Advanced Materials Research Vols. 753-755

Abstract: This paper demonstrates a concept of walking power assist leg (WPAL), which is designed for enhancing strength and endurance during walking. Using D-H method, the kinematics of WPAL is investigated theoretically. The reasonability of fundamental design is verified by the simulation results. To make the system work smoothly and provide power assist for operator, the robot must understand the operators intention. In this paper, the floor reaction force (FRF) information has been used to complete the intention prejudgment of its operators leg movement. The method of prejudgment and FRF information acquisition system are designed. The experimental results also indicate the feasibility of FRF system.

Abstract: Medium pressure type pipe robot speed fluctuation mechanism is studied. we consider that the causes of speed fluctuation are Frictional resistance mutations. Compression effect of Fluids medium and the reaction of robot speed. According to the different between the motion state of pipe robot and frictional resistance mutation trend, we make numerical simulation by using Matlab to determine the speed fluctuations law on different parameters.

Abstract: A three layer feed-forward neural network is developed for speech recognition for industrial robots. The signal is made up by four kinds of command sound. Based on the steepest descent method, the BP network is trained by an improved learning algorithm in which momentum factor and learning rate adjustment is adopted. The simulation results indicates that the error in classification small also with high recognition correct in terms of a percentage.

Abstract: This paper aims to study the system of the compliant control for the polishing robot .Based on the mechanics model and dynamics equation that is established of the robot, the mechanical characteristics of the end of the grinding is analyzed. At the same time, the simulation of the movement for the robot is carried on by the ADAMS. By applying the constant load and the functional load on the polishing end, the force and torque diagram for each of the robot arm joint are obtained. At last, the conclusion that the force and the torque of the first joint is the largest can be obtained and the force of joint can keep the good constancy.

Abstract: The real reproduction of the robot expression affects not only how well the robot can mimic mankind, but also whether the robot can be accepted or not. In this case, it is necessary to find a display mode that can mimic mankind. An improved new method, namely advanced led display mode is proposed in this paper. The realization process of the led display system is as follows: A robot expression to be displayed is first chosen, then the expression data is sent to microcontroller through the serial port communication technology, and finally the display of the corresponding expression on the led screen is controlled by the microcontroller by serial port interrupt mode. The design of the led display system is proposed for robot expression, including the selection of communication mode, control mode, scanning mode, and expression display.

Abstract: A new 4-URU parallel metamorphic mechanism is proposed. A new method using screw adjacency matrix to describe the structural transformation of metamorphic mechanisms is put forward. This method overcomes the limitations of existing topological description method which cannot analyze the metamorphic mechanisms spatial structures and motion characteristics. Then the screw algebra method for analyzing the metamorphic mechanisms motion characteristics is introduced in detail. Firstly, screw motions homogeneous system of linear equations is determined by the screw adjacency matrix. Then the equations basic solution system determines the anti-screw system. Finally calculate the moving platforms motion screw system. Thus the metamorphic mechanisms motion characteristics, such as spatial structure in different configurations, the number of components and joints, degrees of freedom are obtained.

Abstract: In this paper, we have a development and research combined with the liner replacement manipulator of a company. First, drawing each part of the main girder on ANSYS and assembling them virtually. Next, using the static analysis module of ANSYS to have an integral finite element analysis for main girder. The stress and deformation cloud chart is achieved through this analysis, and the overall performance meets the demand of the design requirements. The analysis result provides the design and improvement of the manipulator with theory basis.

Abstract: Unidirectional interleaving painting is presented for robot to spray long and narrow duct. It adopts a same overlapping distance and only two seed paths in the same direction which are used in turn.To optimize robot trajectory for spray painting, uniformity model of unidirectional interleaving painting based on parabolic deposition model and thickness variance is built, and coating uniformity is studied. Non-dimensional calculation results show that overlapping distance and interleaving distance are the main influencing factors of coating uniformity. The value of thickness deviation is not greater than 0.000 9 in four areas, two of which should be chosen to plan painting path for better coating uniformity. The comparison experiment confirms that interleaving painting can improve coating uniformity.

Abstract: For the past few years, Pyroelectric detectors play an increasingly important role in the thermal imaging applications. Recently, scientists discovered that relaxorbased ferroelectric single crystals exhibit extrahigh pyroelectric responses. In this paper, the operation principle of the new Pyroelectric detector is described, the expression of the pyroelectric current is presented. As the pyroelectric detector has two directions of currents, we design a new sampleddata systems and output stage circuit, which provides a solution for uncooled large focal plane arrays devices based on relaxorbased single crystals.

Abstract: This paper describes the design of calibration system structure and program. Inductive displacement sensor calibration system based on virtual instrument is established by using LabVIEW8.5. It can complete the measured signal acquisition and calibration. In the measurement process, the inductive displacement sensor is a converter that measures a displacement and converts it into a electrical signal. By calibration, the system can be quickly translated the voltage signal into the original displacement signal. Compared with the traditional manual method, the calibration system has the advantage of simple structure and easy operation，and the visual linear fitting straight line can be obtained.