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Huchang LIAO, Yinghan CHANG, Di WU, Xunjie GOU
《工程管理前沿(英文)》 2020年 第7卷 第2期 页码 196-203 doi: 10.1007/s42524-019-0038-z
关键词: quality function deployment Pythagorean fuzzy sets group consensus combined weights assembly robot design
基于阻抗控制的人机协作范式研究及其机器人装配应用 Article
赵兴炜, 陈沂洺, 钱璐, 陶波, 丁汉
《工程(英文)》 2023年 第30卷 第11期 页码 83-92 doi: 10.1016/j.eng.2022.08.022
人-机器人协作由于人和机器人的优势互补而成为一个新兴的研究领域。本文提出了一种基于阻抗控制人机协作理论框架。在人机理论协框架下,人是决策者,机器人是执行者,装配任务提供环境约束。机器人是执行装配动作的主要执行者,具有位置控制、拖动控制、正阻抗控制和负阻抗控制等方式。为了揭示人机协作框架的特点,本文讨论了不同控制模式的切换条件图和人机协同耦合系统的稳定性分析。最后进行了人机协作装配实验,在装配公差为0.08 mm或配合过盈配合时,均可完成装配任务。实验表明,人机协同装配具有人与机器人的互补优势,能够有效地完成复杂的装配任务。
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
《机械工程前沿(英文)》 2020年 第15卷 第1期 页码 1-11 doi: 10.1007/s11465-019-0563-9
关键词: cyber physical system robot assembly multiagent system architecture
Assembly of biosynthetic pathways in
Lidan Ye,Xiaomei Lv,Hongwei Yu
《化学科学与工程前沿(英文)》 2017年 第11卷 第1期 页码 126-132 doi: 10.1007/s11705-016-1597-8
关键词: pathway assembly toolbox reiterative recombination S. cerevisiae biosynthesis
A novel task-oriented framework for dual-arm robotic assembly task
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 528-545 doi: 10.1007/s11465-021-0638-2
关键词: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
null
《机械工程前沿(英文)》 2014年 第9卷 第3期 页码 257-264 doi: 10.1007/s11465-014-0294-x
Robustness in most of the literature is associated with min-max or min-max regret criteria. However, these criteria of robustness are conservative and therefore recently new criteria called, lexicographic α-robust method has been introduced in literature which defines the robust solution as a set of solutions whose quality or jth largest cost is not worse than the best possible jth largest cost in all scenarios. These criteria might be significant for robust optimization of single objective optimization problems. However, in real optimization problems, two or more than two conflicting objectives are desired to optimize concurrently and solution of multi objective optimization problems exists in the form of a set of solutions called Pareto solutions and from these solutions it might be difficult to decide which Pareto solution can satisfy min-max, min-max regret or lexicographic α-robust criteria by considering multiple objectives simultaneously. Therefore, lexicographic α-robust method which is a recently introduced method in literature is extended in the current research for Pareto solutions. The proposed method called Pareto lexicographic α-robust approach can define Pareto lexicographic α-robust solutions from different scenarios by considering multiple objectives simultaneously. A simple example and an application of the proposed method on a simple problem of multi objective optimization of simple assembly line balancing problem with task time uncertainty is presented to get their robust solutions. The presented method can be significant to implement on different multi objective robust optimization problems containing uncertainty.
Assembly design system based on engineering connection
Wensheng YIN
《机械工程前沿(英文)》 2016年 第11卷 第4期 页码 423-432 doi: 10.1007/s11465-016-0382-1
An assembly design system is an important part of computer-aided design systems, which are important tools for realizing product concept design. The traditional assembly design system does not record the connection information of production on the engineering layer; consequently, the upstream design idea cannot be fully used in the downstream design. An assembly design model based on the relationship of engineering connection is presented. In this model, all nodes are divided into two categories: The component and the connection. Moreover, the product is constructed on the basis of the connection relationship of the components. The model is an And/Or graph and has the ability to record all assembly schemes. This model records only the connection information that has engineering application value in the product design. In addition, this model can significantly reduce the number of combinations, and is very favorable for the assembly sequence planning in the downstream. The system contains a connection knowledge system that can be mapped to the connection node, and the connection knowledge obtained in practice can be returned to the knowledge system. Finally, VC++6.0 is used to develop a prototype system called Connect-based Assembly Planning (CAP). The relationship between the CAP system and the commercial assembly design system is also established.
关键词: product design assembly design engineering connection assembly sequence planning
Jie Zhou, Xuewen Du, Jiaqing Wang, Natsuko Yamagata, Bing Xu
《化学科学与工程前沿(英文)》 2017年 第11卷 第4期 页码 509-515 doi: 10.1007/s11705-017-1613-7
关键词: enzyme-instructed self-assembly phosphoserine phosphatase supramolecular hydrogel
Review of human–robot coordination control for rehabilitation based on motor function evaluation
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4
关键词: human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1
关键词: masticatory robot cable-driven linear actuator parallel robot stiffness analysis
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 271-284 doi: 10.1007/s11465-020-0623-1
关键词: terrain classification hexapod robot legged robot adaptive locomotion gait control
《环境科学与工程前沿(英文)》 2022年 第16卷 第6期 doi: 10.1007/s11783-021-1513-4
• Season and landform influenced spatiotemporal patterns of abundant and rare taxa.
关键词: Rare taxa Biogeography Community assembly Bacterioplankton The Yangtze River
Research on constraint-based virtual assembly technologies
YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 243-249 doi: 10.1007/s11465-007-0043-5
关键词: movement DOF recognition algorithm assembly orientation combination
《化学科学与工程前沿(英文)》 2022年 第16卷 第7期 页码 1101-1113 doi: 10.1007/s11705-021-2095-1
关键词: Janus nanoparticles surfactant double phase inversion self-assembly enhanced oil recovery
Design and modeling of continuum robot based on virtual-center of motion mechanism
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
标题 作者 时间 类型 操作
Improved approach to quality function deployment based on Pythagorean fuzzy sets and application to assemblyrobot design evaluation
Huchang LIAO, Yinghan CHANG, Di WU, Xunjie GOU
期刊论文
next-generation production system for industrial robots: A CPS-based hybrid architecture for smart assembly
Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI
期刊论文
Pareto lexicographic α-robust approach and its application in robust multi objective assembly line balancing
null
期刊论文
Enzyme-instructed self-assembly of peptides containing phosphoserine to form supramolecular hydrogels
Jie Zhou, Xuewen Du, Jiaqing Wang, Natsuko Yamagata, Bing Xu
期刊论文
Review of human–robot coordination control for rehabilitation based on motor function evaluation
期刊论文
Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
期刊论文
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
期刊论文
Distinct community assembly processes underlie significant spatiotemporal dynamics of abundant and rare
期刊论文
Research on constraint-based virtual assembly technologies
YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi
期刊论文
The construction of pseudo-Janus silica/surfactant assembly and their application to stabilize Pickering
期刊论文