Applied Mechanics and Materials Vols. 670-671

Abstract: The research object was a 5-joint climbing robot in series, whose structure consisted of the body links and two symmetrical end-claws. The analysis theory of industrial robots was proposed to make systematical research on the static pose error. The kinematics model of static pose error is established, according to the kinematics D-H theory. Set the claw fixed on the climbing target as the base, and then the motion was transmitted to the other claw by the 5 joints. The equations of static pose error were derived. Calculations and analysis were made in MATLAB providing the theory reference to the research on error compensation and controlling. The results indicate that angle parameter error has great affect on the end-pose error of the robot which is in proportion to the angle parameters, so measures to reduce the angle parameter error need to be made to improve the precision of robot.

Abstract: In this paper, the cause of nc machine tool geometric error made a more detailed analysis, the system error compensation methods are summarized, and on this basis this paper expounds the applications of all kinds of error compensation method, in order to further realize the accuracy of machine tool software upgrade to lay the foundation.

Abstract: This paper involved designing and implementing a control system of lower limb exoskeleton. In order to combine the unity of the hardware with the flexibility of the software, a full digital control scheme integrated based on DSP processor was presented. By embedding advanced control strategies, the system can effectively control the exoskeleton joint motor. The proposed system can achieve accurate active or passive gait rehabilitation training along the trajectory planed and retrain their muscles and feeling of walking in their legs for paralysis patients at a lower cost.

Abstract: The aircraft needs to adjust its heading angle to go to the landing window after the loss of thrust. However, the actual height of the aircraft within the landing area may be higher than that of the landing window. In order to ensure a safe landing, a spiral drop is needed to lose height. Through some certain integer rings of spiral, the aircraft will fall into the landing window. On this stage of height loss, this paper proposes a method of height adjustment to make the aircraft land exactly into the window. This method can get the desired bank angle through calculating the height difference between the height in the landing area, where the aircraft is, and the height of the landing window. This bank angle ensures the aircraft just to go through exactly the landing window in integer spiral rings of falls. Finally through simulation, this paper tests the effectiveness of the method.

Abstract: PCB defect detection based on AOI is the key technology to realize the automation production of PCB, and the mechanical structure design of the recognition system is one of the most important technologies in the detection system, too. By modeling the main hardware of mechanical structure of the system, we have integrated the whole hardware structure of the detection system. In this paper, we firstly design the general structure of the PCB recognition system. Then, we propose five axis positioning platform and PCB installation device. Finally, the designs of PCB belt conveyor and image acquisition device are completed. By using the integrated hardware structure combined with software control, we can realize intelligent recognition for PCB detection.

Abstract: For multivariate and fuzziness of machine tool selection in CAPP system, fuzzy comprehensive evaluation has been proposed based on analytic hierarchy process. Fuzzy evaluating model system has been built. Through the synthetic analysis of the factors which influence on machine tool selection, fuzzy relation between the effecting factors is set up. Multivariate quantitative problems were solved well, and the uniqueness of machine tool selection is ensured. This method solved the problem of machine tool selection better and ensured the reliability & availability by running on the prototype system.

Abstract: In this study, partially disposable piezoelectric micropumps with separable design have been developed and discussed. The actuator, a rectangular piezo-plate, can be separated and be used repeatedly while the pump chamber is single-use to prevent infection. Thus, a low cost and waste solution for biomedical uses is achieved. Central bossed design of diaphragm was used to achieve self-return in supply mode. More, pump chambers with different depths and diameters have been made. The maximum flow rate, 15.03 ml/min, is reached under 60V actuated voltage.

Abstract: To improve the effect of existing inter-area oscillation control system in wide area network and multi-Agent system, the paper presents the control collaborative model of the inter-area oscillation based on multi-Agent and PMU for solving the problems presently such as centralized control and delay of wide-area power system in the control mode of the inter-area oscillation. It designs the monitoring strategies of three-level PSS signal, presents the collaborative process of suppressing the inter-area oscillation based on this model, and finally indicates the feasibility and effectiveness of the constructing the inter-area oscillation control system based on multi-Agent system by the digital simulation.

Abstract: The n-job, k-stage hybrid flow shop problem is one of the general production scheduling problems. Hybrid flow shop (HFS) problems are NP-Hard when the objective is to minimize the makespan .The research deals with the criterion of makespan minimization for the HFS scheduling problems. In this paper we present a new encoding method so as to guarantee the validity of chromosomes and convenience of calculation and corresponding crossover and mutation operators are designed for optimum sequencing. The simulation results show that the Sequence Adaptive Cross Genetic Algorithm (SACGA) is an effective and efficient method for solving HFS Problems.

Abstract: An advanced verification platfrom based on UVM architecture is implemented in this paper. This paper presents a hierarchical verification environment that is portable, reusable, and easy to extend, which is constructed based on an object oriented language named System Verilog. The verification platform is applied to verify a RFID (Radio Frequency Identification) tag chip which is compliant with the ISO/IEC15693 standard, communicates with a reader outside through a RF analog circuitry, completes anti-collision flow, selects card, authenticates based on SM7 algorithm and controls the writing and reading of EEPROM inside. According to the instruction supported by the tag chip is wide and variety, and further more it’s very rich in the command frame contents, the advanced verification platform which achieves the constraint-random stimulus generation, functional coverage and self-check mechanism, reduces the verification cycle, improves verification efficiency and ensures verification adequacy.