Advanced Materials Research Vols. 694-697

Abstract: In this paper, to avoid interference between wires and a mobile platform in a wire-driven parallel suspension system, the simulation model of time-varying wires structure is established by applying the ADAMS virtual prototyping technology. The law of motion of hinge points is planned when the mobile platform performs a single degree of freedom pitch rotation. Using the simulation model of the time-varying wires structure, the interference is investigated. The results show that the simulation model is able to analyze the interference between wires and the mobile platform rapidly and provides an effective method for the design of the wire-driven parallel mechanism. Therefore, the interference can be avoided in the wire-driven parallel manipulator with time-varying wires structure, and the workspace of the mobile platform can be enlarged.

Abstract: Considering the effects of mechanisms elastic deformations on the welding quality, this paper builds a rigidity-flexibility coupling parameterized virtual model of an open arc welding robot in ADAMS. Using this method, we can obtain the robot dynamic characters in welding process that approach the real value at utmost. The results show it is an effective way for improving the robot kinematics accuracy and design quality, including simplicity (no need to solve complex mathematic model) and high accuracy which make it highly promising for application.

Abstract: Abstract. The self-balanced two-wheeled vehicle is a special kind of mobile robot, this typical under-actuated system is multivariable, nonlinear, strong coupling and parameter-uncertain; the structure characteristics is its small size, simple structure, less energy consumption, flexible movement. This paper selects Lagrange equation as dynamics modeling method for this tricyclic system, and determines the dual closed-loop PID as control scheme, finally completes the study of its linear motion control. By discussing the robustness, transient performance, steady-state performance of the system, this paper uses classical control theory to complete the dual closed-loop PID controller design and simulation with MATLAB / Simulink.

Abstract: ndustrial robots are introduced into quality control process for automobile welding detecting. The online automatic measurement system for body-in-white based on industrial robots is established firstly, and then coordinate transformation matrix is calculated with optimization algorithm and curve fitting method, the results measured by the system are analyzed at last. Compared with CMM, the system has the simular measurement precision but higher efficiency and automation.

Abstract: This paper introduces a master-slave control method of teleoperating a redundant manipulator with double handles. The master handles send motion commands in the form of increments. The mapping module transforms the commands into homogeneous matrices. And the slave manipulator links discrete motion commands in the mode of PVAT automatically, by inverse kinematics and fifth-order polynomial interpolation. Simulations and experiments are taken to prove the effectiveness of the control method in the paper.

Abstract: Modeling method for mechanism configuration of the articulated industrial robot is proposed. Each link of mechanism configuration is modeled by a type of variable coordinate system based on UG system. The variable coordinate system is changed with a type of variable kinematical parameter of the links. Thus the position and direction vector of terminal link by reference to frame at any time can be obtained by using inquiry command in UG system. The typical modeling example of the FANUC articulated industrial robot which possesses 6 rotation freedoms in space is as shown in figure. It is appearance that the Modeling method by this way is simple and the modeling result of the articulated industrial robot is visual, believable and reliable.

Abstract: In the studying and designing process for the robotic walking system, a theoretical analysis and simulation on the kinematic characteristics of the walking mechanism of the robot is done. From our experiments, the characteristic curves of velocity and acceleration of the drop-foot point are obtained. The walking mechanism is stable in the translation cycle, which contributes to the stability of the robot motion, while the robot still can move at a certain speed. The stress of the walking mechanism is complicated in the step cycle, because both the velocity and acceleration get a certain amount of mutation.

Abstract: A suspended fire fighting robot was presented, and the prototype was developed. The robot changed its posture by the blowing forces from the fans; the PID algorithm was analyzed and applied to control the rotating speeds of the fans in order to realize posture adjustment. A high speed propeller driven by an engine pushed the robot approach to the target; the relation between steering angle and thrust force was studied; a sliding table structure was developed to make the robot move steadily by changing the gravity position; the control algorithm of the propulsion system was analyzed.

Abstract: This new high-rise building fire fighting robot is a multifunctional fire fighting cabin, which integrated detection of a fire, fire fighting, person search and rescue, etc. The robot is connected with helicopter by a cable and transported over high building by a helicopter. This paper presents the system structure, working principle, the positon and attitude control strategy, and the control system including hardware and software. The prototype of the robot has been basically completed, experiments demonstrate the reliability of the system and all perfomance indexes are satisfied with the designed requirement.

Abstract: The use of robots in the manufacturing industry is very much accepted, but not in designing. The concept of Design Robot (D-Robot) is proposed and the role of D-Robots is analyzed. D in D-Robots refers to Design, including a series of design activities. The concept of D-Robots combines characters of industrial robots, agents and multiobjective optimization. A D-Robot is a software entity capable of perceiving the current design space and elaborating it by transforming current attributes into more specific attributes based on both reasoning on domain rules and its preference. The role of the D-Robot is to execute specific tasks in designing.