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1 – 10 of over 2000
Article
Publication date: 1 October 1991

THE largest broaching machine ever manufactured by Marbaix Lapointe, equipped with a.c. servo drives and d.c. main drives from ABB Drives, is nearly completion at Marbaix's works…

Abstract

THE largest broaching machine ever manufactured by Marbaix Lapointe, equipped with a.c. servo drives and d.c. main drives from ABB Drives, is nearly completion at Marbaix's works in Watford.

Details

Aircraft Engineering and Aerospace Technology, vol. 63 no. 10
Type: Research Article
ISSN: 0002-2667

Article
Publication date: 8 June 2020

Keqiang Bai, Yunzhi Luo, Guanwu Jiang, Guoli Jiang and Li Guo

This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes…

Abstract

Purpose

This paper aims to propose a pulsing type joint servo driver-based obstacle surmounting method for a humanoid robot according to the whole-body dynamics model, which fully takes into account the relationship between the whole-body stability margin and instantaneous torque.

Design/methodology/approach

First, the authors designed a new practical instantaneous large torque strategy for a pulsing type joint servo driver by modeling the whole-body dynamics of the humanoid robot. The work also considered joint angle planning based on the dynamic model for crossing obstacles. Second, in the simulation and experimentation, the instantaneous torque of the driver is used to realize successful crossing of obstacles by the humanoid robot. This verifies the correctness of the whole-body dynamics model and the feasibility of the method for crossing obstacles.

Findings

The experimental data and results are described and analyzed, showing that the proposed method is feasible and effective through simulation and implementation.

Originality/value

The main contribution is the humanoid robot’s actuation control technology and humanoid action realization, which could be used for squatting and moving heavy objects to help a humanoid robot adapt effectively.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 10 March 2022

X.R. Lü, Z. Liu, X.L. Lü and X. Wang

This study aims to improve the automatic leveling performance of tractor body in hilly and mountainous areas by designing a kind of controllable and adaptive leveling mechanism of…

Abstract

Purpose

This study aims to improve the automatic leveling performance of tractor body in hilly and mountainous areas by designing a kind of controllable and adaptive leveling mechanism of tractor body.

Design/methodology/approach

The mechanism is mainly composed of longitudinal slope leveling mechanism, transverse slope leveling mechanism and control components. According to the tractor body attitude in operation, the longitudinal slope leveling and lateral slope leveling can coordinate to realize the adaptive adjustment of tractor body. For this mechanism, the support mode of the linear three-point support and plane positioning combining is designed, and the leveling method of electromechanical combination is designed. The servo motor controls the longitudinal slope leveling mechanism through the reducer with self-locking function to realize the longitudinal leveling, and the servo driver controls the expansion and contraction of electric cylinder to realize lateral leveling. The designed mode can realize the relative independence and coordination of leveling in different directions.

Findings

The performance test results of the leveling mechanism are shown: the mechanism can work normally; the leveling accuracy can reach within 1°; and the leveling accuracy and stability can meet the design requirements. The leveling accuracy and stability of longitudinal slope are higher than that of lateral slope, and the coordination leveling effect of longitudinal slope and lateral slope is better than that of the independent leveling.

Originality/value

This study provides a technical reference for the design of leveling device of agricultural machines and tools in hilly and mountainous areas.

Details

Journal of Engineering, Design and Technology , vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1726-0531

Keywords

Content available
Article
Publication date: 1 March 1999

101

Abstract

Details

Assembly Automation, vol. 19 no. 1
Type: Research Article
ISSN: 0144-5154

Keywords

Article
Publication date: 6 August 2018

Juxin Qu

The purpose of this paper is to develop and test a new design approach for stamping process curves based on the main transmission structure of a slider-crank servo press.

Abstract

Purpose

The purpose of this paper is to develop and test a new design approach for stamping process curves based on the main transmission structure of a slider-crank servo press.

Design/methodology/approach

A numerical simulation approach for the slider and crank motion curve shape is developed on the basis of the forward and inverse kinematics models. A general method of curve segment connection is analyzed and discussed. Examples and experiments are also given to verify the feasibility of this work.

Findings

By properly connecting the basic curve segments, such as the constant velocity and cycloid trajectory segments, the designed curve can be incorporated into the output motion. The basic curve segments can be used as backups and stored in a curve repository. Different requirements of stamping process curves can be obtained by connecting the newly designed curve segments and selected existing curve segments. That the design approach has transferability to similar problems is encouraging.

Originality/value

This study provides a new method of designing curves for non-uniform velocity motion by connecting commonly used basic curve segments. It is characterized by simple operation and small calculating amount. Different curves can be obtained by connecting the newly designed segments and selected existing segments. Choosing simple curve segments freely can maintain minimum power dissipation in non-working intervals. The method can obtain minimum peak values of acceleration and jerk in the connection interval. Basic curve segments can also be used as backups and stored in a curve repository to improve the efficiency of design.

Details

Assembly Automation, vol. 38 no. 3
Type: Research Article
ISSN: 0144-5154

Keywords

Content available
Article
Publication date: 1 February 2000

52

Abstract

Details

Industrial Robot: An International Journal, vol. 27 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 June 2016

Xianchuan Shi, Liang Gao, Lei Qian, Mingya Cheng and Kyle Jiang

The purpose of this paper is to develop a coiling robot in the production of coated elevator compensation chains to replace the manual coiling operations and improve the quality…

Abstract

Purpose

The purpose of this paper is to develop a coiling robot in the production of coated elevator compensation chains to replace the manual coiling operations and improve the quality of compensation chains.

