Design and Implementation of the Control Device for a Cable-Driven Camera Robot

2013 ◽  
Vol 373-375 ◽  
pp. 225-230
Author(s):  
Long Wang ◽  
Ying Sheng ◽  
Yuan Ying Qiu ◽  
Guang Da Chen
Keyword(s):  
Bearing Capacity ◽  
Control Device ◽  
Robot Motion ◽  
Compact Structure ◽  
Kinematics Model ◽  
Design And Implementation ◽  
Working Space ◽  
Motion State ◽  
Implementation Method ◽  
The Stability

Due to the advantages of strong bearing capacity, compact structure and large working space, cable-driven camera robots are being used increasingly. This paper focuses on the design and implementation method of the control device for a four-cable-driven camera robot. Firstly, a kinematics model is built and the variations of the cable lengths are analyzed along with the camera robot motion; then, the console and actuator of the camera robot are designed; again, PC software transferring command codes from the camera robot console to the actuator and displaying camera robot motion state is developed; finally, the stability and rationality of the control device are verified by the experiment.

scholarly journals A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2838
Author(s):  
Xiaoxing Zhang ◽  
Haoyuan Yi ◽  
Junjun Liu ◽  
Qi Li ◽  
Xin Luo
Keyword(s):  
Harmonic Oscillation ◽  
Ground Surface ◽  
Legged Locomotion ◽  
Soft Ground ◽  
Quadruped Robots ◽  
In Series ◽  
Reaction Forces ◽  
Implementation Method ◽  
The Stability ◽  
Natural Dynamics

There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

scholarly journals Design and Implementation of the Remote Control of the Manipulator

2014 ◽  
Vol 62 (6) ◽  
pp. 1521-1525 ◽  
Author(s):  
Marcel Vytečka ◽  
Vít Ondroušek ◽  
Jan Kolomazník ◽  
Michal Hammerschmiedt
Keyword(s):  
Remote Control ◽  
Third Party ◽  
Proof Of Concept ◽  
Control Software ◽  
Safety Standards ◽  
Design And Implementation ◽  
Remote Control System ◽  
Working Space ◽  
Ip Camera ◽  
Reservation System

This article is focused on the design and implementation of the complex solution of the remote control of the industrial manipulator Katana 6M180. The main aim is to increase utilization of the machine and its monitoring, whereas the safety standards won’t be affected. Both parts of the design, the hardware as well as the software one, are discussed in this article. The hardware part consists of the protective cage, controllable lighting, power circuits, electronics, server, several cameras used for image processing of the working space and one IP camera used for monitoring. The software tools represent second main part of the described solution of the remote control. This software part of the solution consists of the main control software running on the server, the reservation system and third party software that solves connections between clients and the server. Special attention is paid to the implementation of safety elements, in order to increase the robustness of the whole system. The description of one resolved task that used the designed remote control system, is listed in the conclusion as a proof of concept. The task is focused on determining parameters of the objects in the working space of the manipulator.

scholarly journals Analysis and Calculation of Stability Coefficients of Cross-Laminated Timber Axial Compression Member

Polymers ◽  
2021 ◽  
Vol 13 (23) ◽  
pp. 4267
Author(s):  
Qi Ye ◽  
Yingchun Gong ◽  
Haiqing Ren ◽  
Cheng Guan ◽  
Guofang Wu ◽  
...  
Keyword(s):  
Bearing Capacity ◽  
Axial Compression ◽  
Calculation Method ◽  
National Standards ◽  
Test Results ◽  
Average Deviation ◽  
Stability Coefficient ◽  
Cross Laminated Timber ◽  
Stability Bearing Capacity ◽  
The Stability

Cross-laminated timber (CLT) elements are becoming increasingly popular in multi-storey timber-based structures, which have long been built in many different countries. Various challenges are connected with constructions of this type. One such challenge is that of stabilizing the structure against vertical loads. However, the calculations of the stability bearing capacity of the CLT members in axial compression in the structural design remains unsolved in China. This study aims to determine the stability bearing capacity of the CLT members in axial compression and to propose the calculation method of the stability coefficient. First, the stability coefficient calculation theories in different national standards were analyzed, and then the stability bearing capacity of CLT elements with four slenderness ratios was investigated. Finally, based on the stability coefficient calculation formulae in the GB 50005-2017 standard and the regression method, the calculation method of the stability coefficient for CLT elements was proposed, and the values of the material parameters were determined. The result shows that the average deviation between fitting curve and calculated results of European and American standard is 5.43% and 3.73%, respectively, and the average deviation between the fitting curve and the actual test results was 8.15%. The stability coefficients calculation formulae could be used to predict the stability coefficients of CLT specimens with different slenderness ratios well.

Study on the Stability and Structural Optimization of Self-Elevating Platform Pile Foundation

2012 ◽  
Vol 203 ◽  
pp. 325-328
Author(s):  
Xin Jie Chu
Keyword(s):  
Stress Concentration ◽  
Structural Optimization ◽  
Bearing Capacity ◽  
Pile Foundation ◽  
Reference Value ◽  
The Self ◽  
Foundation Design ◽  
Operation Stability ◽  
Soil Foundation ◽  
The Stability

This paper analyzes the stability and structural optimization of self-elevating platform pile foundation, preliminarily discusses the method of analyzing the bearing capacity of the layer soil foundation, and establishes the numerical computation models for the whole platform, pile, pile shoe, etc. Besides, through these analyses, the pile structure is optimized, and the stress concentration in the joint between pile and pile shoe is reduced. Also, this study is of reference value for the analysis on the self-elevating platform pile foundation design and the platform operation stability.

