Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
A novel optical-spectrum-encoded （OSE） analog-to-digital converter （ADC） is proposed in this letter. To simply exemplify the conversion idea, a 5-bit device structure consisted of Fabry-Perot interferometers （FPI...A novel optical-spectrum-encoded （OSE） analog-to-digital converter （ADC） is proposed in this letter. To simply exemplify the conversion idea, a 5-bit device structure consisted of Fabry-Perot interferometers （FPI） is analyzed and numericaly simulated. The dependence of peak-transmission wavelength on modulation voltage in an electro-optical FPI and the dependence of transmitted power on incident light wavelength in an FPI are discussed and utilized to implement OSEADC. A linearly tunable mode-locked laser, as a voltage-wavelength transformer and a sampler, and chirped grating FPIs, as an encoder array, can be used to obtain much greater sampling rate and bit-resolution.展开更多
In this paper, the operation principle of laser rotary encoders is expounded and the optical quadruple frequency technology used in laser rotary encoders is explained, and the design idea of optical system in φ66 mm ...In this paper, the operation principle of laser rotary encoders is expounded and the optical quadruple frequency technology used in laser rotary encoders is explained, and the design idea of optical system in φ66 mm laser rotary encoder is mainly introduced, as well as the choice of principal devices.展开更多
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘A novel optical-spectrum-encoded （OSE） analog-to-digital converter （ADC） is proposed in this letter. To simply exemplify the conversion idea, a 5-bit device structure consisted of Fabry-Perot interferometers （FPI） is analyzed and numericaly simulated. The dependence of peak-transmission wavelength on modulation voltage in an electro-optical FPI and the dependence of transmitted power on incident light wavelength in an FPI are discussed and utilized to implement OSEADC. A linearly tunable mode-locked laser, as a voltage-wavelength transformer and a sampler, and chirped grating FPIs, as an encoder array, can be used to obtain much greater sampling rate and bit-resolution.
文摘In this paper, the operation principle of laser rotary encoders is expounded and the optical quadruple frequency technology used in laser rotary encoders is explained, and the design idea of optical system in φ66 mm laser rotary encoder is mainly introduced, as well as the choice of principal devices.
