Applied Mechanics and Materials Vols. 278-280

Abstract: A novel underactuated finger mechanism based on linkage and spring elements is proposed. The kinematic characteristic of the mechanism is analyzed to obtain the fingertip displacement and relationships between three joints. Considering the motion feature of human finger and actuation efficiency of the driving motor, the dimensional design of the finger mechanism is formulated as an optimization problem. The numerical simulation result shows that the finger mechanism can not only realize the anthropomorphic coupling motion, but also envelope objects with various shapes and sizes self-adaptively.

Abstract: In the paper, by analysing the inverse kinematics of the 3-RPS DOF parallel mechanism, establish the calculation equation between rotation angles and reference point position vector, deduce the length formula of each electric cylinder. With the help of MATLAB, calculating the corresponding rotation angles of the arbitrary reference point and the length of each electric cylinder, which is within the motion of the platform, then getting the kinematic posture, which proved to be correct and feasible.

Abstract: Multi-robot SLAM is a technology of multi-robot simultaneous localization and mapping cooperatively in unknown environment. We use information filters algorithm to solve multi-robot SLAM problem. Information filers use information matrix to describe the SLAM uncertain information, and multi-robot SLAM information matrix contains all robots poses and all the features observations which observed by all robots. We set up the multi-robot models, motion models and observe models, and set up feature-environment to simulation in computer. We set threshold to divide the features which are observed by robot k on current time, one part of features are used to relocalization as active maps, and the other features are used to update information matrix and information state. The simulation data shows that information filters can keep the accuracy of the robots poses, and keep the motion update and the observation update in the constant range, the algorithm improve the effective of multi-robot SLAM.

Abstract: This paper presents the development of a Motion Planning Module for object manipulation, which is a part of previously developed robotic grasping and manipulation controller. The Motion Planning Module consists of a sensing processor, decision making module, instinctive controller, motion planner and a planned motion controller. Details related to the design and modelling of the motion planning module have been offered. Results of experiments on human grasping rule, suitable for the grasping and manipulation controller, have been discussed. The output of this research may be useful to those developing motion planning strategies for their grasping and manipulation controllers.

Abstract: This paper builds two temperature field models by using Inverse Distance Weighting and Kriging algorithms respectively and compares the accuracy of these two models. Then it analyzes the factors that influence the accuracy of temperature fields, which include the interpolating methods that are used, the accuracy of the plane coordinates and the number of measured points.

Abstract: With the deep analysis on the rotational speed measurement and the error existed in the measurement process at present, this paper introduces a high precision rotational speed measurement system based on infrared sensor and microcontroller. This system combines with improved measuring method. The sensor is an infrared photoelectric sensor, and uses its characteristics of the autocollimator ensured accuracy of measurement. The photoelectric sensor outputs weak voltage pulse signal when it receives the reflected infrared light. And then the signal is processed by double-reversed amplification and twice pulse shaping circuit. The system uses the relevant logic functions of a D-type flip-flop to control two 16-bit microcontroller chip timing/counter turned on and off simultaneously, and calculates the rotation speed. At last, the result is displayed on LED by Microcontroller. This measurement system has high accuracy, fast sampling speed and wide measuring range.

Abstract: Technology about cycle sign’s center detection in industry photogrammetry was reviewed. Two mayor algorithms were analyzed theoretically and experimented including edge-detection method and intensity-weighted average method. The result shows that edge-detection method is vulnerable to noise and intensity-weighted average method is robustness which is more suitable to be used in actual works.

Abstract: A SSNS (simple sensor network sniffer) is used to analyze and evaluate the Wireless Sensor Networks (WSN) effectively. SSNS is designed to monitor IEEE 802.15.4 protocol frame, which based on the Ethernet. Unlike the existed monitoring system, our design is much simpler and needs less resource. It is analyzed in this paper that the monitor network framework, time synchronization, and analysis program design. The results show that SSNS works stably, and can real-time display the frame monitored and reflect the dynamic change of WSN.

Abstract: A simple physics experiment method for measuring number of micro power electronics is designed in this paper. Based on simple mechanical balance theory and optical reflection theory, the method accurately transforms the measurement of electronic number into the length measurement and deduces the formula for measuring micro-power. And the electronic number can be attained with the power of one single electron. The experimental error can be controlled to less than 100e.

Abstract: A simple device for precise measurement of electronic charges is designed in this paper. The electriferous ball deflect at an angle when placed in a strong electric field and kept balanced. The optical maser then deflect at the same angle through the sensor. The laser light reflect between the two mirrors up and down for many times, enlarging the displacement of the ball. Then the electronic charges of the ball will be precisely attained through geometric and mechanical relationships.