Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed i...Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.展开更多
The transfer matrix of wrist force sensor is important for decoupling theoutput signals and enhancing the precision of wrist force sensor.This paper solves thetransfer matrix from the realization of optimal approximat...The transfer matrix of wrist force sensor is important for decoupling theoutput signals and enhancing the precision of wrist force sensor.This paper solves thetransfer matrix from the realization of optimal approximation of polynomial.First,thegeneral transfer matrix algorithm in the sense of L^2 and two kinds of modified algorithmare proposed.Then,starting from uniform approximation,the optimal transfer matrixalgorithm is offered and solved by the use of linear programming.The results of experi-ment and computation prove that these algorithms are effective.展开更多
Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots...Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots.It outlines historic and recent research activities in wireless power transmission,covering the fundamental operation of microwave,capacitive and inductive power transfer technologies,state-of-the-art developments in RPT for high-power applications,current design and health standards,technological drawbacks,and possible future trends.In this paper,coupling-enhanced pad designs,adaptive tuning techniques,compensation network designs,and control techniques are explored.Major design issues such as coupling variation,frequency splitting,and bifurcation are reviewed.The difference between maximum power transfer and maximum energy efficiency is highlighted.Human exposure guidelines are summarized from documentations provided by the Institute of Electrical and Electronics Engineers(IEEE)and the International Commission on Non-ionizing Radiation Protection(ICNIRP).Other standards like WPC’s Qi and Airfuel design standards are also summarized.Finally,the possible trends of the relevant research and development,particularly dynamic charging,are discussed.The intention of this review is to encourage designs that will relieve robot operators of the burden of frequent manual recharging,and to reduce downtime and increase the productivity of autonomous mobile robots in industrial environments.展开更多
基金supported by the National Key R&D Program of China(No.2018YFB1307900)the Natural Science Foundation of Shanxi Province(Nos.201901D211009,201901D211010)the Technology In⁃novation Foundation of Shanxi University(No.2019L 0177).
文摘Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production efficiency.In order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar mechanisms.The Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector method.The mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization goal.The constraint condition is established based on the actual working condition.Then the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of velocity.The total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is obtained.Finally,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and effective.The workspace distribution of the robot meets the design requirements.
文摘The transfer matrix of wrist force sensor is important for decoupling theoutput signals and enhancing the precision of wrist force sensor.This paper solves thetransfer matrix from the realization of optimal approximation of polynomial.First,thegeneral transfer matrix algorithm in the sense of L^2 and two kinds of modified algorithmare proposed.Then,starting from uniform approximation,the optimal transfer matrixalgorithm is offered and solved by the use of linear programming.The results of experi-ment and computation prove that these algorithms are effective.
基金partially funded by the Natural Sciences and Engineering Research Council of Canada(NSERC)through the Discovery Grant Program(RGPIN2018-05471 and RGPIN-2017-05762).
文摘Due to the increasing commercial interest in autonomy and sustainability,this paper reviews and presents a comprehensive summary of the resonant-inductive power transmission(RPT)technology for autonomous mobile robots.It outlines historic and recent research activities in wireless power transmission,covering the fundamental operation of microwave,capacitive and inductive power transfer technologies,state-of-the-art developments in RPT for high-power applications,current design and health standards,technological drawbacks,and possible future trends.In this paper,coupling-enhanced pad designs,adaptive tuning techniques,compensation network designs,and control techniques are explored.Major design issues such as coupling variation,frequency splitting,and bifurcation are reviewed.The difference between maximum power transfer and maximum energy efficiency is highlighted.Human exposure guidelines are summarized from documentations provided by the Institute of Electrical and Electronics Engineers(IEEE)and the International Commission on Non-ionizing Radiation Protection(ICNIRP).Other standards like WPC’s Qi and Airfuel design standards are also summarized.Finally,the possible trends of the relevant research and development,particularly dynamic charging,are discussed.The intention of this review is to encourage designs that will relieve robot operators of the burden of frequent manual recharging,and to reduce downtime and increase the productivity of autonomous mobile robots in industrial environments.
