Space gripper configuration and its dimension synthesis based on genetic algorithm

The special fingers of the gripper on the space robot have been developed based on genetic algorithmfor the space application.Therefore,the symmetrical wedgelike finger composed of the 4-1ink mechanismand the relevant track were designed.To decrease the weight and optimize the kinematics and grip force,the compositive fitness function for dynamics and kinematics was created.The calculation efficiency couldbe improved by novel methods which overcame the problem of too many constraints in the solution space,such as introducing the specialist's experience and punishment function and simplifying the variables.The solutions show that the optimized finger could perform well and the methods were effectual.

A Study on Dimension Synthesis for the Peaucellier Mechanism

Straight-line motion, albeit simple, manifests itself in numerous applications, from running steam engines and oil wells to manufacturing parts with straight edges and sides. The drive to maximize production creates a need for continuously running assembly-line manufacturing comprised of precise, individually optimized components. While there are many so-called straight-line generating mechanisms, few actually produces a true straight-line, most generate only approximate straight-line. Featured an eight-link rhomboidal system with length constraints,, the Peaucellier mechanism is one that actually produces a true straight line intrinsically. This paper presents a study on the dimension synthesis of the Peaucellier mechanism, namely by identifying the correct ratio of linkage lengths to produce the longest straight line stroke. In addition to designing for stroke, another objective of interest is to attain a desired velocity profile along the path. Kinematic analysis of the velocity profile on the mechanism will render the creation of input angular velocity standards based on desired stroke speed. Given the stroke and velocity specifications, specific steps to size the dimensions of the mechanism developed as result of this study will be presented.

Adaptive luminance adjustment and neighborhood spreading strength information based view synthesis

View synthesis is an important building block in three dimension（3D） video processing and communications.Based on one or several views,view synthesis creates other views for the purpose of view prediction（for compression） or view rendering（for multiview-display）.The quality of view synthesis depends on how one fills the occlusion area as well as how the pixels are created.Consequently,luminance adjustment and hole filling are two key issues in view synthesis.In this paper,two views are used to produce an arbitrary virtual synthesized view.One view is merged into another view using a local luminance adjustment method,based on local neighborhood region for the calculation of adjustment coefficient.Moreover,a maximum neighborhood spreading strength hole filling method is presented to deal with the micro texture structure when the hole is being filled.For each pixel at the hole boundary,its neighborhood pixels with the maximum spreading strength direction are selected as candidates;and among them,the pixel with the maximum spreading strength is used to fill the hole from boundary to center.If there still exist disocclusion pixels after once scan,the filling process is repeated until all hole pixels are filled.Simulation results show that the proposed method is efficient,robust and achieves high performance in subjection and objection.

Design of Vegetable Pot Seedling Pick‑up Mechanism with Planetary Gear Train

It has been challenging to design seedling pick-up mechanism based on given key points and trajectories,because it involves dimensional synthesis and rod length optimization.In this paper,the dimensional synthesis of seedling pickup mechanism with planetary gear train was studied based on the data of given key points and the trajectory of the endpoint of seedling pick-up mechanism.Given the positions and orientations requirements of the five key points,the study first conducted a dimensional synthesis of the linkage size and center of rotation.The next steps were to select a reasonable solution and optimize the data values based on the ideal seedling trajectory.The link motion was driven by the planetary gear train of the two-stage gear.Four pitch curves of noncircular gears were obtained by calculating and distributing the transmission ratio according to the data.For the pitch curve with two convex points,the tooth profile design method of incomplete noncircular gear was applied.The seedling pick-up mechanism was tested by a virtual prototype and a physical prototype designed with the obtained parameter values.The results were consistent with the theoretical design requirements,confirming that the mechanism meets the expected requirements for picking seedlings up.This paper presents a new design method of vegetable pot seedling pick-up mechanism for an automatic vegetable transplanter.

Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine

A five-axis serial-parallel kinematic milling machine, the SPKM 165, is introduced. This machine consists of a three-degree of-freedom parallel module and a two-degree-of-freedom serial table. The SPKM 165 is capable of five-face machining. A discussion of the inverse kinematics of the five-axis control is provided. A dimensional synthesis procedure is presented in terms of motion/force transmissibility. Finite-element analysis was used to evaluate the stiffness of a CAD model before the machine was manufactured. Kinematic calibration was implemented to improve the accuracy of the end effector. The results of a calibration experiment are presented. The stiffness of the developed machine was then measured. Milling experiments were conducted, and the test piece showed that the developed machine has satisfactory performance.