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
The definition and functions of parametric design were introduced. According to the practical condition of mechanical engineering design, the necessity and feasibility of parametric design for complex mechanical engin...The definition and functions of parametric design were introduced. According to the practical condition of mechanical engineering design, the necessity and feasibility of parametric design for complex mechanical engineering design was analyzed. The related key technologies and methods were also discussed by a project example based on Inventor platform.展开更多
Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610...Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610031,China) The mechanism of initial rail corrugation formation at a curved track is analyzed with a numerical method.The numerical method consid- ers a combination of a coupling dynamic model of a half railway vehicle and a finite length curved track, Kalker′s theory of three-dimensional elastic bodies in rolling contact,and a material wear model,The Hertzian contact non-linear spring with a unilateral restrain and the non-linear tan- gent creep-force model by SHEN-Elkins-Hydrick are used to couple the vehicle model with the track model.Through the detailed analysis on the dynamic behavior of the vehicle curving and the transient contact geome- try of the wheelset and track,the normal forces,the creepases,the contact point positions,and the contact geometry parameters of the wheels and the rails are obtained.According to the known numerical results the展开更多
Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610...Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610031,China) The mechanism of initial rail corrugation formation at a curved track is analyzed with a numerical method.The numerical method consid- ers a combination of a coupling dynamic model of a half railway vehicle and a finite length curved track, Kalker′s theory of three-dimensional elastic bodies in rolling contact,and a material wear model,The Hertzian contact non-linear spring with a unilateral restrain and the non-linear tan- gent creep-force model by SHEN-Elkins-Hydrick are used to couple the vehicle model with the track model.Through the detailed analysis on the dynamic behavior of the vehicle curving and the transient contact geome- try of the wheelset and track,the normal forces,the creepases,the contact point positions,and the contact geometry parameters of the wheels and the rails are obtained.According to the known numerical results the rolling展开更多
Research on Categorizing Innovation of Speed Reducers,Optimization Algorithm for Robotic Belt Surface Grinding Process,Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot＇s Joint
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
Method of Conceptual Design of Mechanic Product Driven by Generalized Performance WEI Zhe TAN Jianrong FENG Yixiong (State Key Laboratory of CAD&CG,Zhejiang University, Hangzhou 310027,China) Generalized performan...Method of Conceptual Design of Mechanic Product Driven by Generalized Performance WEI Zhe TAN Jianrong FENG Yixiong (State Key Laboratory of CAD&CG,Zhejiang University, Hangzhou 310027,China) Generalized performance of product is used as an effective tool to drive the whole process of conceptual design of mechanical product. Generalized performance of product is defined by utilizing the deduction of axiom of"object structure"which is combined with"P-E"system.And展开更多
SOME BASIC CONCEPTS IN MODERN DESIGN THEORY XIE Youbai(1.School of Mechanical Engineering,Shanghai Jiaotong University, Shanghai 200030,China; 2.School of Mechanical Engineering,Xi’an Jiaotong University, Xi’an 7100...SOME BASIC CONCEPTS IN MODERN DESIGN THEORY XIE Youbai(1.School of Mechanical Engineering,Shanghai Jiaotong University, Shanghai 200030,China; 2.School of Mechanical Engineering,Xi’an Jiaotong University, Xi’an 710049,China) Abstract:In the long march of development of design theories,many terms have been coined for explaining their new ideas.Some times one term is used by different authors with different definitions or different means,say concepts. Other times different terms are used by different authors with the same mean or concept.It is rational and necessary for the modem design theory in the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
Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 71004...Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, China) 1展开更多
Vol.44,No.9,2008 The end effect of empirical mode decomposition that appears when using spline interpolation to get two envelops of the data is dis- cussed.The shortage of ordinary end extending methods is pointed out...Vol.44,No.9,2008 The end effect of empirical mode decomposition that appears when using spline interpolation to get two envelops of the data is dis- cussed.The shortage of ordinary end extending methods is pointed out.An extending method based on trigonometric functions is improved,and the influence of different extending periods,length and value of end point of the data is discussed.A comparison with mirror extending method is made and analyzed.On the basis of the improved method,a new method with exponent sine function extending approach is proposed,which decreases the envelop emanation of end points of extending data,so it can improve the speed and precision of EMD,and simulation is used to prove the effec- tiveness.Results show that the proposed improved extending method can restrain the end effect effectively.展开更多
Vol.44,No.1,2008 Dissimilar-dimension Interference Model of Fatigue Reliability Under Uncertain Cyclic Load XIE Liyang WANG Zheng (College of Mechanical Engineering & Automation, Northeastern University, Shenyang ...Vol.44,No.1,2008 Dissimilar-dimension Interference Model of Fatigue Reliability Under Uncertain Cyclic Load XIE Liyang WANG Zheng (College of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, China)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The definition and functions of parametric design were introduced. According to the practical condition of mechanical engineering design, the necessity and feasibility of parametric design for complex mechanical engineering design was analyzed. The related key technologies and methods were also discussed by a project example based on Inventor platform.
