Applied Mechanics and Materials Vols. 278-280

Abstract: Sini Decoction is a powerful prescription which has a curative effect. Its significant effect had been attracted by the ancient medical attention. In order to provide better services in health care and provide better clinical efficacy, it is necessary to reveal the pharmacodynamic material basis of Sini Decoction for certain disease. We conducted computational simulation of Sini Decoction in treating coronary heart disease based on computational chemistry to reveal treatment mechanism and pharmacodynamic material basis. The results show that Sini Decoction’s effect on coronary heart disease is based on the active ingredient groups. Hundreds of small molecules act upon coronary heart disease associated with different targets, this makes the coronary heart disease accept systematic, comprehensive prevention and treatment.

Abstract: In the paper, a novel 2-DOF (degree of freedom) plane translational parallel manipulator with passive universal joints and three legs is presented. Firstly, the 2-DOF translational parallel manipulator which has the spatial structure and high bearing capacity in the direction perpendicular to the kinematics plane is described. Then, the kinematics analysis of the 2-DOF parallel manipulator, which include inverse and forward solutions, are studied in detail, and the Jacobian matrix of the parallel manipulator is also derived based on it. Lastly, to improve the stability and bearing capacity further, the symmetric mechanisms with four legs and passive universal joints are constructed by adding a leg in parallel. The proposed 2-DOF parallel manipulator not only has the simple structure, but high stiffness especially in the direction perpendicular to kinematics plane for its spatial arrangment and passive universal joints.

Abstract: Generally a crane robot and a load are connected by a flexible wire. The load swings simultaneously when the crane robot runs because of its inertia. So it is difficult for us to realize high accurate trajectory tracking of a crane robot. In order to achieve automation and high security of crane robot operation, we should get the accurate data for lifting wire. Thus it is necessary to design a wire angle detection system of 2-DOF gantry crane robot which is simple, low cost, good for real-time processing, suitable for both indoor and outdoor uses and feasible for the accurate data for lifting wire simultaneously.

Abstract: In this research, a slave robot is proposed and integrated with an electrorheological (ER) haptic master for minimally invasive surgery (MIS). A novel mechanism of the slave robot with a gimbal joint is developed to realize 4-DOF motions. The proposed slave robot consists of two arms, gimbal joint and fixed bar. The haptic master can generate a repulsive force as well as position motion for the slave robot. The manufactured slave robot and haptic master are remotely connected with each other via TCP/IP communications. Both repulsive force and position tracking control are evaluated in experiment.

Abstract: The continuum robot features continuously deformable backbone as opposed to traditional serial or parallel robot. It has good potential application in diagnose of gastrointestinal diseases and minimally invasive surgery. Aimed at the advantages of continuum robot, a colonoscopic robot with continuum structure is developed. In order to realize the control of colonoscopic robot, a control system with distributed structure is developed. The personal computer of this control system is constructed as upper level computer and the motion controllers based on DSP or ARM are used as lower level computer. The structure of colonoscopic robot is introduced in this paper. The kinematic base of control system is proposed. The control system, including the overall structure, the hardware and software, are analyzed respectively.

Abstract: An indirect adaptive fuzzy controller is proposed to control the LEGO Mindstorms NXT Two-Wheeled robot in this paper. The dynamical model of the robot, LEGO Mindstorms NXT, is derived from Lagrange of kinetic and potential energies. Based on the developed model, two fuzzy systems are first used to approximate the grey functions in the developed model, and then the adaptive fuzzy controller is designed. Adaptation laws for the above fuzzy systems are derived from the Lyapunov stability analysis. According to the stability analysis, the developed control system guarantees that the system tracking performance and the error convergence can be assured in the closed-loop system. Finally, we apply the proposed fuzzy controller to balance the LEGO Mindstorms NXT two-wheeled robot.

Abstract: Due to the constraints from weight, volume and other various factors, mobile robot hydraulic drive system uses single pump and multi-actuator hydraulic drive structure. The high efficiency of the structure is the key to the successful application in hydraulic robot. The traditional servo valve control system possesses good position control ability, but it has the problem of bilateral throttling loss and great valve port pressure decrease. This paper proposes a hydraulic position control system based on high-frequency switching valve, which controls valve port opening and closing, through the PWM signals, so as to control flows, guarantee the position control precision as well as reduce the required system pressure, thereby achieving the effect of energy conservation. By using AMESim and Adams co-simulation and simulating the real stress environment, the feasibility of energy-saving in high frequency switching valve circuit has been verified.

Abstract: To realize moving forward of quadruped robot by static walking, a cycloid was chose to be foot trajectory to generate a static gait with the inverse kinematics theory. Then the gait was simulated and testified with the dynamics simulation software named RecurDyn. According to the simulation results, the shortage of cycloid foot trajectory was pointed, that the unequal velocity of support feet was the key cause of body lateral shift in the process of simulation. So the cycloid foot trajectory was isokinetic improved and the foot velocity was made sure to be continuous. It was turned out to be that lateral shift phenomenon was eliminated with the improved static gait.

Abstract: A tms320dm642 and wireless fidelity based fire monitoring robot is designed. Flame features, both static and dynamic detecting algorithm, combine with long wave infrared (LWIR) is equipped to achieve the goal of monitoring fire. When the suspected fire event happens, Fire warning message will be sent to remote terminal through the wireless LAN automatically. Infrared image of the fire can be transmitted through the wireless network under the control of remote terminal. As LWIR camera can even look through the dense smoke of fire, fire source will be located accurately, rescuing and fire fighting work will carry on better and with less injury.

Abstract: Electromechanical coupling model of the parallel manipulator is nonlinear, strong coupling, multiple input and multiple output. In this paper,the Matlab SimMechanics module was used in the mechanical system simulation and the mechanical model of 2UPS - RPU (including serial input parallel manipulator) platform was established. At the end of the platform location,the angular velocity is measured and satisfactory results is obtained.