Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based...Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.展开更多
The concept of metamorphic mechanism is put forward according to the changeof configurations from one state to another. Different configurations of metamorphic mechanism aredescribed through the method of Huston lower...The concept of metamorphic mechanism is put forward according to the changeof configurations from one state to another. Different configurations of metamorphic mechanism aredescribed through the method of Huston lower body arrays. Kinematics analyses for metamorphicmechanism with generalized topological structure, including the velocity, angular velocity,acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration,including close-loop constraints, are formed by using Kane's equations. For an arbitrary metamorphicmechanism, the transformation matrix of generalized speeds between configuration zeta and zeta+1 isobtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphicmechanism including all configurations is completely established.展开更多
The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of compu...The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.展开更多
A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain de-gree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and fric-tion, a...A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain de-gree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and fric-tion, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant ann's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and preferable merits.展开更多
The operation principle of a new type of intensity modulate macrobend curvature optical fiber senor was presented based on surface light scattering theory. Sensor's static and dynamic performance was investigated....The operation principle of a new type of intensity modulate macrobend curvature optical fiber senor was presented based on surface light scattering theory. Sensor's static and dynamic performance was investigated. This type of sensor can distinguish between positive and negative bending directions. When curvature radius is larger than 50mm, the sensor will keep good linearity. Two-dimensional shape measurement experiments using curvature sensors have been implemented.展开更多
基金This project is supported by National Natural Science Foundation of China (No.59775002 and No.50075010).
文摘Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.
基金This project is supported by National Natural Science Foundation of China (No.50075009)Postdoctoral Science Foundation of China.
文摘The concept of metamorphic mechanism is put forward according to the changeof configurations from one state to another. Different configurations of metamorphic mechanism aredescribed through the method of Huston lower body arrays. Kinematics analyses for metamorphicmechanism with generalized topological structure, including the velocity, angular velocity,acceleration and angular acceleration, are given. Dynamic equations for an arbitrary configuration,including close-loop constraints, are formed by using Kane's equations. For an arbitrary metamorphicmechanism, the transformation matrix of generalized speeds between configuration zeta and zeta+1 isobtained for the first time. Furthermore, configuration-complete dynamic modeling of metamorphicmechanism including all configurations is completely established.
基金This project is supported by National 863 plan(No.512-9804-02)Robotics Laboratory,Chinese Academy of Sciences Foundation, China
文摘The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.
文摘A fuzzy control algorithm based on self-tuning PID proportional factor is presented. To a certain de-gree, it overcomes robot motion control's nonlinearity and uncertainty caused by joints coupled and fric-tion, and decreases overshoot of end manipulator's tracking desired curves. The controller's structure is very simple but effective. With this control method, a 7-DOF redundant ann's self-motion developed by the authors is investigated. Research results show that the said controller restrains track overshoot and preferable merits.
文摘The operation principle of a new type of intensity modulate macrobend curvature optical fiber senor was presented based on surface light scattering theory. Sensor's static and dynamic performance was investigated. This type of sensor can distinguish between positive and negative bending directions. When curvature radius is larger than 50mm, the sensor will keep good linearity. Two-dimensional shape measurement experiments using curvature sensors have been implemented.
