Applied Mechanics and Materials Vol. 418

Abstract: Dynamic behavior is an important factor to affect the performance of surgical robot, especially force-feedback master manipulator. In this paper, a force-feedback master manipulator with parallelogram is developed, which can realize self-gravity balance; Compare the dynamics of the force-feedback master manipulator with parallelogram mechanism and another one without parallelogram mechanism. The result shows that the dynamical equation of the master manipulator with parallelogram mechanism is simpler than the one without parallelogram mechanism. This parallelogram mechanism can be generally used in all the mechanical design that is needed to simplify the dynamics.

Abstract: For conventional fuzzy path tracking controller need to manually updated the control parameters in order to get better tracking control deficiencies and the lack of robustness of the problem when the control object is disturbed. Parameters self-adjusting tracking algorithm is proposed based on Cerebellum Model Articulation Controller(CMAC) and fuzzy logic composite of the control. The CAMC control logarithm first charged with tracking through learning objects charged with approximation of the object model, to learning cycle worth to control corresponding to the amount of correction corresponding weight value according to the error between input and output of the system and set the learning rate. When the object or environment changes can make the control performance of the system is automatically adjusting within a certain range, since the role of the CAMC. Tracking experiments show that. The tracking control algorithm has high tracking accuracy and good robustness, is conducive to the overall optimization of robot path tracking.

Abstract: Global optimal path planning is always an important issue in mobile robot navigation. To avoid the limitation of local optimum and accelerate the convergence of the algorithm, a new robot global optimal path planning method is proposed in the paper. It adopts a new transition probability function which combines with the angle factor function and visibility function, and at the same time, sets penalty function by a new pheromone updating model to improve the accuracy of the route searching. The results of computer emulating experiments prove that the method presented is correct and effective, and it is better than the genetic algorithm and traditional ant colony algorithm for global path planning problem.

Abstract: In order to complete the complex operation in the dangerous environment and improve the efficiency and accuracy of industrial production. WiFi based remote control system platform is composed by the controlled mobile robot and control terminal such as PC. They communicate with each other through wireless network. The mobile robot constructs of four wheel drive. Microcontroller, sensor, wireless routing module, serial server and network camera are in the robot. Control terminal includes PC, control handle and other equipments. Using a proven and reliable wireless bridge, each network device can realize network communication with others. Based on the TCP/IP protocol, using socket programming technology, data communication can be achieved. Video capture uses the network camera. Through the test of the platform, bilateral operation with real-time haptic and video feedback are achieved. At the same time according to the real-time environmental information feedback, control terminal realizes the effective remote monitoring in the controlled end.

Abstract: The paper develops a fire detection system using mobile robots, and calculates the risk values of the escaping paths using Bayesian estimated method. Mobile robots contain two types moving in the platform. One is fire detection robot (FDR) to search fire sources. The other represents the people walking in the platform autonomously. The controller of the mobile robot detects fire source using flame sensor, and receives the motion command from the supervised compute via wireless RF interface. The mobile robot transmits ID code, position and orientation information, positions of fire sources to the supervised computer via wireless RF interface, too. We program the motion path of fire detection robots to search fire sources, and uses Gauss distribution function to describe the risk values of each fire source. The supervised computer uses Bayesian estimated algorithm to calculate the relation risk value of each cross point for multiple fire sources. In the fire condition, each FDR calculates shortest displacement from the people. The assigned FDR carries the people leaving the dangerous area. Then the user interface programs the escaping paths using A* searching algorithm for mobile robots. The mobile robot guides the people (mobile robot) leaving the fire area according the programmed safety escaping path.

Abstract: The energy in rechargeable batteries of robots was restricted by its capacity and chemistry combination. Since the energy was limited, the way to manage batteries charging/discharging characteristic and how it applies on robots load become crucial to prolong robots working hours and life. Phase Plane Analysis of Battery Series Balancing on Robot is proposed by switching super capacitor according voltage and current in need for batteries with matrix connection. To take servo motors frequently load shock characteristic in concern, the proposed structure able to absorb and release power instantly since the characteristic of super capacitor has a better performance than Lithium batteries.

Abstract: The convenient living is created by IT industry, on the other hand industries are from human production transform robotics automation. In the future, robots not only possess manufacturing functions but also have service property. However, if the interaction that robots with service property just only be entered with a single, it has limited functionality. The purpose of this study is investigating the conception of database into robots, load data from database and save processed data into database, it will lessen wrongs and improve speed of response. In this study, will be compared two programs, one is the input and output processing by program, the order one is add database with function of save and load. Result of the comparison apply to processing mode of robot. The experimental results show that use database model can upgrade speed and accuracy that stream transmit, it will provide more convenient automated service contribution.

Abstract: In order to establish the application possibilities in transmission parts in humanoid robot joints, wear of reinforced poly-ether-ether-ketone (PEEK) polymer bushes in friction against 7075 aluminium alloy cam plates is investigated. Additionally the transmission error (backlash) in robot joint was measured. The PEEK bush wear requires close examination as well as the input axis-output axis transmission error. Fatigue wear tests were performed on bushes under middle load at 3000 rpm motor speeds, while the cam plate oscillated in the humanoid robot leg joint evaluation system under 1300 kgfcm (132 Nm) load torque. The robot joint using PEEK bush achieved stable small backlash due to good friction perforance.

Abstract: This study demonstrates the application of the simple isosceles triangle concept to adjust the position of a humanoid robot from the lying to the standing position. In robot control, the stability of the standing posture of the robot is prioritized to the robot to efficiently perform expected actions, thereby enabling the robot to perform dancing or boxing motions. This study aims to achieve the complete transition of a humanoid robot from the lying state to the standing state by a simple control design.