The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of compu...The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.展开更多
We have developed a novel target set to scale our Underwater Laser-illuminated Range-gated Imaging (ULRI) video system in a 3 m-tank with turbid water (attenuation coefficient 1.0 m -1). As light speed in water is 22....We have developed a novel target set to scale our Underwater Laser-illuminated Range-gated Imaging (ULRI) video system in a 3 m-tank with turbid water (attenuation coefficient 1.0 m -1). As light speed in water is 22.5 cm ns -1, the target set consists of a series of 3-bar targets at 22.5 cm intervals along the laser illumination direction, with the targets separated vertically. As a result, a sequence of good gated images, in steps of 1 ns delay, is presented, which is a revelation of the ‘sliced-view’ phenomenon for ns-level range-gating in such a limited water body. The Depth of Gating (DOG) and DOG-profile of the URLI system are measured for the first time, which can be used for evaluating gating-performance efficiently.展开更多
基金This project is supported by National 863 plan(No.512-9804-02)Robotics Laboratory,Chinese Academy of Sciences Foundation, China
文摘The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.
文摘We have developed a novel target set to scale our Underwater Laser-illuminated Range-gated Imaging (ULRI) video system in a 3 m-tank with turbid water (attenuation coefficient 1.0 m -1). As light speed in water is 22.5 cm ns -1, the target set consists of a series of 3-bar targets at 22.5 cm intervals along the laser illumination direction, with the targets separated vertically. As a result, a sequence of good gated images, in steps of 1 ns delay, is presented, which is a revelation of the ‘sliced-view’ phenomenon for ns-level range-gating in such a limited water body. The Depth of Gating (DOG) and DOG-profile of the URLI system are measured for the first time, which can be used for evaluating gating-performance efficiently.
