Advanced Engineering Forum Vols. 2-3

Abstract: The dynamic precision of linear guideway is very important performance for mechatronic equipments. The dynamic errors for the linear guideway of machine tools can reduce machining precision. In according with the advantage of high-speed response, high detection accuracy and non-contact measurement, position sensitive detector (PSD) is widely used in industrial dynamic measurement. In this paper an approach for measuring the motion stability based on PSD is proposed. The measurement system based on PSD is designed and the measurement errors are analyzed. The measurement results show the approach can measure accurately the motion stability of guideway in two dimensions with features of high precision.

Abstract: A novel 165Kg spot welding robot is introduced, which is independently developed by China. The Newton-Euler approach is used to derive the dynamic equation. Then, entity model of the robot is built up with Solidworks software. The motion of the robot is planned by the position, velocity and acceleration of all the joint. The first three joints, which bear most of the payload and the own weight of the robot, are set with maximum acceleration during the accelerating/ decelerating process. According to the planned trajectory, dynamic simulation is carried out using Solidworks. The driving torques of each joint are obtained. From the dynamic analysis, we find the position yielding the maximum driving torque while the robot is moving with the maximum payload and the maximum speed. The moment of inertia is a predominant influence in the causation of big actuating torque.

Abstract: The classic multi-mode negative impulses input shapers can suppress the residual vibration of the multi-mode system effectively. But when these several frequencies bandwidths and amplitudes of vibration modes are greatly different, the time delay and the suppression performances of input shapers are decreased. However, the hybrid multi-mode negative impulses input shapers can overcome the disadvantage. The hybrid double-mode negative impulses input shapers of a 3-DOF parallel manipulator and are constructed and compared with the classic multi-mode negative impulses input shapers. And the numerical simulations are shown out, for different frequencies bandwidths and amplitudes of vibration, and the hybrid multi-mode negative impulses input shapers can increase the total suppression performance of input shaper.

Abstract: According to the human playing of ping-pong racket, this paper originally analyzes the multi-fingered grasping and manipulating of ping-pong racket and points out the three aspects have to be studied to make sure the grasp is stable and the manipulation is dexterous. Two of those three aspects are studied respectively: the least needed number and the distribution of degrees of the multi-fingered hand is determined at first; then the kinematic planning for robotic hand grasping ping-pong racket is studied, and a new method is proposed to selected the right solution in the planning. The simulation result in the end proofs that the kinematic planning and the method are right and effective.

Abstract: The problem of traversing obstacles for a six-wheeled rocker bogie lunar rover is presented. Based on the analysis of forces and rover movement track angle, a criterion to determine traversing obstacles ability for the rover is developed to predict whether the robot can overcome current obstacle. The concept of traversing obstacles ability index is presented, which can be used to describe the trafficability of the rover quantificationally. The caculated results of wheels driving torques by this method can be used as a reference for confirming appropriate driving torque with the wheels during they challenge the terrain. A numerical example is given to illustrate our method.

Abstract: This paper describes a development of an autonomous two-wheeled vehicle robot. The model of the two-wheeled vehicle using steering control is derived. The control systems are designed by linear quadratic regulator and linear quadratic integral method. Stabilization is achieved by measuring roll angle and roll rate and controlling the steering torque. The experimental results and simulation results show stable running control of the two-wheeled vehicle robot and coincident with each other. The approach is validated through these results.

Abstract: This paper presents the development of a small experimental rocket for the National Launching Campaign held by the DGAEM in France since 2009. The campaign organized by CNES was conducted by the French Association of Planete Sciences. The rocket design was developed by Space Club Gifu and Sasaki Lab at Gifu University. The main mission is the autonomous navigation of a quasi-satellite maneuvering with a parachute and two propellers to a target point using GPS data. The rocket is 2m long, 150mm in diameter, weight 11.4kg and made entirely of CFRP. With a solid rocket motor provided by CNES, the rocket can reach an altitude of 840m. Onboard are a pressure sensor, accelerometer, GPS and two video cameras. The video cameras begin monitoring at launch. The acceleration, velocity and position were recorded for later comparison to simulation data. While the rocket launch and quasi-satellite deployment were successful, strong winds prevented the latter from maneuvering to the target point. All components were recovered intact and all recorded data were available for analysis.

Abstract: According to the characteristics of jumping locomotion, a solution of Tetra-state Hopping Robot (for short: THR) actuated by Shape Memory Alloy Spring (for short: SMAS) is presented in this paper. This article establishes a mechanical model of the jumping robot and analyzes the kinematics and the dynamics of the mechanical model. Lagrange method is applied to analyze the dynamics the mechanical model. Meanwhile, a preliminary explanation of the THR flipping phenomenon during the take-off and flight process is conducted from the perspective of momentum moment.

Abstract: Haptic feedback force is often suggested to complement visual information through the sense of touch to improve efficiency and safety in the teleoperation of mobile robot. The efficiency and safety of teleoperation are strongly dependent upon how haptic feedback is presented to the operator. In this study a haptic feedback scheme for teleoperation of mobile robot is developed and its effectiveness is experimentally verified. Experimental results show that the developed scheme improves the quality of mobile robot teleoperation in terms of improvement in efficiency and safety.

Abstract: It is still important and difficult for a biped robot to optimally generate the stable walking trajectory, because the mechanical limitations of the given biped robot should be also considered carefully. In this paper, we assume that different walking trajectories enable to be generated according to various set of weights of torques loaded in each partial joint (e.g., ankle, knee, and hip joint). We present a method for generating various bipedal walking trajectories corresponding to a set of weighted torques. For this purpose, Tchebychev method and sequential quadratic programming are employed to optimize single cost functions consisting in a set of weight torques. Some notations and constraints introduced in [1] are used and modified in this paper.