic coupling items can be deduced. In order to discover how the coupling force influence the robotic manipulator, the SimMechanics model of the robot is built up and the simulation research is carried out by the built model. The results show the influence of coupling force on the manipulator.

Abstract: A robot system is present for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding tool. In order to realize the compliant control of the operation force, a robust impedance controller is present in the presence of coupling factors between the mobile platform and manipulator, modeling uncertainties and existing bounded disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold and the desired constraint force. Simulation experiment has been done and the experiment results show that, the presented control method can realize the robust control of mobile manipulator, and thus show the effectiveness and correctness of the designed controller.

Abstract: A 4-DOF joint type manipulator is presented for injection molding machines. The kinematic and dynamic models of the manipulator have been built. The simulation model has been finished by MATLAB/Simulink/SimMechanics. Results show the property of the trajectory tracking and control torque of the manipulator. It can provide basis for the structural design for take-out manipulators of injection molding machines.

Abstract: Twin-screw extruder is the main equipment for puffed food processing. Corn powder as the main raw material, barrel temperature, screw speed and feed rate of the extruder as the independent variables, specific volume of the extrusion product as the objective function, experiment has been carried out base on factorial design method. How the independent variables influence the objective function has been analyzed. Values of the operating parameters to get optimal specific volume has been gained.