As an important branch in the field of servo control, multi-motor coordination motion control applications are increasingly widespread.For open CNC system requirement, taking DSP as master core, combing with specific ...As an important branch in the field of servo control, multi-motor coordination motion control applications are increasingly widespread.For open CNC system requirement, taking DSP as master core, combing with specific integrated stepper motor driver chip LMDI8201T, this designed a serial communication-based new collaborative multi-motor control system, which has characters of highly integrated, good stability, real-time, convenient man-machine interface.The test results show that the system fully meet performance requirements and achieved the motion control functions.展开更多
A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance o...A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly selected.For the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried out.The torques required at each motor of the robot under external forces were obtained.Here,the external forces were also estimated through simulation and literature survey.On the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot.展开更多
To make the dynamic assembly reliability analysis more effective for complex machinery of multi-object multi-discipline(MOMD),distributed collaborative extremum response surface method(DCERSM)was proposed based on ext...To make the dynamic assembly reliability analysis more effective for complex machinery of multi-object multi-discipline(MOMD),distributed collaborative extremum response surface method(DCERSM)was proposed based on extremum response surface method(ERSM).Firstly,the basic theories of the ERSM and DCERSM were investigated,and the strengths of DCERSM were proved theoretically.Secondly,the mathematical model of the DCERSM was established based upon extremum response surface function(ERSF).Finally,this model was applied to the reliability analysis of blade-tip radial running clearance(BTRRC)of an aeroengine high pressure turbine(HPT)to verify its advantages.The results show that the DCERSM can not only reshape the possibility of the reliability analysis for the complex turbo machinery,but also greatly improve the computational speed,save the computational time and improve the computational efficiency while keeping the accuracy.Thus,the DCERSM is verified to be feasible and effective in the dynamic assembly reliability(DAR)analysis of complex machinery.Moreover,this method offers an useful insight for designing and optimizing the dynamic reliability of complex machinery.展开更多
The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential syn...The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement展开更多
This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extract...This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.展开更多
It is a challenge to select an optimal set of devices to accomplish a graph-based ubiquitous service and execute it continuously under the circumstances of dynamic environments and limited device capability. We elabor...It is a challenge to select an optimal set of devices to accomplish a graph-based ubiquitous service and execute it continuously under the circumstances of dynamic environments and limited device capability. We elaborate a Synergy- aware Selection Mechanism （SSM） considering synergetic among devices. In the SSM, we design a distributed algorithm to integrate the devices and a dynamic updating weight method. The simulation results show that SSM can make devices composed together to ensure the continuity and smoothness of service展开更多
文摘As an important branch in the field of servo control, multi-motor coordination motion control applications are increasingly widespread.For open CNC system requirement, taking DSP as master core, combing with specific integrated stepper motor driver chip LMDI8201T, this designed a serial communication-based new collaborative multi-motor control system, which has characters of highly integrated, good stability, real-time, convenient man-machine interface.The test results show that the system fully meet performance requirements and achieved the motion control functions.
基金Project supported by the Second Stage of Brain Korea 21 Projects
文摘A lower-part humanoid robot CHP-1 with 12 degree-of-freedom of motion has been developed for cooperative motion,such as pushing or lifting an object.The capability of the robot is mainly dependent on the performance of the motors,thus the motors need to be properly selected.For the purpose,the kinematics of the robot was analyzed,and a number of simulations for two kinds of cooperative motions were carried out.The torques required at each motor of the robot under external forces were obtained.Here,the external forces were also estimated through simulation and literature survey.On the basis of the torques found,the selection of motors was finally suggested,and the motors are to be installed to the humanoid robot.
基金Project(51175017)supported by the National Natural Science Foundation of ChinaProject(YWF-12-RBYJ-008)supported by the Innovation Foundation of Beihang University for PhD Graduates,ChinaProject(20111102110011)supported by the Research Fund for the Doctoral Program of Higher Education of China
文摘To make the dynamic assembly reliability analysis more effective for complex machinery of multi-object multi-discipline(MOMD),distributed collaborative extremum response surface method(DCERSM)was proposed based on extremum response surface method(ERSM).Firstly,the basic theories of the ERSM and DCERSM were investigated,and the strengths of DCERSM were proved theoretically.Secondly,the mathematical model of the DCERSM was established based upon extremum response surface function(ERSF).Finally,this model was applied to the reliability analysis of blade-tip radial running clearance(BTRRC)of an aeroengine high pressure turbine(HPT)to verify its advantages.The results show that the DCERSM can not only reshape the possibility of the reliability analysis for the complex turbo machinery,but also greatly improve the computational speed,save the computational time and improve the computational efficiency while keeping the accuracy.Thus,the DCERSM is verified to be feasible and effective in the dynamic assembly reliability(DAR)analysis of complex machinery.Moreover,this method offers an useful insight for designing and optimizing the dynamic reliability of complex machinery.
基金Supported by National Key Technology R&D Program(No.2011BAG03B03)
文摘The three dimensional variable cross-section roll forming is a kind of new metal forming technol- ogy which combines large forming force, multi-axis linkage movement and space synergic movement, and the sequential synergic movement of the ganged roller group is used to complete the metal sheet forming according to the shape of the complicated and variable forming part data. The control system should meet the demands of quick response to the test requirements of the product part. A new kind of real time data driving multi-axis linkage and synergic movement control strategy of 3D roll forming is put forward in the paper. In the new control strategy, the forming data are automatically generated according to the shape of the parts, and the multi-axis linkage movement together with cooperative motion among the six stands of the 3D roll forming machine is driven by the real-time information, and the control nodes are also driven by the forming data. The new control strategy is applied to a 48 axis 3D roll forming machine developed by our research center, and the control servo period is less than 10ms. A forming experiment of variable cross section part is carried out, and the forming preci- sion is better than ＋ 0.5mm by the control strategy. The result of the experiment proves that the control strategy has significant potentiality for the development of 3D roll forming production line with large scale, multi-axis ganged and svner^ic movement
文摘This paper deals with the mode analysis of the kinematic structure of human locomotion. The authors investigated synergy mechanism of human locomotion from motion-captured data and EMG signal data. The authors extracted some common basic movements and residual modes, and analyzed the kinematical structures of limit cycle in joint angle space. The authors also implemented the numerical simulation analyses by using the motion captured data and EMG signal data to investigate the mechanical activities of human joints and to extract the mechanical structure of the limit cycle. The results show the joint synergy that is derived by the common basic modes, which expresses an inverted pendulum mode in support phase, and ballistic mode in swing phase with the kick-off motion in the most effective direction. This result can be guessed that the control strategy of human locomotion is simply based on the minimal control principle.
文摘It is a challenge to select an optimal set of devices to accomplish a graph-based ubiquitous service and execute it continuously under the circumstances of dynamic environments and limited device capability. We elaborate a Synergy- aware Selection Mechanism （SSM） considering synergetic among devices. In the SSM, we design a distributed algorithm to integrate the devices and a dynamic updating weight method. The simulation results show that SSM can make devices composed together to ensure the continuity and smoothness of service
