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2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)最新文献

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Commercial Vehicle Cab Fatigue Load Decomposition and Validation 商用车驾驶室疲劳载荷分解与验证
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490545
Wei Li, Junhong Dong, Qiangqiang Dong
{"title":"Commercial Vehicle Cab Fatigue Load Decomposition and Validation","authors":"Wei Li, Junhong Dong, Qiangqiang Dong","doi":"10.1109/ICMRA.2018.8490545","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490545","url":null,"abstract":"Development of cab fatigue durability performance is very important in the design and manufacture of trucks, but the cab fatigue load is difficult to get by the test. Obtaining the cab fatigue load and making simulation of the cab fatigue in the pre-development period will improve and promote the performance of cab fatigue durability. Aiming at the above problems, a method to obtain the cab fatigue load is proposed. The acceleration of the cab suspension is collected first, then the rigid and flexible coupling multi-body dynamics model of cab by 421 driving mode is established, and the cab fatigue load is extracted by virtual iteration of Femfatlab, and finally it verifies the accuracy of the fatigue load and the effectiveness of the method by comparing the virtual strain with the measured strain.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"39 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114927252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Analysis of a Cable-Driven Parallel Robot for Waist Rehabilitation 钢丝绳驱动腰部康复并联机器人的设计与分析
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490581
Tao Zhao, Sen Qian, Qiao Chen, Zhi Sun
{"title":"Design and Analysis of a Cable-Driven Parallel Robot for Waist Rehabilitation","authors":"Tao Zhao, Sen Qian, Qiao Chen, Zhi Sun","doi":"10.1109/ICMRA.2018.8490581","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490581","url":null,"abstract":"This paper presents a cable-driven parallel robot for waist rehabilitation (CPRWR). The CPRWR has been conceived, designed, and analyzed. Degree of freedoms (DOFs) of the waist movement, the characteristics of drives, and the structure of the robot should be considered in the design process of the CPRWR. All kinds of sensors are chosen and used to measure the position and orientation of trainer for ensuring their safety. Human body waist is considered as a spherical joint, and the part above of human body waist is driven by a cable-driven parallel robots(CDPRs). Considering that the lower extremity and pelvis of human body have an effect on the waist rehabilitation training, thus the lower extremity and pelvis of human body are fixed by a lower extremity exoskeleton. Inverse kinematics, statics, and dynamics of the CPRWR have investigated. Finally, numerical simulation results indicate that change curves of the cable lengths are successive and smooth, and all cable tensions are positive, which also meet design requirement of the CPRWR.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"28 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123437369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Dynamic Start-up Accelerating Chracterisitic of the Flexible Robotic Manipulator Based on Virtual Prototype Experiment 基于虚拟样机实验的柔性机械臂动态启动加速特性研究
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490549
Yufei Liu, Xi Zhang, Dezhang Xu, Buyun Wang
{"title":"Dynamic Start-up Accelerating Chracterisitic of the Flexible Robotic Manipulator Based on Virtual Prototype Experiment","authors":"Yufei Liu, Xi Zhang, Dezhang Xu, Buyun Wang","doi":"10.1109/ICMRA.2018.8490549","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490549","url":null,"abstract":"To accurately obtain the overall dynamic characteristics of the flexible robotic manipulator (FRM) in the whole operating process, the dynamic modeling and vibration characteristic of the FRM in the star-up accelerating process are investigated in this paper. Regarding the process of achieving a uniform motion involves a start-up accelerating process and a uniform running process, the initial conditions of the vibration responses are determined and considered in the dynamic modeling, which have considerable influence on the dynamic properties of FRMs and are ignored and defined as zero in the existent literatures however. The Hamilton's principle is introduced to establish the dynamic model of the FRM. Based on the established dynamic model, the vibration responses of the FRM with varied velocities are obtained and analyzed. Through virtual prototype experiment, the proposed dynamic model of the FRM is verified. The results obtained in this paper are significant for accurately evaluating the overall dynamic characteristics in the whole operating process.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127435264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Mechanical Part Sorting Method Based on Fast Template Matching 基于快速模板匹配的机械零件排序方法
