A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoele...A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoelectric bimorph beam, made up of a middle metal element, an upper and lower piezoelectric elements. The mechanism is driven by an asymmetric waveform voltage, such as saw-toothed waveform, and utilizes the dynamic relationship between the maximum static friction force and the inertial force. To study the actuator, firstly, the constituent equation of a composite piezoelectric bimorph under both applied voltage and external force was inferred by thermodynamics. Secondly, the dvnamic model of the actuator was established analyzing the relationship between the locomotive states, viz. displacement and velocity, and design parameters, such as piezoelectric strain constant, elastic modulus,length, width and thickness of the piezoelectric element, actuator mass, and driving vohage. At last, the dynamic equation was solved and the theoretical calculation of the inherent frequency was more consistent with the experimental data, which proved the rationality of the model. All these lay a theoretical foundation of the micro actuator parameter optimization and more research on a micro robot.展开更多
Based on the biological immune concept, immune response mechanism and expert system, a dynamic and intelligent scheduling model toward the disturbance of the production such as machine fault,task insert and cancel etc...Based on the biological immune concept, immune response mechanism and expert system, a dynamic and intelligent scheduling model toward the disturbance of the production such as machine fault,task insert and cancel etc. Is proposed. The antibody generation method based on the sequence constraints and the coding rule of antibody for the machining procedure is also presented. Using the heuristic antibody generation method based on the physiology immune mechanism, the validity of the scheduling optimization is improved, and based on the immune and expert system under the event-driven constraints, not only Job-shop scheduling problem with multi-objective can be solved, but also the disturbance of the production be handled rapidly. A case of the job-shop scheduling is studied and dynamic optimal solutions with multi-objective function for agile manufacturing are obtained in this paper. And the event-driven dynamic rescheduling result is compared with right-shift rescheduling and total rescheduling.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.69774020)the National Doctoral Foundation of China(Grant No.98014106).
文摘A new kind of inertial piezoelectric actuator for a micro in-pipe robot is proposed and studied. The actuator is composed of a body, corresponding to a mass rod, and four elastic legs. Each leg is a composite piezoelectric bimorph beam, made up of a middle metal element, an upper and lower piezoelectric elements. The mechanism is driven by an asymmetric waveform voltage, such as saw-toothed waveform, and utilizes the dynamic relationship between the maximum static friction force and the inertial force. To study the actuator, firstly, the constituent equation of a composite piezoelectric bimorph under both applied voltage and external force was inferred by thermodynamics. Secondly, the dvnamic model of the actuator was established analyzing the relationship between the locomotive states, viz. displacement and velocity, and design parameters, such as piezoelectric strain constant, elastic modulus,length, width and thickness of the piezoelectric element, actuator mass, and driving vohage. At last, the dynamic equation was solved and the theoretical calculation of the inherent frequency was more consistent with the experimental data, which proved the rationality of the model. All these lay a theoretical foundation of the micro actuator parameter optimization and more research on a micro robot.
基金This work was supported by National Science Foundation of Shanghai(02ZF14003)
文摘Based on the biological immune concept, immune response mechanism and expert system, a dynamic and intelligent scheduling model toward the disturbance of the production such as machine fault,task insert and cancel etc. Is proposed. The antibody generation method based on the sequence constraints and the coding rule of antibody for the machining procedure is also presented. Using the heuristic antibody generation method based on the physiology immune mechanism, the validity of the scheduling optimization is improved, and based on the immune and expert system under the event-driven constraints, not only Job-shop scheduling problem with multi-objective can be solved, but also the disturbance of the production be handled rapidly. A case of the job-shop scheduling is studied and dynamic optimal solutions with multi-objective function for agile manufacturing are obtained in this paper. And the event-driven dynamic rescheduling result is compared with right-shift rescheduling and total rescheduling.
