Papers by Author: Xiao Dong Zhang

Abstract: In order to realize the intelligentization of the multi-DOF handling manipulator in the industrial field, this paper presents a motion path control approach which combines the vision based identification and localization and C-space (Configuration space) based obstacle avoidance planning. The objects in the image captured by CCD camera can be extracted by gray processing, background subtraction, binarization, and edge detecting, the work pieces and the obstacles can be matched based on roundness and squareness, and then the coordinates of above objects can be obtained by parallax and coordinate conversion. In addition, both the source and destination coordinates in C-space can be obtained by mapping these configurations position and orientation into C-space, and the motion path can be automatically generated by variable step A* search in free area which is built based on solid manipulator model, then the handling work can be finished and obstacle avoidance can also be realized. The results of simulation and experiment demonstrate the scientificalness and effectiveness of this control approach.

Abstract: Hydraulic stretch forming is a very important technology. Punch press has achieved multi-station automatic processing in the press area, which has greatly improved the efficiency. However, the main domestic stretching machine is single-stretching hydraulic machine at present. Compared with punch press, hydraulic stretching machines take less space and have better security, but they make less efficiency and have lower degree of automation. Hence, in order to take the advantage of hydraulic stretching machines and enhance the automation level, studies on multi-position automatic stretching machine occupies an important position. This paper proposes a design scheme of Six-station Automatic Hydraulic Stretching Machine (SAHSM) according to the practical production. The overall 3D structure of SAHSM is designed based on Solidworks to prove the theoretical possibility of the program. Then modal analysis is operated based on FEA of the key components of stretching machine module to improve reliability of the product and overcome the disadvantage of the traditional checking method, the first two-order modes are obtained to prove the impossibility of the resonance. At last, ADAMS-based virtual prototype is analyzed to demonstrate the feasibility and effectiveness of the SAHSM dynamic design proposed in this paper

Abstract: To solve the problems of the control system of the working assistant robot for elderly such as lower efficiency and weak complicity. A kind of open architecture, modularity, extensible embedded robot control system is developed. The main contents include: Studied on a rich hardware interface and drivers, function easy-to-modular extended robot development platform. The paper presented the platform features, design concepts and system solutions of the robot control system and gave details of building approaches of the platform. On this basis, the functional modules of the robot were designed and implemented with the modular design approach. Finally a specified working assistant robot was created by loading the completed modules into the control system platform and some experiments were carried out on the robot system. Experiments results show that the system platform can be a convenient and effective way to develop multi-functional working assistant robot for elderly.

Abstract: In this paper, in order to help the growing number of elderly do away with the difficulty getting about, a walk-assistant robot for the elderly was designed with tactile and sliding senses that can perceive the movement intention and state of the elderly. And then, its key component, namely detection system of tactile and sliding sensor is designed in detail, including the layout of basic unit selection design of tactile and sliding sensor and the data acquisition system. In the end, a single channel experimental platform is built. The tactile and sliding senses of the elderly are detected and analyzed, and the design of detection system has been preliminarily verified effective. The results show the designed tactile and sliding senses detection system has the function to recognize the intention and state of the elderly movement.

Abstract: To solve the problems that the thermal deformation of the High-Grade CNC machine tool has much effect on accuracy and quality of the produces, the structure characteristics of the high speed motorized spindle is firstly introduced in this paper. Then one type of motorized spindle and supporting structure are selected, and the thermal boundary parameters are calculated. Much more the static and transient temperature field are simulated by using FEA software ANSYS in one working condition. At last, the main measures to improve the uneven temperature field and the plans to reduce the thermal deformation are put forward, which are provided some technical bases for the equipment to achieve the high-speed and high-precision machining.

Abstract: In this paper, the system of brain-computer interface driving neural prosthesis hand is designed using EEG signal as the control signal source. First, a whole design scheme of the system of BCI driving neural prosthesis hand is constructed and the method of EEG detection and recognition is introduced. Then, on the basis of prosthesis hand wildly used by amputees, a three-degree of freedom prosthesis hand is chosen as the control object through rebuilt according to system requirement. The serial communication channel is constructed and the recognition result of hand action is sent to the prosthesis hand controller through serial signal protocol. A prosthesis hand controller is designed using single-chip computer as its core, and the driving method of start-stop and steering of prosthesis hand motor is studied. At last, the purpose of the control of prosthesis hand is achieved by EEG recognition result from hand action.

Abstract: As the research object, the mobile robot chassis is designed. Firstly, the mobile robot chassis intensity design is processed in accordance with the chassis external load. According to the design results, the structure model is constructed in ANSYS, the strength and stiffness is checked and its structural dynamics characteristic is computed. Then, based on the numerical value analysis, the non-sensitive variable of the bodywork is analyzed and the optimization model of the body structure is established. The result of the Numerical Optimization proved that, the inherent structure frequency characteristics did not change significantly in the case of the body weight components reduced. The mobile robot platform is set up in the laboratory, the experimental results showed that the robot chassis design is reasonable, in line with the requirements of mobile robots.