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RISS 인기검색어
- 검색키워드
- 저자 : Changlong Ye (검색결과 3 건)
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Design and analysis of a modular rope-climbing robot with the finger-wheeled mechanism
Suyang Yu,Changlong Ye,Guanghong Tao,Jian Ding,Yinchao Wang 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.5
The rope-climbing robot that can cling to a rope for locomotion has been a popular equipment for some inspection applications due to its high flexibility. In this study, a modular rope-climbing robot with the finger-wheeled mechanism is proposed. Due to the ingenious finger-wheeled mechanism and the modular structure, the robot can achieve smooth and quick movement and good capability of obstacle-crossing on the rope and has a high adaptability for different rope environments. On the basis of introducing the robot mechanism, the geometric definitions and descriptions that can present the robot configuration and position relative to the rope are established. Aiming at three typical states during obstacle-crossing, the geometric and force analysis is performed to establish the constraint equations for the robot, and then the simulation is carried out with the optimization calculating method to solve the geometric variables and external forces of the robot that can be used for the robot design work. Finally, the robot prototype is developed based on the design and analysis work, and the experiment is conducted to verify the performance of the robot.
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Accuracy modeling, analysis and radical error distribution of 3-RPR planar parallel mechanism
Jian Ding,Changlong Ye,Suyang Yu,Jianguang Li,Jinguo Liu,Guangbo Hao 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.11
Output accuracy performance is directly determined by geometric errors and working poses of a mechanism. Accuracy sensitivity as geometric error transmission coefficient, closely relates to pose configuration and geometric parameters. This research focuses on accuracy of a 3-RPR planar parallel mechanism: firstly, established 3 models in an analytic form, to describe relationship between output errors and geometric ones, then they are mutually verified statistically. Secondly, the anisotropy and periodic fluctuation of position errors, independently contributed by each category of geometric errors, are illustrated; and mirror symmetric trajectories and poses generating output errors with mirror symmetry, are also revealed by numerical simulation. Finally, the radical accuracy model in an analytic form, was established through variance and covariance analysis on output errors. We concluded that the radical error of the movable platform in central symmetric poses, follows Rayleigh distribution pattern. Through statistical comparison with Monte Carlo simulation, the radical error model was demonstrated, that provided a reference for accuracy design for other planar parallel mechanism.
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Fuzzy adaptive PID control method for multi-mecanum-wheeled mobile robot
Guoqiang Cao,Xinyu Zhao,Changlong Ye,Suyang Yu,Bangyu Li,Chunying Jiang 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.4
Mecanum-wheeled mobile robots are widely used because they can easily realize omnidirectional movement and have flexible movement characteristics. However, existing mecanum-wheeled robots generally have problems of low movement accuracy and poor stability. Structural optimization method can improve the movement accuracy and stability of mecanum-wheeled robots, but it cannot solve the problem fundamentally. In this study, the method of geometric modeling is applied to deduce the parameters kinematic error e, slip factor μ, and overturning angle λ, all of which have an effect on the movement accuracy and stability of the robot. Combined with the advantages of PID and fuzzy control, a fuzzy adaptive PID control method is proposed. The experimental prototype of the eight-mecanum-wheeled omnidirectional mobile robot is built to carry out the trajectory tracking control experiment, and the superiority in the fuzzy adaptive PID control method is verified.
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