Systematic analyses have been made to three typical dispositions of walking vehicle leg,and their kinematic characteristics are obtained respectively. a reliable theoretical guidance for theselection of the form is pr...Systematic analyses have been made to three typical dispositions of walking vehicle leg,and their kinematic characteristics are obtained respectively. a reliable theoretical guidance for theselection of the form is provided.展开更多
A real-time wavelet multi-resolution analysis (MRA)-based fault detection algorithm is proposed. The first stage detailed MRA signals extracted from the original signals were used as the criteria for fault detection. ...A real-time wavelet multi-resolution analysis (MRA)-based fault detection algorithm is proposed. The first stage detailed MRA signals extracted from the original signals were used as the criteria for fault detection. By measuring sharp variations in the detailed MRA signals, faults in the motor driving system of pipeline detection robot arm could be detected. The fault type was then identified by comparison of the three-phase MRA sharp variations. The effects of the faults were examined. The simulation results show that this algorithm is effective and robust, it is promising for fault detection in a robot's joint driving system. The method is simple, rapid and it can operate in real time.展开更多
A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with thre...A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120° apart, the rubber gasbag around the SMA wires inflated with air inside. Each unit corresponds to a segment of an earthworm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching, shrinking and bending, so the microrobot can walk forward and backward, and choose the direction.展开更多
文摘Systematic analyses have been made to three typical dispositions of walking vehicle leg,and their kinematic characteristics are obtained respectively. a reliable theoretical guidance for theselection of the form is provided.
文摘A real-time wavelet multi-resolution analysis (MRA)-based fault detection algorithm is proposed. The first stage detailed MRA signals extracted from the original signals were used as the criteria for fault detection. By measuring sharp variations in the detailed MRA signals, faults in the motor driving system of pipeline detection robot arm could be detected. The fault type was then identified by comparison of the three-phase MRA sharp variations. The effects of the faults were examined. The simulation results show that this algorithm is effective and robust, it is promising for fault detection in a robot's joint driving system. The method is simple, rapid and it can operate in real time.
文摘A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120° apart, the rubber gasbag around the SMA wires inflated with air inside. Each unit corresponds to a segment of an earthworm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching, shrinking and bending, so the microrobot can walk forward and backward, and choose the direction.
