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- 저자 : Mingxuan Liang (검색결과 2 건)
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Dynamic optimization of robot arm based on flexible multi-body model
Mingxuan Liang,Binrui Wang,Tianhong Yan 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.8
This paper examines the effect mechanism of torsional stiffness on flexible joints and the dynamic optimization of a six Degree-offreedom industrial robot arm. The design optimization of the robot arm is investigated based on the rotor-torsional spring model and finite element method. The flexible multi-body dynamic model of the robot arm are established by considering the flexible characteristics of arms and joints, and the natural frequencies of a robot arm are calculated to obtain the torsional stiffness of the flexible joints. Natural frequency results gradually increased with joint stiffness improvement. Using the established dynamic model, the topology optimization on the robot arm is carried out by regarding lightweight as design goal and total displacement as constraints. The tare-load ratio and dynamic performance of the optimized robot arm are significantly enhanced compared with the original design model. This research can provide the theoretical basis for the dynamic optimization and upgrade of lightweight robot arm.
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Heap-Yih Chong,Mingxuan Liang,Pin-Chao Liao 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.5
Understanding the mental representations used for hazard recognition would help the development of inspection strategies for effective safety management. This study is part of ongoing research to identify hazard recognition patterns based on users’ mental representations. Hence, this study explored normative visual patterns for improving hazard recognition performance using a crisp-set qualitative comparative analysis (cs-QCA). Eye-tracking data and visual trajectories were collected using an eye-tracking device in a structural laboratory. A cs-QCA approach was adopted to analyze and summarize normative visual patterns that were used to successfully detect hazards by all participants, namely, potential electrical contact, a large machine with no guardrails, and steel bars dump. The results show that object identification should suffice as the basis for identifying electricity-related hazards, while struck-by hazards should focus on the objects and their pivot points or potential movement trajectories. The experimental design and analytical approach provide new insights into visual analytics in hazard recognition. The research extends and supplements recognition by component theory in the context of construction hazard recognition. The results also provide new and practical references for hazard inspection training, as well as for future development of automated hazard recognition systems.
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