Advanced Materials Research Vols. 201-203

Abstract: In this paper, according to the wheeled mobile robot with three wheels, the motor driving system of robot is researched. Based on robot kinematics and dynamics, a motor driving system of wheeled mobile robot is designed and developed. The results of experiments show that the system is steady and reliable at work, and it is very useful in practice.

Abstract: In this paper, the force control of a constrained one-link flexible arm is fully studied based on a linear distributed parameter model, including the internal damping of Kelvin-Voight type. A new input induced by the joint angular acceleration and a virtual contact force output generated by a parallel compensator are defined. The inherent limitations due to the non-minimum phase nature of the noncollocation from the joint torque input and the tip contact force output can be thus resolved. Therefore, the transfer function from the new input to the virtual contact force is not only driven to a strictly minimum phase but also stable condition. The integral control is then used to improve the performance of the overall closed loop system. Also, the asymptotic tracking of a desired contact force trajectory can be achieved with the internal stability. On the other hand, the exact solutions in the infinite-dimensional system are reached using the infinite product formulation. Numerical performance results are provided to verify the effectiveness of the proposed approach in term of fast, stable and robust performance.

Abstract: First, the branched-chain of parallel mechanism was Classified according to reciprocal screw theory. Then, the introduction of variable topology mechanism theory, with the characteristics of parallel mechanisms themselves, the definition and basic variable topology means of variable topology parallel mechanism were given. With evolutionary theory, the method to design lower-mobility parallel mechanisms of non-asymmetric was proposed based on variable topology mechanism theory .Taking 3-RPS as ideal mechanism and topology synthesis was carried out, besides 2-RPS mechanism were analyzed. The introduction of variable topology mechanism theory provided a theoretical basis and innovative approaches for the synthesis configuration of Lower-mobility parallel mechanisms of non-asymmetric.

Abstract: Though research and developmengt of manipulator was used in optical working, Similitude and difference were compared in realization of act and design of industry automatization with mechanism of human being and animal, Concept of conform and difference of simulation route was put forward, How was method of nbspprecision point Location achieved, It was explained to quiddity of bionics and characteristic and relation of intellectualized development of robots; Similitude and fuzzification of that movement were studied and imitated, Action was trained again and again it have contact with feedback of signal; A sort of way was brought toward to development and implement of artificial intelligence of robots.

Abstract: A kind of automatic welding machine and its microcomputer control system were designed in this paper. The mechanical system includes a floating welding workbench, the two-dimension mechanism and the indexing mechanism. There are two choices for the control system, based on PLC or IPC separately. The automatic welding machine can be applied to train hook buildup welding. Experiments showed that reasonable buildup welding was achieved, and the automatic buildup welding equipment can improve productivity and work conditions.

Abstract: The path planning is one core aspect of the research of robotics. In order to solve the problem that the welding robot path planning in the production line of BIW is inefficient, this paper analyzes the problem of the welding robot path planning and abstracts it into the TSP model. Finally, the optimal welding path is calculated using Ant Colony Optimization (ACO) based on the MATLAB7.0 environment. The result shows that this algorithm is an accurate and effective tool for welding path planning.

Abstract: As the perfect fusion of intelligent robotics and China's classic culture, Opera robots, two omni-directional wheeled robots were made in my research centre. They can smoothly fight with each other just as Opera actors. A novel trajectory tracking method based on robotic dynamics model and wavelet sampling theorem for Opera robot is proposed in this paper. The formula for calculating torque of each driving motor when the robot moves along spline curves is studied in detail. By experiment, the robot can be derived smoothly to track predetermined trajectory.

Abstract: To meet the needs of a variety of applications, and solve the problem that some existing transmission equipment and terminal equipment can not be interconnected, a new fast method for clock recovery in digital communication is presented. Based on the basic theory of digital multiplexing technology, using FPGA large-scale integration technology, the design of the new system in asynchronous multiplexing at low rate is realized. In this system, 1 to 8 branchs low-speed data can be adaptive data multiplexing , and multi-frame structure can be set discretionarily. The design process and the realizing process to be adaptive are elaborated in this paper. Finally, test indicators are given, which meet the expected designing requirements.

Abstract: A modeling method for steering resistance moment in small tracked robot is studied. First of all, Classical steering resistance torque modeling with uniform resistance is studied in low speed and high speed. Then the steering resistance torque modeling while lateral resistance and the pressure are linearly distributed is proposed. After that steering resistance moment modeling based on the stress-strain theory is used to describe the robot's steering resistance above different soil. Among them, the lateral resistance is nonlinear distribution. The driving experiments in three different vehicle terramechanics models are simulated and analyzed. Steering resistance moment modeling based on the stress-strain theory is closer to the actual working state of the robot. This modeling method for steering resistance moment has advantage on optimization and study in and control algorithm.

Abstract: The new type of excavator based on multi degree-of-freedom controllable mechanism is a typical nonlinear multi-input-multi-output (MIMO) system, of which the closed chain constraints make it with strong coupling relationships. Consequently, the classic PID control method is not able to satisfy the control demands of the system. This paper introduces a fuzzy adaptive PID control method focusing on the improvement of the control accuracy of the excavator based on fuzzy logic inference according to the actual response of the control system, aiming at the automatically online adjusting of the PID parameters. A simulation study is also proposed. The correctness and validity of the project is verified by comparing the simulation results of the fuzzy adaptive PID controller with those of the classic PID controller. Results show that the former one designed for the new mechanical excavator has shorter settling time, and with less overshoot, than the latter one.