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490571
Yi-fan Wang, Haodong Chen, Kangren Zhao, Ping Zhao
{"title":"A Mechanical Part Sorting Method Based on Fast Template Matching","authors":"Yi-fan Wang, Haodong Chen, Kangren Zhao, Ping Zhao","doi":"10.1109/ICMRA.2018.8490571","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490571","url":null,"abstract":"In this paper, a method of part sorting based on fast template matching is proposed. This method accelerates the process of part recognition by improving the template matching method. Thus, the efficiency of the part sorting system based on machine vision is improved, and the effect is outstanding in the case of a wide variety of parts. First, the image of target parts is preprocessed and segmented into multiple sub images containing only one part. Then, a shape feature vector and a similarity measure function are defined to match the target part sub images with the template part images. Finally, the target parts are located and the path of the sorting is planned. The result of simulation experiment in MATLAB shows that the method proposed in this paper not only has high accuracy and stability, but also meets the requirements of rapidity.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121250174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A Tactile Sensor for Measuring the Hardness of Soft Materials 一种测量软质材料硬度的触觉传感器
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490546
Ya Yong Wu, J. Shen
{"title":"A Tactile Sensor for Measuring the Hardness of Soft Materials","authors":"Ya Yong Wu, J. Shen","doi":"10.1109/ICMRA.2018.8490546","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490546","url":null,"abstract":"This paper presents a novel tactile sensor with a simple structure for measuring the hardness of soft materials subjected to finite deformations. In principle. this tactile sensor is designed to be as a rigid cylindrical core surrounded by an elastic annular ring. Based on the difference of forces acted on the core and the ring, the indentation displacement can be determined. To evaluate the hardness output, the relation between hardness and elastic moduli is developed. And, the contact processes between the tactile sensor and materials with different hardness are analyzed. It is found that the gradient of the force differences can well reflect the hardness of materials. A prototype of the proposed tactile sensor is being fabricated in our lab.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121662876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Software Design for CNC System Based on Event-Driven Framework 基于事件驱动框架的数控系统软件设计
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490570
Kongyuan Hu, Huabing Zhu, Bo Dong
{"title":"Software Design for CNC System Based on Event-Driven Framework","authors":"Kongyuan Hu, Huabing Zhu, Bo Dong","doi":"10.1109/ICMRA.2018.8490570","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490570","url":null,"abstract":"To satisfy the multitask parallelism, priority preemption and loose coupling among modules of CNC system, a RTOS platform of CNC system based on event-driven framework was proposed and each module task was researched. In this paper, the characteristics of structures are that the framework provides methods for module construction, task scheduling, information exchange, system integration, etc. Firstly, the services provided by the framework were elaborated. Then, based on the actual application, this paper expounded the method of using framework to the design of the system software. In this way, the CN C system has a good openness and high development efficiency.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132229322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Trajectory Planning for a Hydraulic Direct-Driven Joint Robot 液压直驱关节机器人的轨迹规划
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490580
Chen Guangzhu, Deng Yi, Li Dongdong, Yin Feng, Cheng Zhengyang
{"title":"Trajectory Planning for a Hydraulic Direct-Driven Joint Robot","authors":"Chen Guangzhu, Deng Yi, Li Dongdong, Yin Feng, Cheng Zhengyang","doi":"10.1109/ICMRA.2018.8490580","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490580","url":null,"abstract":"With the heavy load demand to the robot, hydraulic robot is pay more attention. The paper presents a six degree of freedom hydraulic joint robot. The six degree of freedom hydraulic joint robot is consists of base, waist, upper arm, median arm, lower arm, wrist, and hand parts. Firstly the trajectory equation of the six degree of freedom hydraulic joint robot is built based on Trajectory plans of the joints with cubic polynomial interpolation method, then the relationship between the speed of each joint of the robot and the flow of the hydraulic system is attained based on the motor flow equation and trajectory equation of the robot. A trajectory simulation of the six degree of freedom hydraulic joint robot is done, and the simulation results display that the robot has good kinematic characteristics in the work time and finishes a variety of complex movements.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124428901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Two Degrees-of-Freedom Helicopters with Adaptive Robust Control for Trajectory Tracking 基于自适应鲁棒控制的二自由度直升机轨迹跟踪
