Key Engineering Materials Vol. 620

Abstract: To the condom automatic feeding module in condom detection line, we designed a control system based on PLC, gave the reasonable control scheme, selected a specific PLC model andcompiled the PLC ladder program. Then we did the control experiments on transfer module of the feeding system. Experimental results show that the structure and the control scheme are feasible to achieve the intended function.

Abstract: The sEMG (surface electromyographic) plays a significant role in the rehabilitation medicine, particularly in exoskeleton robotic treatment. A sEMG recording system using STM32F407 DISCOVERY development board and Labview software, combined with multiple signal acquisition sensors was proposed in this paper. The UC/OS-II operating system was embedded in the STM32F407 micro controller so that multiple channels can be picked up from different sensors at the same time. Due to the characteristics of STM32F407 microcontroller; the largest acquisition channels can be up to 16, and multiple signals can be collected such as the sEMG, angle trajectory, acceleration, torque etc. The use of DISCOVERY development board and Labview has reduced development cycle to a greater extent and resulted large improvement in work efficiency.

Abstract: £oWith our country's labor cost increase and forestry operations to improve the degree of automation, the automatic picking device will be gradually adopted to pick fruit in the future. This paper discusses the design process of intelligent mobile platform, five axis manipulator, end effector, electrical control device which belong to the automatic fruit picking device. The device is installed in the automatic navigation system and visual identity system, can accurately locate the position and pick fruit. The CAD/CAE software device was mainly used to design and analysis model, and design efficiency, feasibility and scientific were improved. According to the current development trend of fruit species gradually increased, the manipulator hand can adjust, which can pick the different shapes of fruits, and is installed with a visual sensor, pressure sensor, position sensor in the manipulator, and the finger stress analysis was made. In addition, the application of S7-200 model of PLC and pneumatic technology is used in the picking device, so that the overall structure is compact, more stable.

Abstract: The book transporter innovation to improve the efficiency of the modern library book classification is an important aspect. In this essay, Based on the research on the electric control system, a DC motor as a metal belt stepless automatic transmission was adopt to greatly reduce the number of parts the system and improve overall efficiency, response speed and control precision ratio, thus library books for transportation vehicles designed control system, enabling the driver, speed and other functions. Software such as the Solidworks was applied for designing body shape, includes a handle, a frame, wheels, support frame, a 'W'-shaped support frame was proposed, it can be installed to increase the capacity of the trolley, a pedal was added at the bottom of the trolley, the user can stand on it to save effort. The electric trolley placed the book has simple structure, easy to use, saving manpower, high efficiency, and has good practical value.

Abstract: Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot.

Abstract: In order to improve the efficiency of kinematics modeling in analyzing robots, this document used Lie groups and screw theory to describe rigid motion of the robot system, established a kinematic model of operating arm based on Product of Exponentials (POE) formula, and analyzed forward and inverse kinematics of chain topology structure robot, as well as several sub-inverse problem of inverse kinematics. A 6-DOF series-wound configuration loading and unloading manipulator has been used as an example, its kinematics equations are established by POE formula combined with screw theory, the special configuration of end effector under a specific task planning are calculated using Mathematica software. By contrast with D-H parameters method, we can draw a conclusion that POE formula and D-H parameters method are essentially equivalent. However, POE formula and motion screw have more definite geometric and physical meaning, neat expression form, convenient algebraic operation, are able to overcome limitations, such as calculation complexity and singularity in solving process, can meet kinematic analysis and real-time control of robot.

Abstract: The foot robot has a good adaptability to terrain and hydraulic drive has a great power to weight ratio compared with other drivers, therefore, a hydraulically actuated biped robot is proposed to meet the need for the high flexibility and high load capability, and each leg has four degrees of freedom. According to the proportion of human leg, the leg mechanism of biped robot is designed .A kind of simplified structure of the hydraulic biped robot is put forward based on the analysis of the structure. The model of the leg is established by Lagrange equation to obtain the corresponding dynamic model; the model of the hydraulic system is established according to the hydraulic control theory; the whole model of the leg is obtained combined with the two models. The variable structure control is suitable for the complex high-order control system, keeps invariant for external disturbance and parameter changes, and easily implements the control algorithm on-line, so the variable structure control is used to study on the motion control of the robot. The simulation is executed in Matlab software, which verifies that the mechanical structure is reasonable and the control algorithm is effective.

Abstract: Stingrays have expanded and highly flexible pectoral fins that extend over the entire length of their body. Locomotion is controlled by modulations of the undulating fin surface which produce steady swimming, acceleration, or complex maneuvers. In this paper, a robotic fish inspired by stingray was presented. Structure of the biomimetic prototype and layout of the control system were illustrated. In order to mimic the undulations, parameters of the biomimetic pectoral fin need to be accurately controlled including frequency, amplitude, wavelength, and undulatory mode. Several control strategies were proposed to realize different kinds of locomotion. Lastly, swimming experiments were carried out in the water tank according to the control methods. Experiment results demonstrate the viability of our methods.

Abstract: It is the main decrease press type used in high speed train of semi suspension system, as the parameter can not be regulated freely of the semi suspension system, to design a kind of damping shock absorber which with the sensitive and soft system are very important, this system which using of the Electro hydraulic proportional valve to regulation the safety valve, the guide valve and the damping force of shock absorber, get the recycle method of the hydraulic system from inner to outside, and also using the suspension active control variable damping shock absorber to detect the road, this device, in fact, by vibration, which let the valve move relation, turn the mechanical energy into hot and release outside, thus decrease the vibration. To design this variable damping shock absorber ,compared with the semi suspension system ,for it has the connect system and Electro hydraulic proportional valve, and with the road detectors, and various variable parameters, Which let the high speed train more stable and safety, overcome the short of parameter regulation for the semi-automatic suspension system.

Abstract: Aiming at the problem of image quality degradation due to scenes change rapidly, an image enhancement algorithm based on scene intelligent identification is proposed. The algorithm sharpen the image detail by using Laplace operator. Determines the change image scene according to the gray value, constructs different gray mapping function, and adjusts gray value range of image adaptively to improve the contrast ratio of image enhancement. By using parallel processing, the algorithm has high execution efficiency, so it can meet the real-time processing of HD video. Experimental result shows that the proposed algorithm has satisfying performance in the rapidly change scene.