Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot

Author(s):  
Minxiu Kong ◽  
Rundong Wang ◽  
Yanchun Cheng ◽  
Jubo Yang
2012 ◽  
Vol 155-156 ◽  
pp. 726-730
Author(s):  
Zhong Hua Li ◽  
Qian Tang ◽  
Di Yan ◽  
Jie Wu

The common methods of cam induction hardening are discussed at present. By analyzing the basic motion law of conjugate cam, a new induction hardening mechanism is designed. The motion controlling mathematical model is built on the basis of the kinematic relationship of the transmission of the induction hardening mechanism. Through the mathematical model calculation, we can get angular velocity of the workbench, then realize that single axis on NC machine controls the inductor to make isometric uniform motion relative to the cam surface, so that the cam hardening depth distribution is uniform.


2013 ◽  
Vol 319 ◽  
pp. 610-615 ◽  
Author(s):  
Long Chang Hsieh ◽  
Hsiu Chen Tang

The power system equipped in machinery contains power source (motor or engine) and gear reducer to get large output torque. The rotation speed of motor is made higher and higher to obtain high power with the same volume. Hence, the reduction ratio of gear reducer is required to be higher and higher. Planetary gear trains can be used as the gear reducers with high reduction ratio. However, the planetary gear train with high reduction ratio is compound gear system. The purpose of this paper is to propose 2K-2H type planetary gear reducers with high reduction ratio. Based on the concept of train value equation, we propose a new representation to present the kinematic relationship of the members of the train circuit. According to this representation graph, we propose an algorithm for the kinematic design of planetary simple gear trains with high reduction ratio. Some 2K-2H type planetary gear reducers are designed to illustrate the design algorithm.


2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983981 ◽  
Author(s):  
Nguyen Van Toan ◽  
Phan Bui Khoi

Closed-form mechanisms of relative manipulation robot is an effective structure which helps to improve the accuracy and flexibility in technological processes. Unfortunately, the requirement about knowledge of exact dynamics of closed-form mechanisms of relative manipulation robot is arduous since it consists of numerous joints and links, and the identification of the kinematic relationship of closed-form structure is also complicated. This causes several shortcomings for controlling closed-form mechanisms of relative manipulation robot by using vector control algorithms because these methods require exactly dynamical equations of control systems. In contrast, the fuzzy controllers do not require knowledge of detailed mathematical equations of the control system since the fuzzy sets aim to capture the semantics of natural linguistic terms present in the fuzzy controller knowledge. Moreover, they have capability of handling uncertain and noisy signals, this helps to deal with the external environmental forces. This article proposes a fuzzy-based controller for closed-form mechanisms of relative manipulation robot to overcome mentioned problems by eliminating the identification of exact dynamics and kinematic constraints of closed-form structure. To verify the performance of the proposed method, the fuzzy-based controller is applied to a welding task by using a model of two-component mechanism which includes one closed-form manipulator and one serial manipulator. The welding task is also conducted by using conventional controllers in which the detailed dynamical equation is applied for the proportional–derivative (PD)-type and proportional integral derivative (PID)-type computed torque controllers, whereas the fuzzy-based controller just uses several nominal parameters.


2006 ◽  
Vol 505-507 ◽  
pp. 1003-1008 ◽  
Author(s):  
Long Chang Hsieh ◽  
Hsin Sheng Lee ◽  
Teu Hsia Chen

Planetary gear trains can be used as the transmission systems with high reduction ratio for power machinery. The purpose of this paper is to propose an algorithm for the kinematic design of planetary gear trains with high reduction ratio. Based on the concept of train value equation, we propose a new representation to present the kinematic relationship of the members of the train loop. According to this representation graph, we propose an efficient algorithm for the kinematic design of planetary gear trains with high reduction ratio. Three design examples are designed to illustrate the design algorithm. Based on the proposed algorithm, all planetary gear trains with high reduction ratio can be synthesized.


2006 ◽  
Vol 304-305 ◽  
pp. 550-554 ◽  
Author(s):  
W.J. Xiang ◽  
Zhi Xiong Zhou ◽  
S.J. Hu ◽  
J. Yang ◽  
J.P. Liang

Micro-drills are becoming more and more important in precision and micro fabrications. They have been widely used in applications, e.g., precision and micro drilling. In this paper, a novel method is advanced and used for regrinding of chisel edges of helical micro-drills. In this method, a geometric model is established for the chisel edge regrinding. Based on the kinematic relationship of regrinding, the model simplifies machine movement so as to facilitate an easy operation. Computer simulation is applied to the regrinding process of the micro-drills. The results demonstrate that the proposed method is effective in regrinding chisel edges, which allows for a more reasonable distribution of the angles along the chisel edge of a drill, and enhances the drilling performance.


