Applied Mechanics and Materials Vols. 303-306

Abstract: The dynamics equation of mobile welding robot is established. In controller design of the mobile welding robot, the non-holonomic constraint is introduced that limits the size of the transverse sliding and avoid the coordinates of the instantaneous center of rotation is larger than the wheelbase, to ensure the robot’s stability. Based on kinematics oscillator, the effect of uncertain dynamic parameters is considered. According to the Lyapunov stability criterion, the control algorithm is deduced. Simulating results by MATLAB software shows that the design of the control algorithm is stable, convergent and effective.

Abstract: Aiming at the load requirements, positioning accuracy and workflow of building panels installed robot, developed a 6 DOF of a series-parallel hybrid structure installed robot. According to the structural features of parallel mechanism to the installation manipulator, designed a robot attitude sensing system based on the inclination and laser ranging sensor information feedback; according to the characteristics of the building environment, proposed the position detection method of panels to be installed based on the structured light vision; constructed the control system of the installation manipulator, and used teaching mode to achieve robot control and system calibration. The experimental data prove that, the control and sensing systems of panels installed robot, overcome the complexity of the building environment and the diversity of installation object, and can achieve the automated installation of building panels.

Abstract: In order to improve the safety, high efficiency and stability in the process of the crane hoisting, this paper applied binocular stereo vision technology which has developed into a rather mature stage recently. Binocular stereo vision system could efficiently identify and accurately position various targets, so that it could decrease the crane driver’s working intensity, reduce security risks and improve the production efficiency. In order to experiments was convenient, developing the crane robot system could simulate the processes of crane work, establishing the relevant system structure model for the motion. According to the three-dimensional measuring principle of binocular stereo vision, this paper is proposed to identify and position for the targets, and experimental results show the error is ±10mm.

Abstract: In this paper, a novel continuum robot for search and rescue is presented. A forward kinematic model is derived by product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, based on the differential kinematics using the chain rule, the overall Jacobian of the robot is established. This approach can be generally applied to various continuum robots, regardless of the specific actuation system used.

Abstract: As for the DC/DC part in high-effiency LED driver with constant current output, this paper presents the circuit based on LLC resonant topology. The principle of the LLC resonant converter, design process, and the influence of different key parameters to its performance are also prensented. Design considerations and experimental results are presented for a 200W LED driver prototype which demonstrating good performance and the efficiency of the LLC resont converter can be reached above 95%.

Abstract: Magnetic flux pinning takes place between the high-temperature superconductors and magnets which can form non-contacting linkages between the individual components. This interaction is proposed for use in in-orbit assembly. This paper develops a flux pinned revolute joint which fits for the reconfiguration of modular spacecraft and details the reconfiguration mechanisms of the novel joint. Moreover, the process of reconfiguration is simulated via the rigid body dynamics. Furthermore, two flux pinned modules are constucted to confirm the feasibility of the designed flux pinned rovolute joint for reconfiguration on a testbed.

Abstract: Existing household aluminum foil roll machine-controlled cutting machine, finished product rate is low，raw materials waste. To improve product quality, we have the original equipment, based on the design transformation, to reach the job performance requirements.

Abstract: A novel flexure hinge named right circular corner filleted half hybrid flexure hinge was advanced. Based on the Castigliano second theorem, the compliance formulas of the novel flexure hinge were formulated. The theoretical calculations and the finite element simulations were performed simultaneously, the similar results were obtained which indicated the correctness of the compliance formulas. The influence of the geometric parameters of the novel flexure hinge on its performance was analysed. Compared with right circular corner filleted double hybrid flexure hinge, the compliance and sensitivity to the load of the novel half hybrid flexure hinge were better than that of the right circular corner filleted double hybrid flexure hinge. All of the above analysis results indicated the novel flexure hinge are more suitable for application in the compact structure and large displacement.

Abstract: This paper presented a kind of robot self-protection system which was a combination of photoelectric sensor and ultrasonic sensor. In this study, signals were gathered by using the complement of ranging of photoelectric sensor and ultrasonic sensor. Then the signals were sent to MCU to achieve multi-sensors information fusion.With such function, an accurate robot self-protection command was made as to avoid obstacles, to judge narrow highland and to prevent dropping. The experiment results validate its good self-protection function.

Abstract: The reliability of MEMS has been a key issue for its application. Micro-cantilever is a basic structure of MEMS, which has a notable influence on its reliability. Basing on quasi-static theory, the response characteristic of the slanted Micro-cantilever under shock load is studied. Assume that the slanted micro-cantilever is a cantilever-mass system, whose maximal displacement and stress has been analyzed. Furthermore, the correction of theoretical analysis is validated by ANSYS simulation. Finally, experiments are carried out to validate the cantilever’s characteristic of shock response. The results can be used to guide the failure modes analysis of MEMS, and provide rules for MEMS reliability design.