检索结果-南通市图书馆

Reconfigurable robot based on modular joint concept

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

High Technology Letters 2006年第4期12卷 337-340页

作者：史士财 Xie Zongwu Gao Xiaohui Jin Minghe Zhu Yingyuan Ni Fenglei Liu Hong Kraemer Erich Hirzinger Gerd robotics Institute Harbin Institute of Technology Harbin 150001 P. R. China Institute of robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the robot should be folded overall and locked. A big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. multiple sensors were integrated into the fully modular joint, such as joint torque sensor, joint position sensor and temperature sensors, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.

关键词： space robot modular mechatronics zero gravity

An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Bionic Engineering 2021年第6期18卷 1463-1474页

作者： Lelai Zhou Tianfa Li Zaiyang Liu Yibin Li School of Control Science and Engineering Center for RoboticsShandong UniversityJinan250061China Engineering Research center of Intelligent Unmanned System Ministry of EducationJinan250061China

The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency *** energy consumption and keeping the stability of body are considered as two main characteristics of human *** work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking *** on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped *** studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot *** stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype *** results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots.

关键词： Bionic robot Mechanical power Bionic trajectory Quadruped robot

A　Combination　Method　of　SVD　And　Neuro－Controller　for　Identifying　Uncertain　Systems

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Systems Engineering and Electronics 1995年第2期6卷 40-51页

作者： Lin Wang, Min Han, Robert N.K. Loh (center for Robottes and Advanced Automation, Oakland University, Michigan 48309, U.S.A.) center for robotics and Advanced Automation Oakland University Michigan 48309 U.S.A.

A combination method of Singular Value Decomposition (SVD) and Neuro-Controller is presented in this *** a system with unknown structure and uncertain parameters,a SVD and backward linear prediction (BLP) method (SVD-BLP method) is used to determine the order of the system in a noisy environment. Then a neuro-controller is applied to dynamically idelltify is the uncertain parameters of the system in the face of disturbances. Simulation results are presented.

关键词： SVD Neural network Adaptive control Backward linear prediction (BLP).

Displacement manifold method for type synthesis of lower-mobility parallel mechanisms

在线全文

学校读者我要写书评

暂无评论

Science China(Technological Sciences) 2004年第6期47卷 641-650页

作者： LI Qinchuan HUANG Zhen Jacques Marie Hervé center of Integration Engineering Zhejiang University of SciencesHangzhou 310033China robotics Research center Yanshan UniversityQinhuangdao 066004China Ecole Centrale Paris France

Type synthesis of lower-mobility parallel mechanisms is a hot and frontier topic in international academic and industrial field. Based on the Lie group theory, a displacement manifold synthesis method is proposed. For all the nine kinds of lower-mobility parallel mechanisms, the mechanism displacement manifold, limb displacement manifold and the geometrical conditions which guarantee that the intersection of the limb displacement manifold is the desired mechanism displacement manifold are enumerated. Various limb kinematic chains can be obtained using the product closure of displacement subgroup. Parallel mechanisms can be constructed with these limbs while obeying the geometrical conditions. Hence, all the nine kinds of lower-mobility parallel mechanisms can be synthesized using this method. Since displacement manifold deals with finite motion, the result mechanism of synthesis have full-cycle mobility. Novel architectures of lower-mobility parallel mechanisms can be obtained using this method.

关键词： lower-mobility parallel mechanisms Lie group displacement manifold type synthesis

Untethered Micro/Nanorobots for Remote Sensing:Toward Intelligent Platform

在线全文

学校读者我要写书评

暂无评论

Nano-Micro Letters 2024年第2期16卷 450-483页

作者： Qianqian Wang Shihao Yang Li Zhang Jiangsu Key Laboratory for Design and Manufacture of Micro‑Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211189People’s Republic of China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China T Stone robotics Institute The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China Department of Surgery The Chinese University of Hong KongShatinHong Kong 999077People’s Republic of China

Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse *** are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to *** the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing *** review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment *** recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.

关键词： Micro/nanorobot Remote sensing Wireless control Self-propulsion Actuation at small scales

Property Identification of the Singularity Loci of the 6/6-Stewart Manipulator

在线全文

学校读者我要写书评

暂无评论

机械设计与研究 2004年第Z1期20卷 238-240,243页

作者： Cao Yi Huang Zhen Ding Huafeng robotics Research center Yanshan University Qinghuangdao Hebei 066004China Robotics Research Center Yanshan University Qinghuangdao Hebei 066004China Robotics Research Center Yanshan University Qinghuangdao Hebei 066004China

This paper addressed the problem of identifying the property of the singularity loci of the 6/6-Stewart manipulators. The singularity locus equation of the manipulator can be obtained by setting the determinant of the Jacobian matrix be zero. The singularity loci for different orientations are illustrated with examples. The singularity locus equation of the manipulator with respect to the oblique plane is derived either which is a polynomial expression of two degree. It shows that the singularity loci of the manipulator in the parallel oblique planes are hyperbolas accompanied with four pairs of intersecting straight lines and a parabola. Their geometric interpretations and the properties of the singularity loci are further analyzed.

关键词： parallel manipulator, singularity loci, property identification

Outlier Mining Based Abnormal Machine Detection in Intelligent Maintenance

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2009年第6期14卷 695-700页

作者：张蕾曹其新李杰 robotics Laboratory Shanghai Jiaotong University NSF I/UCR center for Intelligent Maintenance Systems University of Cincinnati

Assessing machine's performance through comparing the same or similar machines is important to implement intelligent maintenance for swarm *** this paper,an outlier mining based abnormal machine detection algorithm is proposed for this ***,the outlier mining based on clustering is introduced and the definition of cluster-based global outlier factor(CBGOF) is *** the modified swarm intelligence clustering(MSIC) algorithm is suggested and the outlier mining algorithm based on MSIC is *** algorithm can not only cluster machines according to their performance but also detect possible abnormal ***,a comparison of mobile soccer robots' performance proves the algorithm is feasible and effective.

关键词： intelligent maintenance outlier mining swarm intelligence clustering abnormal machine detection

Posture Adjustment of Microphone Based on Image Recognition in Automatic Welding System

在线全文

学校读者我要写书评

暂无评论

Transactions of Nanjing University of Aeronautics and Astronautics 2015年第2期32卷 232-239页

作者：王金娥高萍黄海波李相鹏郑亮徐文奎陈立国 College of Mechanical and Electrical Engineering Soochow University robotics and Microsystems center College of Mechanical and Electrical Engineering & Collaborative Innovation Center of Suzhou Nano Science and TechnologySoochow University

As the requirements of production process is getting higher and higher with the reduction of volume,microphone production automation become an urgent need to improve the production *** most important part is studied and a precise algorithm of calculating the deviation angle of four types microphones is proposed,based on the feature extraction and visual *** is performed to achieve the real-time microphone *** edge detection and typical feature extraction are used to distinguish the four types of microphones,categorizing them as type M1 and type *** Hough transformation is used to extract the image features of ***,the deviation angle between the posture of microphone and the ideal posture in 2Dplane can be *** on the angle,the system drives the motor to adjust posture of the *** final purpose is to realize the high efficiency welding of four different types of microphones.

关键词： visual inspection Canny edge detection Hough transform feature extraction microphone

Design and Control of a Coupling Mechanism-Based Prosthetic Hand

在线全文

学校读者我要写书评

暂无评论

Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of robotics and System Harbin Institute of Technology Institute of robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)