Applied Mechanics and Materials Vols. 635-637

Abstract: A representation of robust nonlinear controller is proposed for ammunitions space trajectory control, which is combined adaptive dynamic inverse with sliding mode control. The control law design accomplishes 3-D trajectory tracking using attitude angle as control input, and includes the parameter update to correct force model errors, also sliding mode switch portion to resist winds. A transition reference trajectory which is easy to implement for tracking is designed, according to the actual location and speed of start control point. Simulation results show the proposed control strategy get accurate tracking performance of excellent dynamic characteristics in large uncertainties.

Abstract: The structural synthesis is the primary and the most important issue in the process of mechanism creative design. In the paper, Firstly, select a 1T symmetric parallel mechanism, and the constraint and mobility of the branches can be analyzed. With the method of linear combination of the screws, the new branches are constructed. Then, using the measure of separation and merger, parts of the limbs of the parallel mechanism can be replaced by equivalent coupled structures, so corresponding symmetric coupling mechanisms with equal mobility are synthesized. Finally, solving the constraint screws of the branch of the coupling mechanism, in order to prove the hybrid mechanism is full-cycle or not.

Abstract: To ensure stability of warp tension during weaving process, the paper presented a warp tension control system which uses two permanent magnet synchronous motor (PMSM) drive let-off and take-up mechanism respectively. Based on analyzing factors influencing warp tension, a warp tension mathematical model was established. The paper proposed a tension adjustment arithmetic based on internal model control (IMC) method. The method has only one adjustable parameter which decides performance of the system. The simulation results show that the warp tension control system based on IMC has a fine effect on tension stability of warp and it is significantly superior to conventional PID control in terms of robustness and immunity.

Abstract: A novel structure design method to improve the output performance in course of modular robot is presented in this paper. The new design parameter of modular joint is defined based on analysis of existing joint. Output torque and Max speed is increased by means of different Brushless DC-Servomotor and harmonic reducer in limited interspace. The repeated positioning accuracy is not reduced when output torque and Max speed are increased. And parts of the process parameters is improved. The new design parameters show that the design method is feasible.

Abstract: In order to realize automatic picking Chinese prickly ash fruits, We designed a special picking device with a five degrees of freedom mechanical arm based on machine vision. The mechanical structure was designed and the mechanical arm working range was analyzed. The experimental results show that the recognized positioning accuracy is ±10mm, the ratio of the fruit string minimum radius and the recognition radius was 0.95.The picking success rate was 93% when picking range distance was 200-800 mm, and the empty rate caused by false identification goal was 5%. The maximum error of the 3d coordinates which were calculated was 15 mm.

Abstract: In order to improve the structure, section shape and inner flow performance of micro-channel in Micro-fluidic system, a novel fabricating process of bio-micro-channel (BMC) is proposed based on the softening and forming property of glass material. By the manipulation of heating, pulling and blowing, a bio-micro-channel is made from glass capillary with specific functional units. A vitreous bio-micro-channel fabricating device (VBMCFD) is presented with working models of uniaxial and biaxial tension. Using common borosilicate glass capillary as experimental material, the affecting parameters of micro channel inner diameter, outer diameter, thickness and functional unit key parameter are tested, such as heating voltage, heating time, pulling velocity, pulling displacement and inner pressure. The bio-micro-channel is fabricated with micron scale inner diameter, about 5μm, and spherical functional unit. The experimental results show that the prototype of VBMCFD is characterized by reliable process, simple structure, low cost, etc. The vitreous bio-micro-channel is fabricated with circular-cross-section straight channels and uniform functional units, which are the key characters of biologic micro-channel.

Abstract: Kinematics analysis of mechanism refers to analysis for pose、speed and acceleration of mobile platform of spatial 3-RPS parallel mechanism. In this paper, mathematical model of spatial 3-RPS parallel mechanism is primarily built, and the close loop equation is adopted for the positional posture analysis of the mobile platform, then the positional posture of mobile paltform is acquired. Finally, kinematical simulation will be acquired by software Adams, which makes sense in kinematical performance of spatial 3-RPS parallel mechanism.

Abstract: This paper presents the multi-body dynamics modeling of a spherical mobile robot based on Kane method. Based on the kinematics model, the Kane method is employed to analyze the motion of three main parts of robot. A two order dynamics model of spherical mobile robot is obtained. To validate such model, some simulations are fulfilled in both Mathematica and RecurDyn environments. Simulation result shows that, the modeling of spherical mobile robot is correct and effective.

Abstract: This paper presents a neural network compensation strategy for the path tracking control of a spherical mobile robot BHQ-2 including a pendulum with two degrees of freedom. Based on our previous work, we propose a simplified method to decompose the dynamics model of BHQ-2 to be two sub-dynamics models. Applying the fuzzy guidance control method and a neural network compensation strategy, a path tracking controller for robot BHQ-2 is designed.

Abstract: Abstract: When UAV is implementing the simultaneous localization and mapping (SLAM) problem, the environment where UAV is flying exists unavoidable solid or moving obstacles because of its unknown character, which threatens the flying safety and the completeness of SLAM mission. To conquer this problem, an improved artificial potential field algorithm is proposed to simultaneously accomplish obstacle avoidance of UAV and SLAM mission based on a potential field function containing the distance from UAV to the goal and from UAV to the obstacles and the covariance of features. This algorithm is simulated and tested based on the built UAV plane motion model. The result shows that the proposed algorithm is effective to avoid the obstacles while implementing SLAM for UAV.