Advanced Materials Research Vols. 655-657

Abstract: Aerospace robotic arms have important applications in aerospace engineering (capture satellite, develop the technology of extra-vehicle activity (EVA), etc.) This paper first introduces the development and background of the Aerospace Robotic Arm. In later sections, a kinematics model of a Six-DOF manipulator is built based on DenavitHartenberg(D-H) method, then, the paper discusses an inverse kinematics solving method of the manipulator. At last, we show the simulation by integrating the use of SolidWorks, Matlab, and a number of their modules.

Abstract: Biorobot which is also called robot animal, has become a hotspot nowadays. This paper reviews its current research and predict its application prospects.

Abstract: A new gaze tracking method used in single camera gaze tracking system is proposed. The method can be divided into human face and eye location, human features detection and gaze parameters extraction, and ELM based gaze point estimation. In face and eye location, a face detection method which combines skin color model with Adaboost method is used for fast human face detection. In eye features and gaze parameters extraction, many image processing methods are used to detect eye features such as iris center, inner eye corner and so on. And then gaze parameter which is the vector from iris center to eye corner is obtained. After above an ELM based gaze point on the screen estimation method is proposed to establish the mapping relationship between gaze parameter and gaze point. The experimental results illustrate that the method in this paper is effective to do gaze estimation in single camera gaze tracking system.

Abstract: Human body detection is a fundamental research problem where computer vision could be applied. This research area has wide applications including surveillance, search and rescue missions. Building an effective human body detector framework under wide ranges of weather, lighting and environmental conditions is a challenge task. A variety of sensors and optimisation algorithms are proposed. This paper aims to review the human body detection methodology conducted by the Unmanned Aerial Vehicles (UAV), and the future research for the UAV search and rescue applications.

Abstract: The vibration characteristics of the tendon-based parallel robot for processing are presented. Firstly, the free vibration equations of the robot on the stable position and orientation were modeled, and secondly the natural frequencies were deduced from the transformation of principal coordinates into modal coordinates. Next, cutting-force model was introduced and the solutions of the forced vibration equations were obtained from the Runge-Kutta method, where the minimum natural frequency was taken as basis of the time step that was important for computation convergence. Lastly, the algorithm was verified by simulations, also including solution transformation of time domain into frequency domain by Fast Fourier Transformation (FFT). The vibration properties could be manifested clearly by the solutions in frequency domain. The results show that the eccentricity and the mass of the moving platform are the important factors to make system instable in certain excitation frequency.

Abstract: masticatory movement of mankind is a very complicated process of food processing. In order to research the mechanism of masticatory,firstly, a bionic robot must be designed to achieve chin’s multi-degree of freedom motion and chewing. By 3/3-RRRS parallel mechanism driving teeth up and down, it achieved full chewing of food. The study of this article is done in the condition of each given attitude and location of the moving platform, using the method of the three dimensional boundary search for location workspace. Through the research on workspace, it can be used to analyze the change law of workspace, and provide a theoretical basis for chewing bionic robot’s design with specific chewing campaign parameters.

Abstract: After studying of post-earthquake environment, we develop a new kind of search and rescue robot, which can go into ruin interstices to implement rescue. Through the research of track and snake-like robot that used in searching and rescuing, we design a new kind of mechanism, which has advantages of both track and snake-like robots. This article also gives some details about the modular unit of track drive mechanism of the robot, the head turning mechanism actuated by tendon-sheath, and the control method of the robot system.

Abstract: An investigation into the dynamic modeling of rigid-flexible manipulator systems based on spectral approximation methods was presented. The nonlinear dynamic equation of the rigid-flexible manipulator was established on the theory of Lagrange equation and the model was approximated with the spectral approximation method. Furthermore, an experimental platform system was set up to validate the effectiveness of the model. Simulation results of the response of the rigid-flexible manipulators were presented. Moreover, experimental validations were carried out to assess the effectiveness of the modeling approach by comparing with the simulation results. The results verified that the method is effective and feasible.

Abstract: Seam tracking is a basic condition to ensure a fine welding shape. In order to meet this requirement, the researchers have put forward a variety of sensors and some of them have been applied to practice successfully, such as contact sensor, arc sensor and vision sensor. Laser vision sensor has been proven to be one of the most successfully technology for its many advantages. In this paper, based on laser visual sensing technology, a seam tracking system is established with an embedded microcontroller LPC1768. With this system, a real-time tracking algorithm is proposed and the seam tracing process is realized under a smaller error. Finally, the tracking errors resources and their influence have been simulated and analyzed.

Abstract: This paper mainly addressed the workspace analysis and performance evaluation of a special class of the 6/6 cable-suspended parallel robot. Based on the screw theory and the static equilibrium, the Jacobian matrix of the cable -suspended parallel robot is constructed. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables for a constant orientation. This paper attempts to tackle some aspects of optimal design of this special class of the 6/6 cable-suspended parallel robot by addressing the variations of the workspace volume and the accuracy of the robot using different geometric configurations, different ratios and orientations of the moving platform. The global condition index is used as a performance index of a robot with respect to the force and velocity transmission over the whole workspace.