Advanced Materials Research Vols. 945-949

Abstract: The simulation technology can be very convenient for the kinematics analysis of the virtual machine system. It not only simplifies the development process of product design, but also verifies the correctness and feasibility of the theory. Based on the theory analysis, simulation test is finished with the simulation software, and the correctness of the theoretical analysis is validated. Through the analysis on the simulation results of the torque, reference for future development of prototype is provided.

Abstract: With development of technology, the robot arm is used widely in different fields; it creates great benefits for companies, thereby, it is extremely important to design robot arm. Purpose of this project is that inserting four washers and tightens four nuts on bolts. This task is analyzed by four aspects in the report. Firstly, the task can be analyzed based on different method. Rotation of five axes and prismatic of one axes can be selected. Secondly, the positions of the axes are fixed. Thirdly, the processing of the project is simulated using Flash. Finally, the matrix can obtained using Matlab.

Abstract: In this paper, an iterative learning impedance control(ITLC) algorithm is proposed. We designed an adaptive impedance controller that can be modified using iterative learning method. Moreover, the convergence of the proposed robot system is proven using the Lyapunov function to guarantee the global convergence of tracking error. Finally, by simulating and comparing the proposed learning impedance control scheme with that of the traditional impedance control, it confirms the effectiveness of ILIC .

Abstract: Through the analysis of RTLinux source code and real-time performance of various testing experiment on the RTLinux, and its application in a distributed robot control system using CAN bus, realize the real-time control of robot joints. Write the code of real-time module on RTLinux, analyzing the real-time performance using related kernel time testing function. Under Linux using QT write user interface for robot control, running on the Linux user space. The interface program and the real-time program communicate via RT-FIFO. Specify the location of each robot joint in the interface program, compared with the feedback from the actual joint position trajectory, evaluate the control effect of real-time systems.

Abstract: Mechanical arm equipped on the intelligent wheelchair has the same characteristics with the common robot. And the mechanical arm installed on a wheelchair has greater research value in helping the elder and disabled. This paper focus on the kinematics of four DOF mechanical arm equipped on wheelchair, developing a mathematical model in order to realize the control of it and establishing the mechanical arm’s kinematics equations by using D-H conventions. Analyze its work space and structural strength based on MATLAB and ANSYS, which laid the foundation for design optimization and control application.

Abstract: Hybrid robot combines the advantages of serial and parallel structure and has the characteristics of large workspace, agile kinesis, good stiffness, compact structure, good kinematic performance and so on. To conduct the research on the performance of hybrid robot, this dissertation develop an experimental system based on the new 3-TPS hybrid robot which is develop by the research institute of advance manufacturing technology and automation in Northeast University to drive the robot and examine the operational position, and it is also applied in the demarcate experimental of 3-TPS hybrid robot. Through the application, it draws a conclusion that the experimental system has the characteristics of simple structure, good function, good compliance, simply to operate, high reliability and low cost. Consequently, it has high value of popularization and application to conduct the experiment and research on hybrid robot.

Abstract: This paper presents a dynamic parameter identification method of the base of a free-flying space robot. Since the dynamic parameters play a significant role in the control of space robot system, it is necessary to identify the dynamic parameters of a space robot. First the dynamic parameters of the base are identified based on principle of momentum conservation in this paper. Then gravity gradient torque is used to identify the product of inertia for that it has effect on the attitude of a space robot. The principle and experimental process of the identification are introduced and the feasibility of the method is verified by simulation.

Abstract: Large Scale Volume Localization System (LSVLS) is applied widely in industry. Large Scale Volume Localization System with camera network has appropriate precise and cost, which is a promising system in metrology and localization in industry and lives. Optimal camera placement is significant to lower cost and facilitate target’s auto-control for mobile robot in the large workspace. The author optimized cameras placement with their relative position algorithm (RPA). The result of optimal camera placement enhances greatly the efficiency of camera placement in LSVLS and is verified with a model of field-winding mobile vehicle.

Abstract: The inchworm-driven actuator is an important type of piezo-driven actuators, which has high loading capacity, large motion range and high motion accuracy but involves complex structures, control and motion processes. In this paper, an inchworm type piezo-driven rotary actuator was introduced. Static and modal analyses of key units of the rotary actuator such as the clamping unit and the driving unit were carried out by finite element simulations to ensure that key units of the rotary actuator have enough strength and good dynamic characteristics. These simulation results will be helpful to improve structure design of the inchworm actuator.

Abstract: The rescue robot adaptive to tough terrain is in great demand. The robot can be summarized as wheeled, tracked, legged and hybrid robot. In this paper, a hybrid robot is proposed to satisfy the rugged terrain with obstacles. The triple-legged wheel unit designed for the robot is introduced, which can work in two modes in a simple mechanism. A mechanical structure of the unit is shown and the kinematics of it is studied. With an emphasis of the dynamics of the robot, the peak torque needed is calculated. The simulations in Adams and Matlab show that the robot is able to negotiate obstacle that inaccessible to wheeled robot. The angular velocities and torques of traction input shaft is analyzed to obtain the maximal torque demanded, which is similar to the calculation. Additionally, the selected drive system is sufficient to power the robot. The robot can vary its modes of motion smoothly and automatically, allowing it to adapt to tough terrain with obstacles. This releases the burden of the complex sensors to detect the terrain.