Applied Mechanics and Materials Vols. 385-386

Abstract: Due to the urgent requirements of the current domestic robots development and technical talents, this paper has proposed a methodology on service robot development platform, which is used to achieve the target of basic teaching and stimulate students' creativity. The development platform is composed of mechanical structure, hardware and software control systems. The advantages of the platform are modular, openly designed and easily restructured. So, the robot technology can be developed on the platform. The platform integrates machinery, electronics, communications, computer technology etc. Especially, the control software adopts 3D simulation technology besides network management and remote control functions. It is well-known that Single-arm robot is representative in the development platform. This robot is taken for examples of the mechanical structure, control systems and software design methods during the development platform. The results have been proved that the development platform is beneficial to improve students' practical abilities, help employment and highlight advanced studies.

Abstract: Add attention mechanism into traditional robot stereo vision system, thus got the possible workpiece position quickly by saliency image, highly accelerate the computing process. First, to get the camera intrinsic matrix and extrinsic matrix, camera stereo calibration needed be done. Then use those parameter matrixes to rectify the newly captured images, disparity map can be got based on the OpenCV library, meanwhile, saliency image was computed by Itti algorithm. Workpiece spatial pose to left camera coordinates can be got with triangulation measurement principal. After a series of coordinates transformation workpiece spatial pose to world coordinates can be got. With the robot inverse solution function, the robot joint rotation angle can be got thus driver the robot to work. At last, experiment results show the effectiveness of this method.

Abstract: The performance of pan-tilt system is very important to substation inspection robot when performing inspection tasks, but the existing products cannot fully meet the requirements in this application field. To solve this problem, a pan-tilt system designed for inspection robot is illustrated in this paper, and the hardware and software designing process are discussed briefly. In order to verify the control quality of this system, an experimental test has been carried out, and the pan-tilt system designed in this paper has enough ability to help inspection robot fulfill inspection tasks.

Abstract: This paper presents a dynamic path planning method based on improved ant colony algorithm. In order to increasing the algorithm’s convergence speed and avoiding to fall into local optimum, we propose adaptive migratory probability function and updating the pheromone. We apply the improved algorithm to path planning for mobile robot and the simulation experiment proved that improved algorithm is viable and efficient.

Abstract: In this paper, the three-dimensional model of derusting spray painting robot is established with 3-D software SolidWorks; and the afinite element model of the vertical guide rail is set up with ANSYS. The static analysis is carried on, based on the motion simulation analysis result of MSC. ADAMS. Stress and strain distribution is intuitively obtained under the worst condition, which provides basis for improving strength design.

Abstract: Using five-axis equipment for NC machining of free-form surface is an effective way to improve machining quality and machining efficiency, the surface shape and the five coordinate of the complexity of the machine tool movement led to its tool path planning technology is difficult. The paper aimed at the five coordinate NC machining of free-form surface and puts forward a five-axis NC machining method based on triangular facet model. The research based on triangular facet model, using constant scallop height method to calculate the step distance and improve the cutting efficiency to a great extent. In the process, tool path is generated, combining with the method of configuration space interference free.

Abstract: Three core content of CLIPS expert system are researched on, namely rule base, fact base and inference engine. Using the production rules, in accordance with CLIPS syntax express the knowledge of cutting parameters, and according to the CLIPS syntax of the fact base, the rule base and the inference engine, knowledge bases of the cutting parameters expert system is built. In Visual C + + programming environment, combined with the CLIPS dynamic link library, by the interactive communication between Visual C + + and CLIPS, the software, cutting parameters expert system, has been developed successfully while has laid a good foundation for the selection of the cutting parameters to optimize.

Abstract: This document explains the CAN-bus protocol working principle and main content of vehicular networks (CAN) interference factors. Vehicular CAN network communication method has been widely accepted by the global auto makers. The CAN protocol abolishes traditional addresses coding, and instead to communication data block coding. The method can make the different nodes at the same time to receive the same data. How to prevent the interference of CAN become a new subject of practical. This paper discusses the vehicular CAN-bus to prevent interference pattern from two aspects of hardware, software.

Abstract: This article studied one kind of automobile brake which guards against holds the dead simulation experiment to install the brake flowing tubing head pressure examination system, the control design plan, and has conducted the thorough research to the ABS brake flowing tubing head pressure change process as well as the vehicle speed change relations.This system uses the flowing tubing head pressure sensor, transforms after A/D, computer processing, through the monitor by the curve form demonstration braking system flowing tubing head pressure change, and simultaneously, through carries on the logic analysis to the input flowing tubing head pressure signal, the computer sends out the corresponding instruction, broadcasts separately turbo-charged, guarantees presses with the reduced pressure animation.Thus realized the brake flowing tubing head pressure real-time examination, curve demonstration, animation time delay broadcast process.

Abstract: According to the five-axis CNC machine tools, the main components are put to flexible and a rigid-flexible virtual prototype has been established. The influence on the machine tool stability is analyzed. The reliable theoretical basis has been provided for the structure optimization. Results are shown that simulation analysis based on a rigid-flexible coupling model is more accurate to show dynamics characteristics of machine tools.