Advanced Materials Research Vols. 753-755

Abstract: Biped robots research is mainly concentrated on the control system development and doing simulation, cubic spline interpolation method is widely applied to pre-gait planning work. This paper analyzed the robots walking process and calculated the joint trajectory curves of a walk cycle by using spline interpolation and the quintic polynomial fitting means, verifies that the result obtained by quintic polynomial algorithm tends to be more ideal, it is conducive to maintain walking stability and find the optimal joint angles. The paper provides a theoretical basis for optimizing robots trajectory planning.

Abstract: A kind of theoretical analysis method in wall climbing robot design is presented in this paper. Using this method, a flexible wall climbing robot is developed that can be well adopted in small irregular places. Firstly, an optimization mechanism is given based on the effective utilization of aerodynamic attraction produced by a centrifugal blower. Kinematics model of the robot is represented, then linear velocity function and angular velocity function of the robot are deduced. Dynamic model based on Lagrange equation is established, which can be a theoretical foundation for control system design. Finally, simulation results show that the dynamic model and the method are reliable since the curves of driving torque match the change of negative pressure.

Abstract: Although, on-off control robot gripper is widely employed in pick-and-place operations, it can not be applied in fragile or soft objects handling. Here, an intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of grasped object mass and soft/hard features. An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip control strategy are shown by pictures to verify this distributed system performance. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.

Abstract: In order to expand the visual range of the small rescue manipulator, improve the target recognition capability and solve the problem of blocking actions under the condition of keeping the control systems accuracy and stability, we designed the control system for the rescue manipulator which included ATmega16 and PC. We made wireless receiving circuit using the wireless module and the motor drive circuit using the L298N module. We also made the software system of rescue manipulator based on VC++.Experiment shows that the control system can expand the range of the environment and improve the efficiency of rescue.

Abstract: In the independent vision robot fish games, the interference of water wave often causes tracking inaccuracy and target tracking failure. In order to solve these problems, the Meanshift algorithm and the combination of Meanshift algorithm and Kalman filter respectively are studied to realize target tracking of independent vision robot fish in this paper. By comparing the two algorithms, the results show that: the former tracking algorithm is not ideal and easy to lose the target. The combined algorithm of Meanshift and Kalman filter can effectively improve the performance of single-target tracking in a complex environment to achieve the goal of continuous accurate tracking.

Abstract: This paper studies complex nonlinear dynamic behaviors of a woodpecker robot system which can only operate in the presence of friction as it relies on combined impacts and jamming. The woodpecker robot can periodically move without any drives and controls based on self-excited vibration phenomena. The whole time histories of the dynamic simulations in successive periods indicate its cyclical, stable passive movement. Keywords: Passive movement; Self-excited vibration; Dynamic simulation; impact and friction

Abstract: This paper design an unpowered wadding duck robot based on the non-smooth dynamics as well as friction and impact effects. The duck robot can swing-roll-slip stably and periodically along the slope down without any external drives and controls. The motion characteristics of the robot are investigated and the motion parameters simulations of the passive movement gait are subsequently implemented. The time history of the dynamic parameters showed an obvious cyclical variation, which indicates the robot is able to achieve cyclical, stable passive movement.

Abstract: In order to improve the designing efficiency of micro-miniature rescue robot and predict its function, on the basis of studying the working theories of micro-miniature rescue robot research deeply. Constructing the three dimensional parametric model of micro-miniature rescue robots manipulator for applying the CATIA, importing it into the ADAMS which is a mechanical dynamic simulation software through SimDesigner between CATIA and ADAMS, conducting the subsequent constraint and driving addition to finish the kinematic analysis of the structure of the micro-miniature rescue robots manipulator. The kinematic simulation analysis which shortens the researching period, improves the designing quality as well as lays a good foundation for the structures deeper study and practical application. By means of analyzing the simulation result, getting the data which is agree to the theoretical calculation, proving the rationality and correctness of building the micro-miniature rescue robots mechanical manipulators model.

Abstract: The hot forming parts of high strength steel are difficult to cut with the presses and the traditional high-energy beam due to its high tensile strength which can be up to 1500Mpa and its complex structure. And the 3D laser cutting is an effective way to solve the problem. However some problems in the laser process affect the efficiency and quality seriously, including interference between the robot arms and the cutting head with the untrimmed parts, difficulty in determining the entry point and over burning etc. In this research three measures are taken to cut the anti-collision beam, including using photogrammetric technology to get its uncutted 3D model for offline programming to avoid interference, selecting appropriate entry point to trim without interrupt, amending normals and adjusting the process parameters at corners to prevent over burning. The results show that the efficiency and quality are improved and a creative new offline programming method is put forward.

Abstract: Aiming the case that vibrations and shocks of micro rescue robot parts caused by the unsmooth locomotion of micro rescue robot, in order to ensure the smoothness of the micro rescue robot trajectory and no collision, eventually to arrive the desired position and orientation, based on the basis of the kinematics and dynamics, according to the micro rescue robot joint movement characteristics, trajectory planning use the D-H method and the track is divided into acceleration, constant speed, and the deceleration three motion segments to discuss, this is of great significance to solve the smooth of micro rescue robot to work in different environments and real-time control and accuracy problems.