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KINEMATICS ANANLYSIS OF HYBRID DRIVEN SEVEN-BAR MECHANISM TO REALIZE VARIABLE CAM CURVES

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KINEMATICS ANANLYSIS OF HYBRID DRIVEN SEVEN-BAR MECHANISM TO...

REVERSE engineering BASED ON COMPUTER VISION FOR FREE FORM SURFACE

第十三届全国机构学学术研讨会

作者： Zhang Ge Zou Huijun Guo Weizhong zhang Qing tian yongli (school of mechanical engineering shanghai jiaotong university shanghai china 200030)

Conventional single-DOF mechanism is being increasingly replaced by multi-DOF mechanism with multi-actuator that leads to *** there are many cases where the flexibility is redundant,programmable" mechanisms provide a cost-effective solution with limited *** paper discusses the inverse kinematics of hybrid driven seven-bar mechanism,which is a programmable *** study is to make the mechanism work as a set of mechanical cam *** inverse kinematics model is presented to model the mechanism servomotor *** simulations and experiments,it is proofed that (a) the hybrid driven seven-bar linkage has programmable cam curves",and (b) the programmable cam mechanism" is feasible.

关键词： Seven-bar linkage Hybrid cam mechanism Inverse kinematics

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Chinese Journal of mechanical engineering 1999年第4期12卷 241-246页

作者： Lai Xinmin Lin Zhongqin school of mechanical engineering, shanghai jiaotong university Huang tian Zhang Dawei Zeng Ziping tianjin university shanghai jiaotong Univ Shanghai China

The key issues such as vision sensor, sampling planning are studied for reverse engineering. For the developed sensor, the low sensitivity to the incident angle and the high linearity between the output and the input are carried out. During digitizing, the adaptive sampling planning method based on the curvature of surface and the slope of tangent line of measured point is proposed. After integrating the vision sensor, CNC milling and relevant software, the reverse engineering system based on computer vision is developed. The experiment shows that this system is reliable and efficient.

关键词： Reverse engineering Computer vision Sampling planning Free form surface

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跳跃机器人模糊自适应轨迹跟踪控制

系统仿真学报 2008年第23期20卷 6455-6457页

作者：徐兆红吕恬生上海交通大学机械与动力工程学院上海200240

从受完整约束和非完整约束的腾空相到仅受完整约束的站立相,利用空间浮动基,分阶段建立了类人机器人非规则运动-跳跃运动通用动力学模型;基于Lynapunov方法设计自适应率,研究了跳跃机器人模糊自适应轨迹跟踪控制,保证跟踪收敛和闭环系... 详细信息

从受完整约束和非完整约束的腾空相到仅受完整约束的站立相,利用空间浮动基,分阶段建立了类人机器人非规则运动-跳跃运动通用动力学模型;基于Lynapunov方法设计自适应率,研究了跳跃机器人模糊自适应轨迹跟踪控制,保证跟踪收敛和闭环系统的渐进稳定。仿真研究表明,跳跃机器人通用动力学模型为空间机器人建模提供参考;模糊自适应与计算力矩混杂模型轨迹跟踪控制改善了系统自适应性,丰富了非规则运动的姿态控制和稳定性分析方法。

关键词：非规则运动跳跃机器人非完整约束模糊自适应混杂系统

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半开放式多车场车辆路径问题

上海交通大学学报 2010年第11期44卷 1539-1545页

作者：刘冉江志斌耿娜刘天堂上海交通大学机械与动力工程学院上海200240

基于现代物流业发展的实际需要,提出半开放式多车场车辆路径问题,并建立了数学模型.由于半开放式多车场车辆路径问题具有NP-hard性质,为了有效求解,基于车辆路径问题中的经典路径构造算法和局域搜索算法,设计了求解所提出问题的节约算... 详细信息

基于现代物流业发展的实际需要,提出半开放式多车场车辆路径问题,并建立了数学模型.由于半开放式多车场车辆路径问题具有NP-hard性质,为了有效求解,基于车辆路径问题中的经典路径构造算法和局域搜索算法,设计了求解所提出问题的节约算法、顺序插入算法和并行后悔插入算法.利用标准算例进行数值试验,分析了3种算法中的参数和所嵌入局域搜索方法对求解结果的影响,并对不同算法的求解结果进行了对比分析.

关键词：车辆路径问题多车场半开放式启发式算法局域搜索

A Numerical Tele-service System and its Realization on a PC-PLC Network

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International Journal of Plant engineering and Management 2002年第1期7卷 26-32页

作者： YUAN Chi 1, LU tian sheng 1, GU Xing cai 2, SONG Li bo 1 1 school of mechanical engineering, shanghai jiaotong university, shanghai 200030, P.R.china 2 shanghai Bell Company Ltd., shanghai 201206, P.R.china school of mechanical engineering Shanghai Jiaotong University Shanghai 200030 P.R.China shanghai Bell Company Ltd. Shanghai 201206 P.R.China

Modern telecommunication methods have many impacts on manufacturing, and tele service has become one of the strategic approaches to realize the ideas of a flexible manufacturing system. Monitoring and maintenance of production lines from the remote monitor center is an important application of such techniques. This paper presents a typical model of tele service systems and discusses the underlying challenges. RMMST (remote monitoring and maintenance system testbed), based on PC PLC and their networks which are used widely in production lines, is presented in detail as a concrete example. With the support of digital technique, RMMST can be used in the monitoring and maintenance of remote production lines conveniently.

