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EXPLORATION IN UNKNOWN ENVIRONMENTS BY A MOBILE robot

Journal of China Textile University(English Edition) 1995年第1期12卷 14-20页

作者：熊宁邵世煌 China Textile Univ Shanghai China

Navigation of anutonomous mobile robot. in known environments has been studied extensively. But the algorithms for controlling progress through unknown environments have not received much study. In this paper, we put forward a new exploration scheme which is based on learning. While travelling, robot. use their range/vision sensors to perceive the external world. Newly acquired information about obstacles is added to the system’s knowledge base through learning. And the updated knowledge base is used in planning future navigation paths, thus the generated paths will improve gradually.

关键词： robot. navigation learning, matcher, merger, mobile robot.

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Modeling of Pneumatic Muscle with Shape Memory Alloy and Braided Sleeve

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International Journal of Automation and computing 2010年第3期7卷 283-288页

作者： Bin-Rui Wang Ying-Lian Jin Dong Wei School of Mechanical and Electrical Engineering China Jiliang University Hangzhou 310018 PRC State Key Laboratory of robot.cs Shenyang 110016 PRC

Pneumatic muscle （PM） of flexible actuators used in bionic robot.is an active area of recent research. A novel PM with shape memory alloy （SMA） braided sleeve is proposed in this paper, and SMA is used to improve PM working characteristics. Based on the principle of virtual work, output force model of PM and relationship with braided wire inner-stress are established, and analysis of PM deformation has shown that braided wire length is the key factor of output force characteristic. Based on the crystal structure transitions, the relationship of temperature with wire shrinkage is derived. Then, the synthetic dynamics of novel PM is established. A physical prototype of PM with SMA braided sleeve is developed, and test platform that is built for the experiment. Experiment and simulation test of static isometric-length, static isobaric-pressure, and dynamic characteristics are done. The experimental results are compared with the simulation of theoretical model. Moreover, based on experiment, model of output force was improved by adding a correction factor to deal with the elastic force of rubber tube. The results analysis demonstrates that the established models are correct, and SMA wires can reinforce PM and make PM working characteristics adjustable. PM proposed in this paper has greater output force and is beneficial to achieve more accurate control that is useful for manipulating fragile things.

关键词： Pneumatic muscle (PM) shape memory alloy (SMA) modeling simulation testing robot.

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