Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She...Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.展开更多
Vol.43,No.7,2007 NOVEL RECOATING PROCESS WITH DYNAMIC OPTIMIZED BLADE SPEED XU Guangshen ZHAO Wanhua LU Bingheng (1.Department of Mechanical Engineering, Xi’an Polytechnic University,Xi’an 710048,China; 2.Institute ...Vol.43,No.7,2007 NOVEL RECOATING PROCESS WITH DYNAMIC OPTIMIZED BLADE SPEED XU Guangshen ZHAO Wanhua LU Bingheng (1.Department of Mechanical Engineering, Xi’an Polytechnic University,Xi’an 710048,China; 2.Institute of Advanced Manufacturing Technology, Xi’an Jiaotong University,Xi’an 710049,China) In order to improve the recoating quality of piston recoating system and resolve the problem that resin layer thickness increases with the height of object during building process in high-resolution stereolitho- graphy system,a novel recoating process whose blade speed is dynami- cally optimized during building process is proposed.Experiments are carried out to investigate the influence of blade speed and object height on the thickness of resin layer.The mathematical model describing the rela- tionship of recoating layer thickness with object height and blade speed is展开更多
EMBEDDED-BASED NETWORK NUMERICAL CONTROL TECHNOLOGY AND SYSTEM ZHOU Zude LONG Yihong LIU Quan (Hubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, China) 1 Abstract:It is indicate...EMBEDDED-BASED NETWORK NUMERICAL CONTROL TECHNOLOGY AND SYSTEM ZHOU Zude LONG Yihong LIU Quan (Hubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, China) 1 Abstract:It is indicated that the general-purposed PC-based numerical control (NC) technology suffers from a number of problems, such as mis-match between system resources and application needs, unsuitability of the operating system to real-time control, lack of self-owned展开更多
文摘Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.
文摘Vol.43,No.7,2007 NOVEL RECOATING PROCESS WITH DYNAMIC OPTIMIZED BLADE SPEED XU Guangshen ZHAO Wanhua LU Bingheng (1.Department of Mechanical Engineering, Xi’an Polytechnic University,Xi’an 710048,China; 2.Institute of Advanced Manufacturing Technology, Xi’an Jiaotong University,Xi’an 710049,China) In order to improve the recoating quality of piston recoating system and resolve the problem that resin layer thickness increases with the height of object during building process in high-resolution stereolitho- graphy system,a novel recoating process whose blade speed is dynami- cally optimized during building process is proposed.Experiments are carried out to investigate the influence of blade speed and object height on the thickness of resin layer.The mathematical model describing the rela- tionship of recoating layer thickness with object height and blade speed is
文摘EMBEDDED-BASED NETWORK NUMERICAL CONTROL TECHNOLOGY AND SYSTEM ZHOU Zude LONG Yihong LIU Quan (Hubei Digital Manufacturing Key Laboratory, Wuhan University of Technology, Wuhan 430070, China) 1 Abstract:It is indicated that the general-purposed PC-based numerical control (NC) technology suffers from a number of problems, such as mis-match between system resources and application needs, unsuitability of the operating system to real-time control, lack of self-owned
