Advanced Materials Research Vols. 694-697

Abstract: Parallel manipulators have the advantages of high stiffness and fine precision but the shortage of low workspace. A new type 3-DOF parallel manipulator with limbs of embedding structures is proposed. The peculiar topological structures make the mobile platform rotate continuously. The kinematics of the parallel manipulator is developed. Two kinematic parameters are decided to be optimized. The evaluation indexes about Jacobian’s conditional number are deduced and the optimization model with constraint conditions is constructed. With the optimized kinematic parameters, a graph denotes the Jacobian’s conditional number distributed in the workspace.

Abstract: The workspace of the parallel manipulators is relatively smaller than the serial manipulators. In order to improve the rotational capability, a new type of parallel manipulators with special topology structures and a special limb is proposed. The peculiarity is that the parallel manipulators involve a UPU limb, which makes their mobile platforms rotate continuously. Mechanisms of the type of parallel manipulators are described, and a general structure for this kind of parallel mechanisms is given. Moreover, their kinematic equations are developed to analyze their input-output characteristics. The research can enlarge the application area.

Abstract: Most of the biped robots or humanoid robots developed so far have been designed with serialactuated mechanism. the ratio between power and weight has not been very good. Some abilities of the humanoid robot are dependent on the weakest motor just like the cannikin law. Most of the human joints are not serial-actuated but parallel-actuated except the knee joint which is a one DOF joint. In the study, two kinds of module are put forward: basic module and composite module, and the configurations of the joints and limbs are designed by these modules. Based on logic diagram, many kinds of the humanoid robot are structured with these joints and limbs. As an applicable example, the humanoid robot SJTU-HR1 is presented.

Abstract: Standing up from a supine position or sitting down from standing is an important and simple human activity of day life. It is of equal importance for a humanoid robot, but it is not simple work to be completed for the robot. This paper presents the concept of generalized function set, and researches on the characteristics of lying state using the generalize function (G_F) set, and gets the interested end effectors (EEs), which is instructional in the next detailed motion planning. Then the work presents the lying state classification of the humanoid robot SJTU-HR1.

Abstract: High-speed tray seedling transplanting robot was developed which used two-DOF parallel mechanism as transplanting mechanism, and pneumatic manipulator as the end-effector, so it can achieve high speed of transplanting. According to transplanting seedlings from high-density plug to the low-density plug, a type of transplanting path was put forward which consists of rise, translation and decline, in this paper, it was called three-stage trajectory. Analysis the movement characteristic of each stage, make sure the stability of transplanting, then the sine motion law, quintic polynomial motion law and septic polynomial motion law were put forward as the Transplanting movement function according the analysis of movement characteristic. Compared the transplanting efficiency and stability of the three motion law through their velocity, acceleration and saltus, finally, quintic polynomial motion law was preferred as transplanting robot motion law. Transplanting experiment was taken on the developed prototype, the transplanting frequency was more than 60 per minute and the qualified rate can reach 92.71%.

Abstract: Combining the traditional Chinese-medicine theory and the modern robot technology, a new type of massage robot that can accurately locate the acupuncture points and implement the acupuncture point-matching treaatment has been proposed. A serial-parallel mechanism is adopted as the main mechanism of the massage robot that has the merits of not only compact structure and dexterous movement, but also realization of the motion decoupling from the force control of the massage mechanism. Based on the introduction of the foot massage robot system and its function, both the analysis of the mechanism and the optimal design have been completed to meet the design requirements. The kinematics model has been established. The simulation and experimental research have been carried out and verified the rationality of the design and the feasibility of the scheme.

Abstract: For the poor degree of stability and limitation of shooting dexterity of existing stop-motion shooting machine, the overall structure of a new stop-motion shooting robot is developed. Based on the analysis on the shooting requirement, the lens motion space and motion way of the robot are set up, and the structure sketch is proposed. The distance between the adjacent joints is obtained according to the robot kinematics analysis by means of D-H method, and overall design of the robot is established. A new wire-drive device is proposed to improve flexibility of the motion part, and is applied to drive holder. Comparing with existing stop-motion shooting machine, the robot has high stability and good flexibility. The overall design may also play a fundamental part in further detail design of the articulated stop-motion shooting robot.

Abstract: Autonomous excavation has attracted interest because of the potential for increased productivity and lower labor costs. In this work the workspace of working attachment is divided into four spaces by driving space, joint space, pose space and detection space. By geometrical relation of hydraulic excavator working attachment’s mechanisms, the mutual map relationship of every workspace is derived. Subsequently, the kinematics model of hydraulic digger’ working attachment is built so as to accomplish its autonomous excavation. The kinematics solutions and inverse solutions of hydraulic digger’s working attachment are performed. Furthermore, the kinematics simulation analysis on performance and trajectory of the working attachment is carried out by Robotics Toolbox of Matlab. Its conclusion provides technical base and prior computation data for autonomous excavation of hydraulic digger as well as the similar task of other engineering machinery unmanned operation.

Abstract: Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.

Abstract: This paper sets out to given a geometric method for solving three-arm five degrees of freedom manipulator kinematics inverse problem. With the both eyes stereo-identity system, the bomb-disposed robot accomplished the Explosive Ordnance Disposal mission in a completely open environment. using image recognition technology, estimation about producing weight and clamping width in the image of the suspicious explosive object is obtained. The project is proved feasible by experiment.