Advanced Materials Research Vols. 712-715

Abstract: This paper proposes a noncontact operation robotic hand using magnetic suspension system. This robotic hand will consist of a noncontact catching part and four movable fingers. The noncontact catching part will be realized by a permanent magnetic suspension system, and will be used to pick up and catch the metal body. There is a permanent magnet on the top of each moveable finger, which operates the suspended metal body without contact. This paper focuses on the feasibility and performance of the noncontact operation using the movable fingers with permanent magnets.

Abstract: To solve the problem that bending caused by the weight of gun barrel will affect firing accuracy, the paper put forward a method that uses position sensitive detector (PSD) , gun barrel robot and some other testing equipments to carry on a automated measurement on gun barrel, and establish a correcting model according to the measured results. By this way it can amend gun launch angle to improve firing accuracy and the hitting accuracy of first Shot.

Abstract: Automatic machine vision-based manipulator used for button cell sorting has high academic value. Firstly, a detailed analysis of the visual system, using an image-based visual servo control method, is provided, so as to establish a set of button batteries automatic sorting manipulator platform. the detail composition of this platform is introduced in this paper. Through analysis of PID control method, a mathematical model is established, and its motor control is simulated.Experimental results show that, the platform of an automatic manipulator system has char high accuracy and higher real-time characteristic.

Abstract: Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

Abstract: This paper presented a trajectory tracking algorithm applied for an intelligent driving system. Both the path tracking and longitudinal speed tracking controller are based on IMC algorithm and are carried out respectively. A simulation tool is introduced in this paper and some simulation tests were conducted to verify the proposed trajectory planning algorithm. The simulation results show that the proposed trajectory tracking algorithm is valid and good for the applications of vehicle driving in complex environment.

Abstract: The post processor of the flexible machining cell (FMC) composed by turn-mill machining centre and transport robot, which realizes some special functions such as automatic loading and unloading, turning-milling combined processing, keeping account of the man hour and so on, is developed by NX/Post Builder. The post processor is verified by the results of the case study using a special-shaped shaft. The development method discussed in this paper beneficial for producing an advantage of FMC to improve machining efficiency can also be used for reference to realize the postprocessor of other kinds of combined machine tools or machining cells.

Abstract: The transplanting manipulator is one of the key mechanisms of transplanting machine. Many factors have great influence on transplanting effect, which mainly correlated to the clamping force and the speed of the steel inserting the matrix. In this work, the authors present a 3D model of the transplanting manipulator based on the actual requirements, then, conduct the dynamic analysis of the transplant manipulator based on the SIMPACK and find out the unreasonable design according to results of the analysis. Finally, verifying the optimization results by ANASYS. In view of the above, optimize and improve original structure in order to provide theoretical basis for the processing of physical prototype and application.

Abstract: A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.

Abstract: This paper presents an on-line surface defects detection system based on machine vision, which has high speed architecture and can perform high accurate detection for cold-rolled aluminum plate. The system consists of high speed camera and industrial personal computer (IPC) array which connected through Gigabit Ethernet, achieved seamless detection by redundant control. In order to acquire high processing speed, single IPC as processor receives from and deals with only one or two cameras' image. Experimental results show that the system with high accurate detection capability can satisfy the requirement of real time detection and find out the defects on the production line effectively.

Abstract: Although advantages of traditional Hough transform of such Good robustness and anti-interference have been found in the process of detection of complex paper diseases such as Streak, fold, however, quantity calculation has imposed limitation on the application of this method in dealing process demanding high instantaneity. Probabilistic Hough Transform fits in a straight line by approach of Hough transform. The approach of selecting fitting points by random drawing and combination with meter counter and output a boundary line where random drawing points locates on condition that such points satisfy limitation of threshold value which has been pre-setted is able to reduce the calculation and period of algorithm operation therefore fitts detection of complex paper diseases demanding high instantaneity.