关键词： tele service remote monitoring and maintenance PC-PLC network

Introduction of Specification for Burning Equipments of Fluidized Bed-Machinery Industry Standard of Peoples Republic of china

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Introduction of Specification for Burning Equipments of Flui...

中美工业锅炉先进技术研讨会

作者： tian Ziping and Chen Yongguo school of mechanical and Power engineering shanghai jiaotong university shanghai P.R.china Post code 200240

Main contents of Specification for Burning Equipments of Fluidized bed are simply introduced in this paper and the technical requirements are specified at the same time. This paper focuses on the intr

关键词： Standard Technical requirements,Burning equipments of fluidized bed,Boilers

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分块杯形砂轮磨削高硬度涂层球面温度

上海交通大学学报 2011年第11期45卷 1647-1652页

作者：蒋天一侯海云胡德金许开州上海交通大学机械与动力工程学院上海200240

针对分块杯形砂轮磨削高硬度涂层球面的实际工况,计算移动热源的有效宽度,并使用三角形移动热源模型对磨削温度场进行理论建模.分析了磨削运动对传热过程的影响,结合磨粒端面温度和一维导热模型计算热量传入工件比率.通过实验比较了分... 详细信息

针对分块杯形砂轮磨削高硬度涂层球面的实际工况,计算移动热源的有效宽度,并使用三角形移动热源模型对磨削温度场进行理论建模.分析了磨削运动对传热过程的影响,结合磨粒端面温度和一维导热模型计算热量传入工件比率.通过实验比较了分块杯形砂轮和普通杯形砂轮的磨削温度及磨后表面形貌,同时,分析了磨削参数对磨削温度的影响.结果表明:分块杯形砂轮磨削高硬度涂层球面较普通杯形砂轮具有更低的磨削温度和更好的磨削条件.

关键词：球面磨削杯形砂轮涂层材料断续磨削磨削温度

FLUIDIZATION PERFORMANCE OF BINARY CIRCULATING FLUIDIZED BED AND WAVELET ANALYSIS OF PRESSURE FLUCTUATIONS IN A TWO-DIMENSIONAL CIRCULATING FLUIDIZED BED

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FLUIDIZATION PERFORMANCE OF BINARY CIRCULATING FLUIDIZED BED...

多相流研究进展国际会议

作者： Yongguo Chen Ziping tian Zhengqing Miao Zhiqiang Zhong school of mechanical & Power engineering shanghai jiaotong university shanghai P.R. china 200240 Corresponding Author: Yongguo Chen Department of Energy engineering school of mechanical and Power engineering shanghai jiaotong university 800 DongChuan Rd. shanghai 200240 People’s Republic of china

＜正＞ The purpose of this study is to present some new data to estimate the hydrodynamics in a two-dimensional （2-D） cold binary solid circulating fluidized bed （CFB）（215×30×1200mm）. Bed material with narrow-size distribution （namely 0.56-0.63mm, 0.63-0.8mm, and 0.8-0.9mm colophony particles respectively） is simplified as single solid in order to investigate the hydrodynamics of a binary solid fluidized bed. In this study, the rate of differential expansion height to differential superficial gas velocity is determined to denote fluidization performance. The experimental results show that the fluidization performance of the binary solid circulating fluidized bed is superior to that of a single solid. On the other hand, pressure fluctuations signal in a 2-D cold circulating fluidized bed were sampled at a rate of 200 Hz （According to Nyquist Sampling Theory）. Wavelet analysis was adopted to analyze the signal. As for a circulating fluidized bed, the ELF（Energy of Low Frequency） increases monotonously with superficial gas velocity and is not able to reveal the transition of fluidization regimes. It is essential to seek another eigenvalue to describe the transition of fluidization regimes in the circulating fluidized bed. Real or Complex Continuous 1-D wavelet coefficients of pressure fluctuations in a CFB are helpful to detect the resemblance of signals. It is found that the resemblance of pressure fluctuations at low superficial gas velocity is more prominent.

关键词： binary solid two-dimensional circulating fluidized bed fluidization performance pressure fluctuations wavelet analysis

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基于惯性匹配可操作性的跳跃机器人运动优化

上海交通大学学报 2008年第7期42卷 1154-1158页

作者：徐兆红吕恬生王旭阳刘杰上海交通大学机械与动力工程学院上海200240

运用空间浮动基建立站立相动力学模型.结合惯性匹配和方向可操作度,优化跳跃机器人起跳姿态和负载匹配,并采用五次多项式规划起跳运动的重心轨迹.仿真实验及模型样机运行效果表明,惯性匹配与跳跃性能成正比,惯性匹配可操作性理论研究跳... 详细信息

运用空间浮动基建立站立相动力学模型.结合惯性匹配和方向可操作度,优化跳跃机器人起跳姿态和负载匹配,并采用五次多项式规划起跳运动的重心轨迹.仿真实验及模型样机运行效果表明,惯性匹配与跳跃性能成正比,惯性匹配可操作性理论研究跳跃运动是有效可行的.

关键词：跳跃机器人惯性匹配方向可操作性运动优化