Papers by Keyword: Mechanical Arm

Abstract: In the current industrial environment, products’ life cycles have become shorter and the need for more sophisticated molds with free-form surfaces has drastically increased. However, the polishing process of a product needs the exceptional skill of an experienced master. It is difficult to increase productivity if the manually operative process is not automated. So, the main objective of this project is to reduce manpower and time consumption of the polishing process in the industry. Which leads to increases in the productivity rate. This project deals with the automation of polishing work by the use of an industrial mechanical arm with a conveyor. Since polishing work, which takes much time, requires experience, patience, and skill, it is manually performed by skilled workers. This project aims at rationalizing such difficult polishing work by introducing a mechanical arm with conveyor and CAD technology. The arm can be equipped with a polishing tool, i.e., Buffing wheels, also known as mops, are either made from cotton or wool cloth and come bleached or unbleached. In addition, the project is to achieve a robust process that results in a consistent surface finish, the roughness of which can be specified and controlled.

Abstract: This paper studies the joint type palletizing robot arm, using MFC application platform designed a four-axis palletizing robot arm control software. Software in the paper we design has friendly interface, the operator through the input palletizing basic information, and then introduced with the steering gear control and DSP implementation of serial communication programming, and system hardware circuit was designed by palletizing robot arm control system simulation tests were conducted to verify system functions.

Abstract: mechanical arm is an essential replaced tool in the operations under heavy, dangerous and harsh environment (such as nuclear radiation, toxic and hazardous, etc.), but also a key technical equipment in the development of the country. Mechanical arm motion system is a very complex time-varying, strong coupling, highly nonlinear system. This paper presents a model of the robot visual tracking. Through the computer vision track the mechanical arm motion process to make the mechanical arm movement to become more intelligent, more environmentally friendly. Experiments show that the method can complete the mechanical arm intelligent trajectory tracking, and the tracking effect is better. 1 Introduction

Abstract: The mechanical arm is a multi-input multi-output, highly non-linear, strong coupling complex system. Active Disturbance Rejection Controller is of good performance and relatively simple algorithm. Artificial Bee Colony algorithm is a new swarm intelligence algorithm based on the behavior of honey bees. The linear ADRC was adopted to realize the moving control of the mechanical arm and the controller parameters were chosen and optimized by ABC algorithm. Simulation results are satisfied and well prove the feasibility and validity of the algorithm.

Abstract: This paper took the coal mine detection robot model TUT-CMDR for research. First of all, the three degrees freedom mechanical arm was installed on the robots body. By the same time, the theory of Euler angle and D-H method were established to analysis the posture and position of robot body and mechanical arm. After the integration, the centroid coordinates on the robot in any location was calculated. In the next place, mechanical arm angle change and the size of the load effect on both forward obstacle-surmounting and the barrier height were discussed. In the end, the three dimensional relationship diagrams of barrier height, barycenter, pitch angle, arms' swing angle and mechanical arms swing angle were drawn and the results of mechanical arm gesture planning were compared with the initial state. The theory will provide basis for robot obstacle-navigation control.

Abstract: For the particularity of the environment in nuclear industry, this paper puts forward a modularized mechanical arm with postpositional drive. On the basis of structural characteristics and kinematic constraints, the kinematics of robotic arm is analyzed. The D-H method is used for describing the workspace, based on considering the kinematic constraints, the forward kinematics model is achieved. Using an improved search method, the inverse kinematics solution is obtained. Through the simulation on data processing software, the validity of positive kinematics model and inverse kinematic solutions are verified. Finally, the trajectory planning is completed on the three-dimensional modeling platform.

Abstract: With the continuous development of control technology, various areas of human activity, such as aviation, aerospace, exploration, production and other control techniques are demanding for increasingly higher requirements, one of which is on the remote control technology needs, especially remote control robot or facilities produced in accordance with the requirements to make certain human activities, productions and make them ordered to complete various tasks. We believe that with further improvement of automation technology and the advancement of human exploration, there will be more and more areas introduced to the remote control, and there will be new requirements for quality and performance of remote monitoring.

Abstract: It's a type of wheeled robot based on the AT89S52 MCU, through the body and infrared emission source docking judgment target position, the differential signal to control the motor speed to improve the direction; used ultrasonic obstacle avoidance module continuously detect the front object distance; used the error compensation principle of probability and statistics on the mechanical arm debugging and correcting, so that the system may realize to the target automatically crawl.

Abstract: In order to reduce the complexity of the mechanical arms positive and inverse kinematics equations solving process, find the closed analytical solutions of the inverse kinematics equation quickly and accurately, establish four degrees of freedom mechanical arm positive and inverse kinematics equations based on the four degree of freedom mechanical arms analysis theory and the theory of homogeneous transformation matrices. The kinematics equation gives the relationship of space and posture position between the mechanical arms motion artifacts and the end executor, enabling robotic mission movement according to the predetermined position sequence. In this paper, with a kind of multi-functional mechanical arm as an example, describes the way of building the kinematics model of the articulated robot, which have important reference value to the development of this type of robot system.

Abstract: In order to improve the efficiency and practicality of trajectory planning of the mechanical arm, making the trajectory smooth and continuous, the method of B-spline curve of trajectory planning is adopted. Considering the three contraint conditions: the speed, the acceleration and the change rate of acceleration, the time interval of each curve is optimized using PSO (particle swarm optimization) algorithm. Simulation results show the PSO algorithm can reduce the time interval of each curve. This means that this method can effectively improve the operating efficiency of the mechanical arm.