Papers by Keyword: Jacobin Matrix

Abstract: To the world population aging serious problem, a research on assistant robot is more and more attention. Assistant Robot is a device that is similar to human exoskeleton. This device is worn by the operator, and keep consistent with the human walking and replace body to undertake cargo load. In this paper, based on the method of vector product, a 3-DOF assistant robot’s motion is analyzed. Jacobi matrix of robot motion is calculated. According to the experimental data from human walking, the assistant robot’s displacement and velocity vector and variation are simulated, and its variation are also analyzed. In theory, it proved that the velocity and displacement curves are continuous and smooth. Besides, it also provides references for control system design of the assistant robot.

Abstract: This paper introduces the basic principle of the microscopic visual servoing system based on image and summarizes systematically about the researching situation of microscopic visual servo based on image at home and abroad. From three aspects, which are Jacobin matrix calculating, automatic focusing technology of microscopic lens, and microscopic image fusing technology, it proposes some key problems to be urgently solved about the microscopic visual servoing based on image.

Abstract: A new style micro-force sensor based on a 3-RRR parallel micro-motion stage which had been researching recent years was introduced in this paper. The sensor can be used in micro-force and micro-torque detection in precision engineering. The result and experience from 3-RRR micro-motion stage research bring this new idea. In the first place, the branched chain structure in motion stage needs to be simplified and improved to adapt to the requirement of sensor. Secondly, a mechanics model is constructed according to the sense organ structure. The Jacobin Matrix which is the most important matrix on parallel structure is analyzed and deduced. The relationship among key dimension is worked out through isotropy parameters. With the theory analysis, the final structure of sense organ is determined. The elastomeric sensor body was pasted with electrical-resistance strain gauges, after it was manufactured by Wire-EDM. Strain gauges employed Wheatstone bridge and amplifier AD620 to produce measuring data. Experiment has indicated that the new sensor is competent for micro-force detecting in X, Y direction and micro-moment around Z direction with high stability and reliability.