Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to ...Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.展开更多
The production model of“multi-specification and low-quantity”is becoming the main trend of manufacturing industry.As a key activity in the manufacturing chain,traditional computer aided process planning(CAPP)system ...The production model of“multi-specification and low-quantity”is becoming the main trend of manufacturing industry.As a key activity in the manufacturing chain,traditional computer aided process planning(CAPP)system fails to adapt to the production model of customization.Therefore,a novel method for variant design of process planning was proposed to develop CAPP system based on Tabular Layouts of Article Characteristics(Sach-Merk Leisten in German and SML for short). With the support of standard database of master process planning documents which are developed by parameterization technique, and instance process planning for special product(instance product)can be generated automatically by the sub-system of variant de- sign of process planning.Finally,a CAPP system was developed for process design of rotor of steam turbine to validate the feasibil- ity and applicability of the method.展开更多
基金supported by the National Natural Science Foundation of China (11142013, 11172260 and 11072214)the Doctoral Fund of Ministry of Education of China (20110101110016)the Fundamental Research Funds for the Central Universities of China(2011QNA4001)
文摘Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.
文摘The production model of“multi-specification and low-quantity”is becoming the main trend of manufacturing industry.As a key activity in the manufacturing chain,traditional computer aided process planning(CAPP)system fails to adapt to the production model of customization.Therefore,a novel method for variant design of process planning was proposed to develop CAPP system based on Tabular Layouts of Article Characteristics(Sach-Merk Leisten in German and SML for short). With the support of standard database of master process planning documents which are developed by parameterization technique, and instance process planning for special product(instance product)can be generated automatically by the sub-system of variant de- sign of process planning.Finally,a CAPP system was developed for process design of rotor of steam turbine to validate the feasibil- ity and applicability of the method.