2011 ◽  
Vol 199-200 ◽  
pp. 431-435 ◽  
Author(s):  
Long Chang Hsieh ◽  
Tzu Hsia Chen

The bicycle is invented so far more than 200 years. Now, bicycles are used as exercising equipments and traffic vehicles. Planetary gear trains can be used as the transmission systems with multi-speed for bicycles. The purpose of this work is to propose a design methodology for the design of multi-speed internal gear hubs with planetary gear trains for bicycles. Based on the concept of train value equation and the kinematic relationship of the members between the train circuit, we propose a design methodology for the kinematic design of multi-speed gear hubs. One multi-speed internal gear hubs is designed to illustrate the design methodology. Based on the proposed methodology, all multi-speed gear hubs with planetary gear trains can be synthesized.


Author(s):  
Baiquan Chen ◽  
Jianxing Yu ◽  
Yang Yu ◽  
Lixin Xu ◽  
Han Wu ◽  
...  

A three-dimensional (3D) finite element analysis (FEA) model of top-tensioned riser (TTR) with hydropneumatic tensioner is proposed in this work. First, the tension calculation equation of the hydropneumatic system is derived, and the kinematic relationship of the platform–tensioner–riser system is established. Second, a 3D FEA model is established based on the FEA code ABAQUS, considering the actual riser string configuration and the Christmas tree. At last, four kinds of tensioner models, i.e., a constant vertical tension model, a conventional simplified model, a linear spring–damper model, and a nonlinear spring–damper model, are compared and analyzed in this study. Results show that the constant vertical tension model is not recommended as it cannot reflect the actual tension in the tensioner and the response of the TTR. The conventional simplified model indeed overestimates the tension of tensioner and may lead to inaccurate estimation results of the TTR response. The linear model is applicable when the environmental condition is relatively mild, but it is strongly recommended to use the nonlinear model especially in harsher environmental conditions.


2001 ◽  
Vol 44 (1) ◽  
pp. 80-94 ◽  
Author(s):  
Christopher A. Moore ◽  
Tammy J. Caulfield ◽  
Jordan R. Green

Speech motor control emerges in the neurophysiologic context of widely distributed, powerful coordinative mechanisms, including those mediating respiratory function. It is unknown, however, whether developing children are able to exploit the capabilities of neural circuits controlling homeostasis for the production of speech and voice. Speech and rest breathing were investigated in eleven 15-month-old children using inductance plethysmography (Respitrace). Rib cage and abdominal kinematics were studied using a time-varying correlational index of thoracoabdominal coupling (i.e., reflecting the synchrony of movement of the rib cage and abdomen) as well as simple classification of the moment-to-moment kinematic relationship of these two functional components (i.e., concurrent expansion or compression, or oppositional movement). Results revealed markedly different patterns of movement for rest breathing and speech breathing, although within types of vocalization (nonspeech vocalization, babbling, true word production) no differences were apparent. Whereas rest breathing was characterized by tight coupling of rib cage and abdominal movement (average correlation coefficients usually exceeded .90), speech breathing exhibited weak coupling (the correlation coefficient ranged widely, but averaged about .60). Furthermore, speech production by these toddlers included the occurrence of both rib cage and abdominal paradoxing, which are observed infrequently in adult speakers. These results fail to support the suggestion that speech emerges from the extant coordinative organization of rest breathing. Rather, even in its earliest stages breathing for speech and voice exhibits kinematic properties distinct from those of other observed behaviors.


Paleobiology ◽  
1980 ◽  
Vol 6 (02) ◽  
pp. 146-160 ◽  
Author(s):  
William A. Oliver

The Mesozoic-Cenozoic coral Order Scleractinia has been suggested to have originated or evolved (1) by direct descent from the Paleozoic Order Rugosa or (2) by the development of a skeleton in members of one of the anemone groups that probably have existed throughout Phanerozoic time. In spite of much work on the subject, advocates of the direct descent hypothesis have failed to find convincing evidence of this relationship. Critical points are:(1) Rugosan septal insertion is serial; Scleractinian insertion is cyclic; no intermediate stages have been demonstrated. Apparent intermediates are Scleractinia having bilateral cyclic insertion or teratological Rugosa.(2) There is convincing evidence that the skeletons of many Rugosa were calcitic and none are known to be or to have been aragonitic. In contrast, the skeletons of all living Scleractinia are aragonitic and there is evidence that fossil Scleractinia were aragonitic also. The mineralogic difference is almost certainly due to intrinsic biologic factors.(3) No early Triassic corals of either group are known. This fact is not compelling (by itself) but is important in connection with points 1 and 2, because, given direct descent, both changes took place during this only stage in the history of the two groups in which there are no known corals.


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