Papers by Author: Yun Na Xue

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Authors: Xian Lun Wang, Yong Wang, Yun Na Xue
Abstract: To achieve the desired dynamic impedance and the smooth chamfer contour, some adaptive controls and intelligent control schemes are incorporated in the impedance control for uncertain constrained robot systems. Most of them still result in an uneven chamfer for its characteristics in nature as the burrs vary highly. In this paper, an intelligent force controller based on impedance control with a neural network compensator is proposed for the robotic deburring process. The compensator is used to deal with the various burrs by modifying the input command according to the contact force and reference position. The performance of the intelligent force controller is compared with the conventional impedance control. The effectiveness of the proposed approach is testified by simulation experiments of the robotic deburring process.
Authors: Yun Na Xue, Yong Wang, Xian Lun Wang
Abstract: The polygon action and the meshing impact of silent chain can be reduced by the change of the link plate structure. However, the change of the link plate structure may result in the complexity of manufacture. A new modified involute profile for sprocket is put forward based on the law of motion between the link plate and the driving sprocket. The modified involute profile is obtained by use of a unified program between VB and AutoCAD. The kinematic and dynamic simulation of silent chain with the new profile is performed by use of ADAMS. The results show that the polygon action of silent chain mechanism can be reduced and the smoothness of the silent chain drive is effectively improved as the sprocket is of the new modified involute profile.
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