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490582
Yinfei Zhu, Shengchao Zhen, Hao Sun
{"title":"Two Degrees-of-Freedom Helicopters with Adaptive Robust Control for Trajectory Tracking","authors":"Yinfei Zhu, Shengchao Zhen, Hao Sun","doi":"10.1109/ICMRA.2018.8490582","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490582","url":null,"abstract":"In this paper, we establish the dynamical model of two degrees-of-freedom (2DOF) helicopter by Lagrange energy method, which may be subject to holonomic or nonholonomic constraints. Then we propose a nominal control for the trajectory tracking of 2DOF helicopters by applying Udwadia and Kalaba theory. Considering that there always exist some uncertainties in the 2DOF helicopter's mechanical system such as fuel consumption, air resistance during helicopter flight and the bounds of these uncertainties are unknown, we propose an adaptive robust control method to compensate the uncertainty. The choice of the design parameters in control is not unique, which can be used by the designer to balance the system performance the cost of control.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123152804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Novel Data-Assisted Model and Discrete-Time Sliding Mode Steering Controller of Robotic Fish 机器鱼一种新的数据辅助模型及离散滑模转向控制器
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490561
Hai Wang, C. Mi, Zhenghao Li, Ningning Hou, G. Xie
{"title":"A Novel Data-Assisted Model and Discrete-Time Sliding Mode Steering Controller of Robotic Fish","authors":"Hai Wang, C. Mi, Zhenghao Li, Ningning Hou, G. Xie","doi":"10.1109/ICMRA.2018.8490561","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490561","url":null,"abstract":"In this paper, a novel dynamic model with the data-assisted method of robotic fish is proposed, and a discrete-time sliding mode controller for robotic fish is implemented to effectively control the steering. Considering the interference including frequency nonlinearity and angular speed delay term etc., the dynamic model is established based on experimental data which is added into the nonlinear interference. Aiming at solving the problem of the uncertainty of robotic fish system, a discrete-time sliding mode controller for steering control is designed, in the sense that not only the nonlinear interference can be weakened and the strong robustness can be obtained but also the steering angle of robotic fish can converge to the reference angle asymptotically. The simulation results show the effectiveness of the proposed dynamic model and the discrete-time sliding mode controller for steering tracking.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117323966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Residual Stress Analysis of Double Cold Extrusion for Titanium Alloy Lug 钛合金凸耳双冷挤压残余应力分析
2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA) Pub Date : 2018-05-01 DOI: 10.1109/ICMRA.2018.8490543
Yongiie Zhang, Yanyun Xu, Zheng Yang, Yingying Wu
{"title":"Residual Stress Analysis of Double Cold Extrusion for Titanium Alloy Lug","authors":"Yongiie Zhang, Yanyun Xu, Zheng Yang, Yingying Wu","doi":"10.1109/ICMRA.2018.8490543","DOIUrl":"https://doi.org/10.1109/ICMRA.2018.8490543","url":null,"abstract":"In order to study the stress distribution of the structure hole after cold extrusion, this paper puts forward the double cold extrusion strengthening method. In this study, we choose TB6 titanium alloy lug as the research object, and the finite element software ABAQUS™ is used to establish the numerical model and simulate the strengthening process as well. By using reasonable simplifications, setting geometry structures, boundary conditions and loading methods, we can implement the finite element calculation and get the results of the residual stress distribution on the lug. The residual stresses along four paths on both top and buttom surface of the lug are compared. The characteristics of the circumferential residual stress near the lug's hole have been analyzed.","PeriodicalId":190744,"journal":{"name":"2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128836702","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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