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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
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
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
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
Qizhi MENG, Fugui XIE, Xin-Jun LIU
《机械工程前沿(英文)》 2018年 第13卷 第2期 页码 211-224 doi: 10.1007/s11465-018-0471-4
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.
关键词: spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0678-2
关键词: pneumatic artificial muscles soft robot modeling approach principle of virtual work external load
Digital design of a combine harvester using virtual prototyping
YAN Chuliang, LI Jie, ZHANG Shuming, YANG Fangfei
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 159-163 doi: 10.1007/s11465-007-0026-6
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0691-5
关键词: multifingered hand mechanism design robot safety variable stiffness actuator
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
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
《机械工程前沿(英文)》 2021年 第16卷 第1期 页码 163-175 doi: 10.1007/s11465-020-0605-3
关键词: soft robot soft pneumatic actuator kinematic model crawling robot modular design
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.
Module-based method for design and analysis of reconfigurable parallel robots
Fengfeng XI, Yuwen LI, Hongbo WANG
《机械工程前沿(英文)》 2011年 第6卷 第2期 页码 151-159 doi: 10.1007/s11465-011-0121-6
This paper presents a method for the design and analysis of reconfigurable parallel robots. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among three types of reconfigurations, namely, geometry morphing, topology morphing, and group morphing, the method presented here is for the last two reconfigurations, thereby advancing the current research that is mainly limited to geometry morphing. It is shown that the module-based method not only provides a systematic way of designing a reconfigurable parallel robot, but also offers a unified modeling for robot analysis. Two examples are provided, one showing the topology morphing and the other showing the group morphing.
关键词: reconfigurable parallel robot topology morphing group morphing
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
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
Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations
Qizhi MENG, Fugui XIE, Xin-Jun LIU
期刊论文
Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles
期刊论文
Digital design of a combine harvester using virtual prototyping
YAN Chuliang, LI Jie, ZHANG Shuming, YANG Fangfei
期刊论文
Mechanical design, modeling, and identification for a novel antagonistic variable stiffness dexterous
期刊论文
Modular crawling robots using soft pneumatic actuators
Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG
期刊论文
Pareto lexicographic α-robust approach and its application in robust multi objective assembly line balancing
null
期刊论文
Module-based method for design and analysis of reconfigurable parallel robots
Fengfeng XI, Yuwen LI, Hongbo WANG
期刊论文