Advanced Materials Research Vols. 712-715

Abstract: On the research of Orbiting Carbon Observatory (OCO),There is a demand to design a power system of high-reliability, to ensure the life of the OCO. The DC/DC has been widely used in the secondary power supply in aerospace engineering with its high reliability, high integration and high efficiency. In the space, it is easy to introduce various forms of interference and noise, affect the reliability of power supply directly, thereby affecting the OCO's technical performance. To improve the reliability of the secondary power, a number of key technical discussions is taken on the Secondary Power design. Include: DC/DC, Redundancy, Derating , EMC, Heat. After taking such measures, the reliability of the secondary power supply is greatly improved, All the result of the experiment and actual application shows that the anti-interference design are effective.

Abstract: Based on electro-hydraulic control automatic transmission, in order to meet the shifting actuator control effect high response speed, high control accuracy requirements and real-time, accurate acquisition transmission work state. According to the proportional pressure solenoid valve, proportional flow valve response curve and rated operating parameters, designed the hardware control circuit. For the acquisition of automatic transmission shift the implementing agencies cylinder pressure, hydraulic oil temperature and transmission input, output shaft speed, designed the hardware circuit, according to the nominal operating parameters for each sensor. Acquisition speed and accuracy requirements for the quality of the output signal of the respective sensors and control system, designed for each of the output signal of the signal processing and analysis circuit. The bench test the experimental results show that the data acquisition system designed in this paper can meet the requirements of the control system for real-time and accuracy.

Abstract: Power battery in the HEV normally has a high capacity. Therefore during the start-up procedure of HEV motor, pre-charge phase is essential in order to reduce the impact of high current. In this paper, we build a HEV motor pre-charge model then deploy it on cRIO embedded control system to simulate the whole process with high real time. Finally the paper tests some typical fault conditions which demonstrate great benefits.

Abstract: Aiming at online implementation, a real-time algorithm for forward position kinematics of the parallel manipulators is proposed, in which the steepest decent direction of the solution iteration is constructed with Jacobian matrix, with the initial position for iteration arbitrarily chosen from the workspace. Under the condition of motion continuity of the end-effector, the unique forward position kinematics solution can be found out with this algorithm. Forward position kinematics case studies of spatial parallel manipulators were conducted, which show that the algorithm has the advantages of a high precision, little iteration and less millisecond-level time consumption.

Abstract: In order to keep the problem of robot obstacle avoidance and the traversal motion control simple, the performance and characteristics of the traverse robot are described firstly, followed the architecture of horizontal and vertical was adopted, and the traversal robots based on hybrid architecture was designed independently, also, the architecture met the performance needs of the traverse robot. Then the kinematic model of the robot was created and analyzed, and the motion control strategy based on the traversal robot was obtained. The strategy not only simplified the movement of the traversal robot, but it also completed the different methods of obstacle avoidance, which ensure the efficiency and reliability of the overall running of traversal robots.

Abstract: The unique design for a novel 3-DOF hybrid mechanism is proposed in this paper. The 3D modeling of the structure is constructed with Pro/E., kinematics and dynamics simulation by ADAMS software, which can provide a theoretical base for the optimal design and application of the mechanism. This novel 3-DOF hybrid mechanism is suitable for the industrial, agriculture and service applications in which the requirements for simple structure, high stiffness, and large workspace.

Abstract: in order to solve the coating uniformity of common border between two patches based on zigzag path pattern, an algorithm of zigzag path is developed. In this paper, a complex free surface is divided into several patches based on the constraint of coating thickness error. Based on optimized parameters of spray path on a patch, an algorithm that using variable path parameter is used to optimize zigzag path pattern by modifying the planning direction of paint gun path when satisfy parallel condition. The results of simulations have shown that the path planning algorithm achieves satisfactory performance.

Abstract: This paper compiles the program to control the multi-robot polishing system by the ACO (ant colony optimization) mode and adopts the communication protocol between the robots of multi-robot polishing system. Then, based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the blackboard structure. The experiments show that the communication protocol can enforce communication of the computer between the multi--robot. It can achieve the stability and higher instantaneity. It has met the communication needs of the multi-robot.

Abstract: In order to protect the trees, prevent pests and frostbite, designed and developed a medicine which can spray liquid medicine on tree trunks. This paper expounds the working principle of trunk spraying machine, and introduces the components of manipulator structure in details. The manipulator with four degrees of freedom, including move up and down, horizontal direction stretch and fold, sway back and forth, sway left and right. Prototype tests show that, this machine can be applied to different shape of trees. It just takes about 20 seconds of the spraying process, so the machine can greatly reduce labor intensity and improve work efficiency.

Abstract: A novel rehabilitation robot for upper limb, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. Based on the software ADAMS and the software MATLAB/Simulink, the virtual prototype and the platform of co-simulation of mechanical-electrical system were set up. On the platform of co-simulation, the rehabilitation robots kinematics, dynamics and control have been simulated, and each joints kinematic parameters, torque can be obtained, and parameters of controller can be also confirmed. It offered reliance for the actual intellectual control of the rehabilitation robot.