The Study of Planar Five-Bar Parallel Robot Dynamic Characteristics

2012 ◽  
Vol 468-471 ◽  
pp. 954-958
Author(s):  
Shang Yue Chen ◽  
Hong Bing Xin ◽  
Han Ning Mo ◽  
Mei Yu Chen ◽  
Dong Yang Zhao
Keyword(s):  
Experimental Data ◽  
Control System ◽  
Frequency Domain ◽  
Dynamic Characteristics ◽  
Parallel Robot ◽  
Robot Dynamics ◽  
Main Function ◽  
Vibration Acceleration ◽  
Experimental Purpose ◽  
End Effectors

By introducing the experimental purpose, instruments and the main function of the planar five-bar parallel robot dynamics, this paper concluded the principle diagram of control system of the planar five-bar parallel robot. And the method and process of the experiment was detailed description. Through the analysis of vibration acceleration curve and frequency domain curve, which were obtained by the experimental data of the planar five-bar parallel robot end-effectors, the characteristics of time and frequency domain of the planar five-bar parallel robot were clearly shown.

Study on Dynamic Characteristics of Parallel Robot with 2-DOF

2013 ◽  
Vol 397-400 ◽  
pp. 1558-1562
Author(s):  
Mei Yu Chen ◽  
Hong Bing Xin ◽  
Quan Lai Li ◽  
Yue Fei Xin ◽  
Deng Qi Cui ◽  
...  
Keyword(s):  
Motion Control ◽  
Frequency Spectrum ◽  
Frequency Analysis ◽  
Dynamic Characteristics ◽  
Experimental System ◽  
Parallel Robot ◽  
Acceleration Response ◽  
Vibration Acceleration ◽  
Set Up

The experimental system of dynamic characteristics is set up to improve the dynamics performance and motion control quality of 2-DOF robot. The vibration acceleration response of the end actuator is measured at different speeds in two directions vertical and parallel to the workbench plane. The frequency spectrum is obtained through frequency analysis to provide a basis to improve the performance of robot.

scholarly journals MIMO Noise Control System Design by Using Subband-based Partial Model Matching on Frequency Domain

2006 ◽  
Vol 72 (715) ◽  
pp. 758-764 ◽  
Author(s):  
Kazuki EGUCHI ◽  
Kazunori KORENAGA ◽  
Makoto KUMON ◽  
Ikuro MIZUMOTO ◽  
Zenta IWAI
Keyword(s):  
Control System ◽  
System Design ◽  
Frequency Domain ◽  
Noise Control ◽  
Control System Design ◽  
Model Matching ◽  
Partial Model

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

A Review on Active Bearings and Perspectives of Using Them in Rotating Machinery

2014 ◽  
Vol 630 ◽  
pp. 181-187
Author(s):  
Denis Shutin ◽  
Leonid Savin ◽  
Alexander Babin
Keyword(s):  
Mathematical Modeling ◽  
Artificial Intelligence ◽  
Control System ◽  
Motion Control ◽  
Dynamic Characteristics ◽  
Rotating Machinery ◽  
Fluid Film ◽  
Motion Control System ◽  
Fluid Film Bearings ◽  
System Components

The paper examines the issues of improving the rotor units by means of using support units with actively changeable characteristics. An overview of the known solutions related to the use of active bearings in various types of turbomachinery is provided. A closer look is given at the design and features of active radial bearings, the main elements of which are fluid film bearings. The results of mathematical modeling of active hybrid bearings are presented. The prospects of the use of this type of supports to improve the dynamic characteristics of rotating machinery, including reducing vibrations caused by various factors, are analyzed. Promising directions of development of active bearings are considered, which primarily involves the modification of system components and rotor motion control system algorithms, including intelligent technologies and artificial intelligence methods.

scholarly journals Form design in interface of display and control system based on visual search

2021 ◽  
Vol 336 ◽  
pp. 05003
Author(s):  
Dayan Wang ◽  
Jue Qu ◽  
Wei Wang ◽  
Shuai Zhu ◽  
Kang Li
Keyword(s):  
Experimental Data ◽  
Control System ◽  
Reaction Time ◽  
Significant Influence ◽  
Design Guidelines ◽  
Color Combination ◽  
Form Design ◽  
Color Form ◽  
Color Grouping ◽  
And Control

To explore the design pattern and guidelines for the forms displayed on the interfaces, we studied the factors of form design from the perspective of ergonomics. These factors include orientation (horizontal, vertical), color grouping and color combination. In combination with the analysis and conclusion of the experimental data, we proposed some design guidelines for human-computer interface that has many forms, such as weapon command and control system. A visual searching program was designed to simulate the display interface. Reaction time and accuracy are recorded by orthogonal experiment. Analyses such as double factor variance analysis, simple main effect are conducted on the experimental data. The following conclusions are obtained: two-color form has a faster reaction time than single color form; reaction time of the horizontal form is shorter than the vertical form. Color combination has significant influence on accuracy, and the blue-green is suiTable for form design; color grouping has significant influence on reaction time and accuracy; the interaction of color grouping and color combination shows significant differences. When designing forms in display interface, we should choose the horizontal layout with sparse coloring density as much as possible, and the effect of color combination on the recognition efficiency should be considered.

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