Applied Mechanics and Materials Vols. 278-280

Abstract: This paper presents a new method of robot path planning which is based on improved adaptive genetic algorithm. On the foundation of building the model in planning space by link-graph, we first gets the feasible paths by using Ford algorithms ,and then adjusts the points of every path by using improved adaptive genetic algorithms to get the best or better path. The simulation experiment shows the advancement of the method.

Abstract: Aircraft fuel tank leakage is a very common maintenance problem. A snake-like robotic detector was designed for troubleshooting leaks of fuel tank which has strong constraint and is also explosive. The robot has several flexible sections based on bionics, and it can achieve actuation redundancy by independently pulling its four driven cables to carry out a bending motion of two-degrees of freedom. A solution framework was established among the cables length, angle and tip coordinate of single section by projection curvature and coordinates transformation. The decoupled kinematics equation between the multi-sections was deduced based on the analysis of single-section kinematics. Finally the correctness of the kinematics method was demonstrated by prototype testing.

Abstract: For efficient and higher productivity it is vital that along with the smart production processes the packaging and materials handling processes become faster, more reliable, and operator friendly. This paper presents an upgrade of a control strategy for a large and complex industrial robotic palletiser intended to reduce downtime during palletiser breakdown by allowing faster fault tracking and resolution in the event of a breakdown. The recently modified control strategy has dramatically reduced the palletiser down times by virtue of reduced control complexity and better status feedback that allows maintenance personnel to restore palletiser function faster than was previously possible. This in turn resulted in improved palletiser availability and reliability. Ultimately, it has substantially improved the maintainability to debug and restore palletiser operation, which is extremely beneficial for situations when operator concentration is not at its best, such as during a night shift.

Abstract: Operation is the most important component in surgical treatment. From the conventional open operation with big incisions, said “Big scar, Big surgeon”, to the small invasive surgery, such as laparoscopy, surgeons always try them best to pursue the fabulous operation for the patients. It means that the sufferer receive the optimized prognosis, while suffering from the smallest invasion. It is not the impossible dream since the combination of surgery and engineering. Due to the interdisciplinary cooperation, the medical robot comes to the vision of current medicine. Since the robotic technology shares the superiorities of stability and accuracy, there is no doubt that the medical robot is the key to help the surgeons to open the fabulous operation’s door. In this paper, we will focus on the application of the medical robot in general surgery.

Abstract: Wheeled mobile robots’ kinematic constraints and kinematic modeling are presented. Determining how nonholonomic and holonomic constraints limit system mobility in a different way is the main objective. The paper analyzed the relation between controllability of the system and corresponding constraints. It’s shown that constraint properties can be determined by the controllability of the mechanical system. To get this, accessibility distribution is employed. Finally, example to clarify these results is presented. Based on the same procedures, modeling and constraints analysis of other robots can also be acquired.

Abstract: Extremity exoskeleton of power assist robot can help people support the load and enhance the durability of bearing the load. This paper mainly introduces the mechanical structure about extremity exoskeleton of power assist robot that is used in the forest. The environment of the forest is complex, and the forestry production is always done by human beings. The work is very heavy, so we want to develop a kind of device to help them. If this device can be promoted to forestry production, it will greatly improve the production efficiency. This device represents the most cutting-edge technology in the field, doesn’t delay the reaction of body movement by the sensors on its body, and is more powerful.

Abstract: Through the analysis of the structure of the existing Bachiation Inspection Robot, the thesis summed up the existing shortcomings, put forward an improved structure which makes the robot grasp the line accurately in the process of obstacles in mountainous forest areas, in order to ensure the stability of the body, and avoid the additional torque generated in the process; for the improvement of the structure, the thesis established positive and inverse kinematics research on the Bachiation Inspection Robot through the kinematics model established in D-H method; finally, designed a fuzzy controller to achieve the body’s ascension (down) movement, built program diagram using Simulink tool of MATLAB, analyzed the stability of the fuzzy control system. The end of the thesis further verified the feasibility of structured of the robot through virtual simulation technology, proved that the robot can meet the more steady work requirements in crossing the obstacles.

Abstract: Here, we consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed virtual coupling control laws. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. And we also prove some walking rules maybe true.

Abstract: The kinematic and dynamic behaviors of lifting mechanism for a forging manipulator are investigated. The forward kinematic equations are established. Then, based on the modular approach combined with equivalent dynamic ideal, the dynamic equations are deduced. Moreover, all the equations have been verified by the simulation on a virtual prototype with the ADAMS software and the experiments on a forging manipulator. The results show that the calculated values are well in agreement with the real measurements. Finally, both kinematic and dynamic models are analyzed, and it is found that the force produced by the kinetic energy has very weak effect on the results in comparison with the gravity. The results provide the foundation of gripper’s position control in automatic open-die forging process.

Abstract: A vehicle's door is frequently used by a driver or passengers. When a vehicle is parked at incline, it is not easy to open or close doors because of gravity force and external disturbances. Moreover, there might cause a safety problems for a weak or a disabled person. Therefore, there is increasing demand for automation of vehicle's door. In this study, an automatic swing door mechanism for a passenger car is proposed by using a parallel force/velocity actuator (PFVA) based on a Dual-Input-Single-Output (DISO) framework. PFVA has two distinct actuators. One is force actuator(FA) with a low reduction gear train, the other is velocity actuator(VA) with a high reduction gear train. It can be effectively used in combining velocity control with force compensation application. First, we formulated a kinematics and a dynamics of automatic swing door system with PFVA as input, and then a simulation environment was developed for a feasibility test by using a kinematic and a dynamic model. Finally, a velocity control with force compensation was performed by using the developed simulation environment. VA was faithfully followed a reference velocity trajectory for opening and closing a door, and FA was able to compensate a gravity torque and an inertial disturbance torque coming from the VA.