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第三十九届中国控制会议

作者： Qingzeng Ma Dongbin Zhang Shuo Jin Yuan Ren Wei Cheng Yanlei Li Laser Institute Qilu University of Technology（Shandong Academy of Sciences）

Surface cleaning has always been an important procedure to improve quality and performance of final components in modern industrial manufacturing. Among various surface cleanings, laser cleaning has been identified as the most promising green cleaning technology to replace conventional mechanical and chemical cleaning. Laser cleaning is a green cleaning technology that will not result in environmental pollution. And, laser cleaning is a versatile, precise, and controllable technology. A set of laser cleaning system that consists of line structured light and industrial manipulator, was designed in this paper. The line structured light, combined with camera, was used to scan workpiece surface and reconstruct the 3D model of workpiece surface. The industrial manipulator was utilized to perform scanning and cleaning movements. This new system is called Laser Cleaning Robot（LCR）. To improve automation level and cleaning efficiency of the LCR, a path generation method based on line structured light and industrial manipulator was proposed in this paper. Experimental results demonstrate the performance of the proposed method in terms of cleaning efficiency for large-scale workpiece.

关键词： Laser Cleaning Industrial Manipulator path generation Line Structured Light

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Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

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维普期刊数据库

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path sets size,model specification,or model estimation:Which one matters most in predicting stochastic user equilibrium traffic flow?

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Journal of Traffic and Transportation Engineering(English Edition) 2016年第3期3卷 181-191页

作者： Milad Haghani Zahra Shahhoseini Majid Sarvi Department of Infrastructure Engineering The Uniuersity of MelbourneMelbourneVictoria 3010Australia

This study aims to make an objective comparative analysis between the relative significance of three crucial modelling aspects involved in the probabilistic analysis of transport networks. The first question to address is the extent to which the size of generated path sets can affect the prediction of the static flow in the path-based traffic assignment paradigm. The importance of this question arises from the fact that the need to generate a large quantity of paths may be perceived by analysts as a preventative reason as to the application of path-based stochastic traffic assignment （STA） models for large-scale networks. A simulated path generation algorithm, which allows the number of generated paths to be under modeller＇s control, is applied. Findings show that the size of the generated path sets does not substantially affect the flow prediction outcome in this case study. Further investigations with respect to the relative importance of STA model estimation （or equivalently, parameter calibration） and model specification （or equivalently, error term formulation） are also conducted. A paired combinatorial logit （PCL） assignment model with an origin-destination-specific-parameter, along with a heuristic method of model estimation （calibration）, is proposed. The proposed model cannot only accommodate the correlation between path utilities, but also accounts for the fact that travelling between different origin-destination （O-D） pairs can correspond to different levels of stochasticity and choice randomness. Results suggest that the estimation of the stochastic user equilibrium （SUE） models can affect the outcome of the flow prediction far more meaningfuUy than the complexitv of the choice model （i.e.. model specification）.

关键词： Stochastic traffic assignment path-based traffic assignment path generation Dispersion parameter Paired combinatorial logit Multinomial logit

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RESERCH ON THE HYBRID CAM-LINKAGE MECHANISM REALIZING TRAJECTORY

RESERCH ON THE HYBRID CAM-LINKAGE MECHANISM REALIZING TRAJEC...

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2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： GE Zhenghao, LI Xiaofang, REN Ziwen, YANG Fulian Shaanxi University of Science & Technology, Xiangyang 712081, China

Based on the analysis of current situation and application prospect of hybrid electromechanical system, the concept of hybrid cam-linkage mechanism is proposed and its significance is expounded. The b

关键词： Hybrid cam-linkage mechanism path generation flexible workspace.

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