Advanced Materials Research Vols. 655-657

Abstract: Global approximation for a complex “black-box” model (like a simulation model) with large domain or multi-dimensions can be applied in many fields such as parameter experiment, sensibility analysis, real-time simulation, and design/control optimization. For multi-dimensional global approximation, MARS (multi-variant adaptive regression splines) has unquestionable predominance over other common-used metamodel techniques. However, MARS has its own inevitable drawbacks which limit the range of its applications. This paper proposes a multi-dimensional global approximation method based improved MARS .Some tests and applications are given to prove the performance of the method.

Abstract: When design program of 2D Laguerre Diagram using traditional incremental algorithm, the data structures of program is very complex and the secondary development of program is difficult, in addition, it need speed much computer memory. In order to solve the above problems, the scheme of dynamic data-exchange between hard disk data file and memory structural array is designed, which using outside file in hard disk as storage space and using structural body as intermediate variables. During the Laguerre-division against planar circle sets composed of circles have different weighted, program avoids computer memory storage restriction and implements constructing Laguerre cells aggregation effectively in random regions designed by user. Computer memory use invariable in 1MB when program run and the hard disk use is liner with the scale of Laguerre diagram. This research makes further developments towards the incremental out-of-core algorithm for Laguerre diagram. The data that store the information of Laguerre diagram are finally outputted in text file form, which makes it greatly convenient to apply the Laguerre diagram to engineering practices and secondary exploitation. At the same time, visualization module sufficed for user need that demonstrate attribute of Laguerre cells.

Abstract: The traditional method of solving double integral by Monte Carlo method is limited with the integral area, it can only be solved the double integral on the rectangular area. To address this limitation, based on the average method of Monte Carlo method,which puts forward that the uniform distribution should be combined with area of the integral region to improve algorithm, the special rectangle integral region is extended to the general integral region.In this way the simulation accuracy and computational efficiency is improved. Practical example shows that improved algorithm simplifies the calculation process, effectively reduces the computational difficulty, Improves the simulation accuracy and computational efficiency.The procedure is simple and easy to debug. The double integral calculation method is simple and effective, so this improved algorithm is more practical.

Abstract: Aiming at tedious of parameters identification in the process of robot calibration, this paper proposed a method to directly establish parameter error equations based on relative distance error by using the kinematics model in which the parameters error were considered, employing a laser interferometer to measure a 6R robot end-effector displacement distance along its Cartesian coordinates system axis direction, and respectively recorded the joint angle position data to the measured points, then taking all recorded data as basis for the robot kinematics parameter errors identifying equations and employing a hybrid genetic algorithm to solve the equations. The result shown that incomplete distance info can be used to identify kinematics parameters error in robot calibration process.

Abstract: Mechanical fingers that imitates human fingers were designed, and kinematic analysis and dynamic analysis of them were conducted. By using bracing wire and expansion bracket, each section of the fingers could bend to 90 degrees, and torque exerted on the finger could be comparatively large. Through theoretical design and simulation analysis, it can obtain the same effect as fingers of an adult when clamping, enclasping and picking up an object.

Abstract: Studying the hip, a new type of parallel mechanism with three branches and 2DOF, 2-PSS/U asymmetric is proposed, which is based on the analysis of structural features of the human lower limb hip joint and the importance of human lower limb. A hip rehabilitation institutions, combined with Parallel Mechanism and electric machinery, is used for rehabilitation training. Calculating the degree of freedom of mechanism, verifying its degree of accuracy by means of screw theory, the Mechanism's forward position is evaluated, velocity analysis is made based on screw theory on the mechanism.

Abstract: This paper puts forward a new type of wearable parallel mechanism on the basis of the analysis of the human ankle motion mechanism, damage analysis and methods of rehabilitation. The mechanism can realize three DOFs rotation of ankle. And the axes of the three rotations intersect at a point. Did the position and velocity analysis using the screw theory of mechanism analysis. The singularity and dexterity of this mechanism are also analyzed. According to the simulation result, this parallel mechanism has no singular configuration or uncertainty configuration in human lower limb workspace, has good maneuverability.

Abstract: In the Martial Arts arena contest of robot, Humanoid robot should recognize the target timely and accurately. So robot vision technology becomes a key of the contest. In this paper, target recognition algorithms based on color information are analyzed. According to the results, an improved algorithm based on Table Lookup method is proposed, which aimed to provide more rapidity of computing in real-time control system on the robot. It is shown in illustrative experiment that average 50% time was saved in computing when using the new algorithm instead of traditional algorithms.

Abstract: To achieve high performance tracing control of the three-links spatial robot, a nonsingular terminal fuzzy sliding mode control method is proposed in this paper. Firstly, the control method can efficiently avoid the singularity of the generally terminal sliding mode controller through designing nonsingular terminal sliding mode surface. Secondly, to diminish the chattering in the control input, a fuzzy controller is designed to adjust the gain of nonsingular terminal sliding mode controller according to the normal of nonsingular terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. The proposed controller is then applied to the control of a three-links spatial robot. Simulation results show the validity of the proposed control scheme.

Abstract: Every robot is developed for a specific task. To ensure the performance of the Robot before it has implemented to practical application it has to be analyzed using software to avoid unwanted wastage of time and capital. This paper presents the design characteristics and static analysis of the seven degree of freedom articulated inspection robot in nuclear environment. CATIA software is utilized to design the mechanical configuration. To validate the design to be safe, ANSYS software is utilized to perform stress and deflection analysis.