Advanced Materials Research Vols. 383-390

Abstract: Robot interaction involves in the robot sociality, on the basis of bionics, robotic technologies, psychology, network and system science etc., after the basic characteristics of the robot interaction and implementation discussed, a design for coupling to heterogeneous robot for motion control is introduced. The dynamic coupling method of heterogeneous robots has been implemented by adopting the inheritance, polymorphism and template technologies.

Abstract: CNC machine, especially CNC milling machine, is the main production equipment in the industries of machinery, iron and steel, automobile manufacturing and so on. However, the errors are the main constraints to the processing quality and the precision measurement of CNC machine. Based on the multi-body system theory, the article models the error of Siemens CNC milling machine. In terms of the analysis of the error model, it is argued that the processing precision of CNC milling machine can be improved through controlling and compensating the error in the process of installation and manufacturing.

Abstract: An underground mining personnel locating system which takes nRF24L01 to establish data base-station for communication was demonstrated in the paper. The location and identification of the E-tag wearing mining personnel can be accomplished through the signal transmit-receiving of every base-station’s transceiver. The concerned information will be transmitted to the control station through the data substation to accomplish the personnel and equipment location, thus enhancing the underground mining safety production, disaster relief ability and management efficiency.

Abstract: This paper mainly introduces the mechanical structure and parameters of Chinese massage robot, establishes coordinate system for the whole structure and on this base, establishes equations of motion for manipulator by D-H method. Then this paper makes a planning for trajectory of Palm kneading which is one of ten massage techniques, realizes it using interpolation method, and takes a simulation to the trajectory by MATLAB software at the end.

Abstract: Motoman SV3X manipulator was used to pick fruit and chosen as research object. Under the instance of known space coordinates of fruit and space position and pose of erect obstacle, a kind of multi-joint angle computation and path planning method for Motoman SV3X was proposed. Firstly, several sets of joint angles were computed according to relative space position between fruit and erect obstacle. And then, one set of joint angle was chosen as terminal angle of path planning. Finally, algorithm was used to plan a obstacle-avoiding path from start angle to terminal angle. The method solved the computation problem of multi-joint angle, and has universality for the problem of avoiding erect obstacle for fruit-picking manipulator. Simulation tests under the environment of Matlab showed that solved joint angles of manipulator can both make Motoman SV3X avoid erect obstacle and end-effector reach preconcerted position with given position error, and validated the correctness of the path planning method.

Abstract: Vehicle running at high speed if affected by crosswind or steering handling may spin or drift out since the yaw moment produced is not big enough to stabilize it. In order to prevent these dangerous situations, a fuzzy direct yaw moment controller is designed in this paper, since it is simple and suitable for nonlinear system. This vehicle stability control system is based on model following control method. The side slip angle and yaw rate which indicate the vehicle’s stability and handling performance are chosen as the control variables. The response of the bicycle model is selected as the reference value. In order to evaluate the performance of the controller, simulations of lane change and J-turn maneuver are carried out. The results show that the stability and handling performance of the vehicle are improved.

Abstract: In the previous literature about RF generator, Efficiency of output of RF generator can reach 60-70 percent. In this paper, a new 500W RF generator with high efficiency and high stability is designed and fabricated for plasma applications. The efficiency of a power amplifier in the RF generator is improved by using Class-E amplifier. The Class-E power amplifiers described here is based on a load network synthesized to have a transient response which maximizes power efficiency even if the active device switching times are substantial fractions of the AC cycle. For that circuit, the author measures 73 percent efficiency of output of RF generator at 13.56MHZ and 478W output from DE375 MOSFET. The main reasons of power dissipation mainly are analyzed, and some measures are taken to improve them by the optimization principles and experimental results and the efficiency of the power output can reach above 70 percent.

Abstract: A design scheme is proposed in this paper for heat metering remote transmission system based on the Xbee Pro module. Wireless network technology is used in the scheme. A dynamic monitoring, control and transmission network is composed by the wireless network system and the computer in the monitoring and control center. The real-time data detected from heat metering system can be transmitted and monitored. Xbee Pro module and MSP430FW427 single-chip micro-computer are used in the nodes or terminals of the system. The self-provided functions and modules of the components are taken into sufficient consideration in the design to make the system performance as superior as possible and the system structure as simple as possible. In this way, the transmission system with low power consumption and simple structure is achieved.

Abstract: This paper considers the optimal rejection with Zero Steady-State Error for nonlinear systems with step and ramp composite disturbances. Firstly, the nonlinear system model with composite disturbances is transformed into linear system with disturbances, then we construct an augmented linear system without disturbances. With respect to the quadratic performance indexes of infinite horizon, consequently, the problem of disturbance rejection with zero steady-state error is transformed into the problem of designing an optimal controller for the augmented plant without disturbances, which can eliminate static error. Thus the disturbances can unfold of the signal through the Taylor series for the form of polynomial function of time, and obtain optimal controller design approach to eliminate the general disturbance. Finally, a practical example is given to illustrate the effectiveness of the theory.

Abstract: A novel moving-magnet linear motor was introduced which can produce high-frequency short stroke reciprocating motion, and it’s suitable to apply in linear compressor. The equivalent magnetic circuit model was established and the expression of driven force was given, then the impact the motor parameters made to motor performance was analyzed. The motor’s finite element model was established, the features of the air-gap magnetic field were studied, and the impact the length of the permanent magnet made to the motor stroke was analyzed. The foundation of the motor’s further optimization was laid by the results.