2016 IEEE International Conference on Mechatronics and Automation最新文献_第9页

Design and modeling of a torsion spring-based actuator (TSA) with valid straight-arm length adjustable for stiffness regulation 基于扭转弹簧的有效直臂长度可调刚度执行器(TSA)设计与建模

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558938

Decai Yang, Hongzhe Jin, Zhangxing Liu, Jizhuang Fan, Yanhe Zhu, He Zhang, Huijuan Dong

{"title":"Design and modeling of a torsion spring-based actuator (TSA) with valid straight-arm length adjustable for stiffness regulation","authors":"Decai Yang, Hongzhe Jin, Zhangxing Liu, Jizhuang Fan, Yanhe Zhu, He Zhang, Huijuan Dong","doi":"10.1109/ICMA.2016.7558938","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558938","url":null,"abstract":"This paper presents the design and modeling of a novel torsion spring-based actuator (TSA) with variable stiffness. The mechanical structure of stiffness regulation contains two opposite-handed torsion springs and two cam bearing followers (CFs). The operational principle is by changing the contact point of the torsion spring and the CF to regulate the stiffness. The proposed design allows for the improvement of an actuator with a wide range of stiffness and a low friction of transmission mechanism. Wire-rope drive is used to avoid the backlash in a rack and pinion transmission system and low-response in a ball screw drive system. Only one contact point for each CF to torsion spring exists to replace the sliding friction while moving in a sliding groove with the rolling friction. Small size, compact structure and modular design are considered preferentially for the application on multi-dof (degree of freedom) robotic system. Simulation experiment results are presented to demonstrate the wide range of stiffness, the fast response and the excellent tracking performance achieved by the proposed TSA.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130857773","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

Study of flux linkage control method in discrete frequency 离散频率下磁链控制方法的研究

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558666

Y. Meng, Jun Chen, Mingliang Duan, Xiao-ning Li, Z. Gao

{"title":"Study of flux linkage control method in discrete frequency","authors":"Y. Meng, Jun Chen, Mingliang Duan, Xiao-ning Li, Z. Gao","doi":"10.1109/ICMA.2016.7558666","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558666","url":null,"abstract":"This paper puts forward a new discrete frequency control method of induction motor based on thyristor control, the hexagon flux linkage consisting of voltage space vector is triggered in multiple power cycle, and the hexagon flux linkage locus control of induction motor is realized. Through adjusting the trigger sequence of trigger angle and vector, the magnitude and direction of flux linkage are changed, stable motor rotating magnetic field is formed. By changing the voltage vector of the trigger interval, the motor air gap magnetic field average rotation speed can be changed, and the induction motor with the variable frequency control is realized. After the analysis of the four frequency dividing control process, a transient mathematical model of two-phase and three-phase to two-phase conduction is set up, the relationship between stator current and trigger angle is received. In the method of discrete frequency, the problem of open circuit zero voltage vector is proposed. Theoretical analysis and simulation experiments show that when the discrete frequency control based on flux linkage locus is used in the motor starting, the torque is improved and the current is reduced effectively. According to the control method and the mathematical model, simulation and experiment are made and the consistent results are obtained.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130947976","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

Mission-based command and control behavior model 基于任务的指挥控制行为模型

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558947

Lin Sun, Yabing Zha, Peng Jiao, Kai Xu, Xiaocheng Liu

{"title":"Mission-based command and control behavior model","authors":"Lin Sun, Yabing Zha, Peng Jiao, Kai Xu, Xiaocheng Liu","doi":"10.1109/ICMA.2016.7558947","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558947","url":null,"abstract":"The command and control behavior modeling is an important part of military analytical simulation. However, weaknesses including hard modeling, poor expansibility and little flexibility still exist in current command and control behavior models. In this paper, a mission-based command and control behavior model is designed, which consists of a Compound Mission Module as well as a General Mission Management Module. The Compound Mission Module based on improved hierarchical task network (HTN) not only supports hierarchical mission structuring but further extends HTN's ability of describing temporal and logical relations among sub-missions. This module helps to improve the expansibility and flexibility of the behavior model to some extent. The General Mission Management Module provides uniform mission management method and compound mission inner controlling method for combat entities. It spares the effort of developers to design specific logics for mission management and thus makes them more concentrating on detailed lower level mission modeling. Experiment results show that this mission-based command and control behavior model not only reduces the difficulty of modeling but also improves its expansibility and flexibility.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131334193","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: 4

Biomechanical measurement and analysis of Tai Chi push-hand 太极拳推手的生物力学测量与分析

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558621

Kun Wang, Xiuli Zhang, Hongfu Zhao

引用次数: 3

Navigation research on outdoor miniature reconnaissance robot 户外微型侦察机器人导航研究

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558695

Yi Liu, Junyao Gao, Xuanyang Shi, Jingchao Zhao, Haoxiang Cao, Fangzhou Zhao, Chuzhao Liu

引用次数: 2

A model for static contact of revolute cylinder based on geometric constraint and elastic half-space theory 基于几何约束和弹性半空间理论的旋转圆柱静接触模型

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558830

Yuntao Li, Q. Quan, Dewei Tang, Z. Deng

{"title":"A model for static contact of revolute cylinder based on geometric constraint and elastic half-space theory","authors":"Yuntao Li, Q. Quan, Dewei Tang, Z. Deng","doi":"10.1109/ICMA.2016.7558830","DOIUrl":"https://doi.org/10.1109/ICMA.2016.7558830","url":null,"abstract":"Due to the existence of clearances, contact-impact events are liable to cause lower transmission precision and slower dynamic response of the mechanism involving revolute joints. Based on the elastic-damping method, the continuous contact force (CCF) model is widely used in explicating the contact-impact phenomena. As part of storing and releasing strain energy in the CCF model, the elastic force is equal to the static contact force (SCF) which reflects the purely elastic characteristic of contact objects. Nevertheless, the results calculated by the previous SCF models of revolute joint cannot agree well with the results of static contact experiments based on image method in this paper. An appropriate SCF model of revolute joint was built by the elastic half-space theory, which avoids determining the thickness of elastic layer of the Winkler theory or estimating the deformation of the revolute joint from the external contacting cylinders. Furthermore, the function of distance between contact points was built by the geometric constraint condition which supposes that the two arc lengths from the contacting point to initial contact point are equal. The results of experiment indicates that the proposed model can be used to describe the contact characteristics of a revolute joint exactly.","PeriodicalId":260197,"journal":{"name":"2016 IEEE International Conference on Mechatronics and Automation","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125349658","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

Research on the towing torque and friction performance of hydro-viscous clutch with different friction materials 不同摩擦材料对液粘离合器牵引力矩和摩擦性能的影响研究

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558593

Ligang Ma, C. Xiang, M. Du, Jianwei Zhang

引用次数: 0

Structural design and stiffness analysis of the robot bound planes 机器人约束面的结构设计与刚度分析

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558533

Junpeng Shao, Yuanfeng Gao, Bing-Tuan Gao

引用次数: 1

Sub-optimal ground-strike guidance based on perturbation method 基于摄动法的次优对地制导

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558893

Jingwei Meng, W. Chen, Wenbin Yu

引用次数: 0

Research of coke ratio prediction based on concept lattice and genetic algorithm 基于概念格和遗传算法的焦炭比预测研究

2016 IEEE International Conference on Mechatronics and Automation Pub Date : 2016-08-01 DOI: 10.1109/ICMA.2016.7558769

Yang Kai, Jin Yong-long

引用次数: 0