Stability Analysis of Plate-Cone Reticulated Shell

2011 ◽  
Vol 71-78 ◽  
pp. 3760-3763
Author(s):  
Xing Wang
Keyword(s):  
Stability Analysis ◽  
Bearing Capacity ◽  
Double Layer ◽  
Geometrical Nonlinearity ◽  
Ultimate Bearing Capacity ◽  
Arc Length ◽  
Stability Behavior ◽  
Destruction Mechanism ◽  
The Stability ◽  
Complete Process

This paper carries out stability analysis on plate-cone reticulated shell considering geometrical nonlinearity of cooperating work between plates and members. In this paper, stability behavior of different kinds of plate-cone reticulated shell considering geometrical nonlinearity is analyzed by using the software ANSYS, tracking complete process balance path for load-displacement by using arc-length method, the several problems of plate-cone reticulated shell are studied, such as destruction mechanism, structural ductility, ultimate bearing capacity and strength reserve, some important conclusions are obtained. After analyzing the stability behavior of double-layer reticulated shell by ANSYS and comparing with plate-cone reticulated shell, it is proved that plate-cone reticulated shell is more advantageous than double-layer reticulated shell in the aspect of stability behavior.

Effect Of pH On The Stability And Conformation Of α-Thrombin

1981 ◽  
Author(s):  
German B Villanueva
Keyword(s):  
Chemical Modification ◽  
Structural Changes ◽  
Low Ph ◽  
Tryptophan Residue ◽  
Difference Spectroscopy ◽  
Compact Structure ◽  
Tyrosine Residues ◽  
Charge Interaction ◽  
The Stability ◽  
Peptide Region

It is known that storage at pH 6 stabilizes thrombin against inactivation. In order to determine whether structural changes accompany this stabilization, the conformation of human α-thrombin at pH 6.0 and 7.5 was investigated by chemical modification, solvent perturbation, UV difference spectroscopy and circular dichroism. It was shown that the CD spectra of α-thrombin at 230-200 nm peptide region were indistinguishable at two pH values indicating no difference in the secondary structure. However, differences were observed in the 320-250 nm aromatic region suggesting some changes in the microenvironment of the aromatic chromophores. Solvent perturbation in 20% ethylene glycol indicated 3.7 ± 0.5 Trp and 7.8 ± 0.5 Tyr were exposed to the solvent at pH 6.0 while 4.3 ± 0.4 Trp and 8.4 ± 0.5 Tyr were exposed at pH 7.5. Chemical modification of tryptophan residue by dimethyl(2-hydroxy- 5-nitrobenzyl)sulfonium bromide in a 100-fold molar excess of the reagent showed 3 reactive residues at pH 6.0 and 6 at pH 7.5. These results suggest that when thrombin is exposed to low pH, structural changes occur that decrease the relative degree of exposure of tryptophan and tyrosine residues. Furthermore, UV difference spectroscopy showed the development of a positive differential spectrum when thrombin at pH 6.0 was exposed to pH 7.5. From this study, it is concluded that the stability of thrombin at pH 6.0 is due to a more compact structure of the enzyme which is probably a result of reduced charge interaction at low pH.

Design and Implementation of Multi-Master GPRS Transparent Transmission Module

2015 ◽  
Vol 713-715 ◽  
pp. 1317-1321
Author(s):  
Fu Dong Wang ◽  
Zhong Feng Wang ◽  
Ji Bin Fan ◽  
Jian Long Huang ◽  
Li Gang Li
Keyword(s):  
Monitoring System ◽  
Experimental Verification ◽  
Remote Monitoring ◽  
Remote Monitoring System ◽  
Remote Transmission ◽  
Design And Implementation ◽  
The Stability

GPRS data transparent transmission modules are increasingly applied in different remote transmission occasions. With the development of remote monitoring system, there are some deficiencies need to be improved. This paper realizes a design of GPRS transparent transmission modules with multi-master communications function, the module integrates RS232 interface and supports UDP protocol. After experimental verification, the stability and practicability of the design is superior.

Deterioration mechanism of electrochromic poly(3,4-(2,2-dimethylpropylenedioxy)thiophene) thin films

2016 ◽  
Vol 4 (20) ◽  
pp. 4584-4591 ◽  
Author(s):  
Shian Guan ◽  
Ayman S. Elmezayyen ◽  
Feifei Zhang ◽  
Jianming Zheng ◽  
Chunye Xu
Keyword(s):  
Thin Films ◽  
Propylene Carbonate ◽  
Compact Structure ◽  
Ion Migration ◽  
Deterioration Mechanism ◽  
The Stability

Here we investigate the stability of poly(3,4-(2,2-dimethylpropylenedioxy)thiophene) (PProDot-Me2) films via cycling 10 000 times in 0.1 M LiClO4/propylene carbonate (PC). And we find the morphology changed from a loose irregular network to compact structure with fibres covered by [ClO4]− and Li+ because of chemisorption and physisorption during cycling, the adsorbed ions decreased electroactive sites and blocked ion migration channels.

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