文摘Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610031,China) The mechanism of initial rail corrugation formation at a curved track is analyzed with a numerical method.The numerical method consid- ers a combination of a coupling dynamic model of a half railway vehicle and a finite length curved track, Kalker′s theory of three-dimensional elastic bodies in rolling contact,and a material wear model,The Hertzian contact non-linear spring with a unilateral restrain and the non-linear tan- gent creep-force model by SHEN-Elkins-Hydrick are used to couple the vehicle model with the track model.Through the detailed analysis on the dynamic behavior of the vehicle curving and the transient contact geome- try of the wheelset and track,the normal forces,the creepases,the contact point positions,and the contact geometry parameters of the wheels and the rails are obtained.According to the known numerical results the
文摘Vol.44,No.3,2008 Investigation into Mechanism of Initial Rail Corrugation Formation at a Curved Track JIN Xuesong WEN Zefeng XIAO Xinbiao (Traction Power State Key Laboratory,Southwest Jiaotong University, Chengdu 610031,China) The mechanism of initial rail corrugation formation at a curved track is analyzed with a numerical method.The numerical method consid- ers a combination of a coupling dynamic model of a half railway vehicle and a finite length curved track, Kalker′s theory of three-dimensional elastic bodies in rolling contact,and a material wear model,The Hertzian contact non-linear spring with a unilateral restrain and the non-linear tan- gent creep-force model by SHEN-Elkins-Hydrick are used to couple the vehicle model with the track model.Through the detailed analysis on the dynamic behavior of the vehicle curving and the transient contact geome- try of the wheelset and track,the normal forces,the creepases,the contact point positions,and the contact geometry parameters of the wheels and the rails are obtained.According to the known numerical results the rolling
文摘Research on Categorizing Innovation of Speed Reducers,Optimization Algorithm for Robotic Belt Surface Grinding Process,Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot＇s Joint
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Method of Conceptual Design of Mechanic Product Driven by Generalized Performance WEI Zhe TAN Jianrong FENG Yixiong (State Key Laboratory of CAD&CG,Zhejiang University, Hangzhou 310027,China) Generalized performance of product is used as an effective tool to drive the whole process of conceptual design of mechanical product. Generalized performance of product is defined by utilizing the deduction of axiom of"object structure"which is combined with"P-E"system.And
文摘SOME BASIC CONCEPTS IN MODERN DESIGN THEORY XIE Youbai(1.School of Mechanical Engineering,Shanghai Jiaotong University, Shanghai 200030,China; 2.School of Mechanical Engineering,Xi’an Jiaotong University, Xi’an 710049,China) Abstract:In the long march of development of design theories,many terms have been coined for explaining their new ideas.Some times one term is used by different authors with different definitions or different means,say concepts. Other times different terms are used by different authors with the same mean or concept.It is rational and necessary for the modem design theory in the
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
文摘Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, China) 1
文摘Vol.44,No.9,2008 The end effect of empirical mode decomposition that appears when using spline interpolation to get two envelops of the data is dis- cussed.The shortage of ordinary end extending methods is pointed out.An extending method based on trigonometric functions is improved,and the influence of different extending periods,length and value of end point of the data is discussed.A comparison with mirror extending method is made and analyzed.On the basis of the improved method,a new method with exponent sine function extending approach is proposed,which decreases the envelop emanation of end points of extending data,so it can improve the speed and precision of EMD,and simulation is used to prove the effec- tiveness.Results show that the proposed improved extending method can restrain the end effect effectively.
