Advanced Materials Research Vols. 479-481

Abstract: In view of subjectivity of friction clutch fuzzy comprehensive evaluation method, based on entropy technology, combined with fuzzy comprehensive evaluation method, three clutch before and after optimization are analyzed, correctness of optimization design is verified at the same time, which provides a theoretical basis for clutch design.

Abstract: In this paper, a novel design of cable differential joint for biped robot is proposed. The transmission of joint is cable and operates in differential mode. Then, cable differential joints are employed to the humanoid robot BHLEG for its torque redistribution, 3-Degree of Freedom (DOF) cable differential joint for hip, one DOF joint for knee, and 2-DOF cable differential joint for ankle. According to the distribution of human energy, torque redistribution of cable differential joint can reduce the power consumption of actuator. Simultaneously, the peak torque and size of actuator is reduced. The aim of this paper is to verify a simplest mechanism for biped walking with lower energy consumption.

Abstract: Electric turn-over bed is designed for those who have the needs of turning their bodies over in bed. The design is based on mechanism linkage and it comply with human body engineering principles. Virtual sample machine is established in ADAMS software, and we focus on making the minimum of the lifting-tilting angular acceleration of bed board during the turn-over. Based on the results of the experiments, optimizing design of turn-over mechanism is provided, and this design guarantees the best structure and size while the constraints are satisfied.

Abstract: This paper takes a new kind of planar 3-DOF parallel manipulator with actuation redundancy as the object of study. We utilize a design space to obtain the relationship between the link lengths of planar 3-DOF paralel manipulator with actuation redundancy and performance criteria based on the global conditioning index. The corresponding performance atlases has been plotted, the atlases are an important base of reference for the mechanism design of this parallel manipulator.

Abstract: Manipulability indexes have been extensively used as objective functions or constraints in the optimal design of robots, especially for the robots with pure active joints and the end-effectors only involving positioning or orientation. The moving platform of Gough-Stewart platform can involve both positioning and orientation, which leads to the conventional Jacobian matrix with entries bearing disparate physical units, then the established manipulability index based on the conventional Jacobian matrix has no physical meaning and is variable under a change of units. Based on a dimensionless Jacobian matrix, this paper established a new manipulability index, which has physical meaning and is invariant under a change of units. In order to design a good performance motion simulator, the extreme values of the new and old manipulability indexes of 2 commercial flight simulators in their reachable workspaces were found by random search method, respectively. From the results, the extreme values of the new manipulability index are in regularity, and can be used as references in the optimal design of the Gough-Stewart platform as motion simulator.

Abstract: In this paper, the design space is utilized to obtain the analytical relationship between the link lengths of planar 3-DOF paralel manipulator with actuation redundancy and performance criteria based on the global velocity index. The corresponding performance atlases has been plotted, the atlases are an important base of reference for the mechanism design of this parallel manipulator.

Abstract: In this paper, the hand movements of exoskeletons rehabilitation robot are analyzed from a practical point. According to the hand functions and its exercise restraints, the analysis includes: (1) a modular design of rehabilitation robot is finished; (2) positive kinematics equations of the manipulator position are calculated; (3) a simulation model of exoskeletons rehabilitation robot which can grab a cup is set up. Based on ADAMS, the model’s kinematics simulation is analyzed. The position, speed and acceleration of a manipulator at a certain moment can be got and the simulation curves of the lord joint variables rotation angles can also be output accurately. The exoskeletons rehabilitation robots scheme designs and the movement of the structure analysis can be verified reasonable and feasible. These may provide theoretical foundation for the future study.

Abstract: The article aims to analyze kinds of de-icing methods in detail with the present condition that the transmission lines often suffered serious damage with the deep ice over them. It also points out the development trend of de-icing technology in the next years and provides some advices for the de-icing research work of transmission line in our country.

Abstract: To solve higher-order elliptic gear manufacturing problems, this paper researches the pitch curves of higher-order elliptic gear and its transmission features, and creates the judgment method whether hobbing process can be applied. The four-axle three-linkage hobbing model for spur gear and the four-axle four-linkage hobbing model for helical gear are built by using tools (inclined) rack based on four-axle linkage strategy. This work provided the theory foundation for the manufacturing modular of higher-order elliptic gear in CNC System.

Abstract: The robot joints are usually rotational axis by two link joints, bionic features is not strong. The shortcomings of intelligent MR damper control multi-axis bionic knee can only provide resistance and certain sizes of regain momentum, cannot provide larger power, therefore this paper gives by the multi-axis four-bar structure, ball screw transmission hybrid drive multiaxial bionic active knee institutions. And analysis the human leg institutions and commonly used two-bar structure, solve the ball screw transmission installation location parameters. And established based on hybrid drive of the bionic active the knee's virtual prototype.