Design/methodology/approach

This paper introduces both mechanical and servo control system designs of the coiling robot. The structure of two friction wheels stabilizes the conveying speed of compensation chain, so the chain speed matches with the car speed. A centering mechanism pushes the chain to its original position. Seven servo motors are integrated into the system, and they are controlled by a servo control system based on programmable logic controller, positioning controller, analog output block and touch screen.

Findings

The results of the project show that the coiling robot can both greatly reduce the number of workers and the intensity of the work and improve the quality of the chain. The chain lid by the robot is not only neat, but also uniform in its inner stress.

Research limitations/implications

When the output speed of the compensation chain from the rear friction wheel does not match the coiling speed, the coiling operation has to be halted. Then, the operator adjusts the chain speed and restarts the coiling operation.

Practical implications

The coiling robot is proven working. It has been adopted by a leading company manufacturing compensation chains.

Originality/value

This is the first coiling robot which is practically used in a production line of compensation chains. Its design, mechanism and control systems are of great reference values to people.

Details

Industrial Robot: An International Journal, vol. 43 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 15 June 2012

Wei You, Minxiu Kong, Lining Sun and Yanbin Diao

The purpose of this paper is to present a control system for a heavy duty industrial robot, including both the control structure and algorithm, which was designed and tested.

1226

Abstract

Purpose

The purpose of this paper is to present a control system for a heavy duty industrial robot, including both the control structure and algorithm, which was designed and tested.

Design/methodology/approach

An industrial PC with TwinCAT real‐time system is chosen as the motion control unit; EtherCAT is used for command transmission. The whole system has a decoupled and centralized control structure. A novel optimal motion generation algorithm based on modified cubic spline interpolation is illustrated. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The motion commands were smooth enough throughout the execution period. By using the Lagangue equation and assumed modes methods, a dynamic model of heavy duty industrial robots is built considering the elastic of both joints and links. After that a compound control algorithm based on singular perturbation theory was designed for the servo control loop.

Findings

The final experimental results showed that the control commands and algorithms could easily be calculated and transmitted in one sample unit. Both the motion generation and servo control algorithm greatly improved the control performance of the robot.

Research limitations/implications

All parts of the control algorithm can be computed on‐line except the optimal motion generation part. The motion generation part is time consuming (about 2.5 seconds), which can only be performed off‐line. Hence future work will focus on improving the efficiency of this algorithm; therefore it could be performed online, increasing the robot's overall robustness and adaptability.

Originality/value

Aiming at the internal and external causes that limit the dynamic performance of heavy duty industrial robots, this paper proposes a realizable scheme of control system and includes both the control structure and algorithms. A novel optimal motion generation algorithm is presented.

Article
Publication date: 1 November 1964

This aircraft, or more exactly this integrated weapons system, is undoubtedly of major importance to both the British aircraft industry and the Royal Air Force. It is beyond…

Abstract

This aircraft, or more exactly this integrated weapons system, is undoubtedly of major importance to both the British aircraft industry and the Royal Air Force. It is beyond question the most exacting project which the British industry has undertaken and as such has demanded adoption of the latest techniques, materials, equipment and management procedures as well as pursuit of research and development programmes on an unprecedented scale. In terms of air power, this system represents a substantial advance on any comparable aircraft or system currently in service and will give the Royal Air Force a strike and reconnaissance capability at high and low level which is possibly unmatched by any other air force in the world. The design philosophy of the TSR‐2 as it applies to an aircraft designed primarily for the high‐speed, low‐level strike/reconnaissance role was described in detail in the December 1963 issue of Aircraft Engineering (Ref. 1) but since that initial appraisal of the TSR‐2 was written some eleven months ago, there has been a gradual release of further information concerning the aircraft, its systems, power plant and equipment. It is the purpose of this article to bring the story up to date in that particular context, although it should be emphasized that the TSR‐2 is still subject to the strictest security embargo and it will be many years before a detailed study of the complete weapons system can be published. It is not intended to cover the same ground as the earlier article (Ref. 1) attempted but, before proceeding to detailed consideration of the systems, a brief overall description of the aircraft is given for the sake of completeness.

Details

Aircraft Engineering and Aerospace Technology, vol. 36 no. 11
Type: Research Article
ISSN: 0002-2667

Article
Publication date: 3 April 2017

Zhuming Bi, Guoping Wang, Li Da Xu, Matt Thompson, Raihan Mir, Jeremy Nyikos, Armela Mane, Colton Witte and Cliff Sidwell

The purpose of this paper is to develop an information system which is based on the Internet of things (IoT) and used to support the communication and coordination in a…

Abstract

Purpose

The purpose of this paper is to develop an information system which is based on the Internet of things (IoT) and used to support the communication and coordination in a cooperative robot team.

Design/methodology/approach

The architecture of the IoT applications for decision-making activities in a complex system is elaborated, the focus lies on the effective implementation of system interactions at the device-level. A case study is provided to verify system performances.

Findings

The IoT concept has been introduced in an information system of a football robot team to support the coordination among team players. Various sensors are used to collect data from IoT, and data are processed for the controls of robotic players to achieve the better performance at the system level. The field test has shown the feasibility and effectiveness.

Research limitations/implications

To investigate how IoT can be utilized in an information system for making complex decisions effectively, the authors use the decision-support system for a football robot team to illustrate the approaches in developing data acquisition infrastructure, processing and utilizing real-time data for the communication and coordination of robot players in a dynamic competing environment. While the presented work has shown the feasibility of an IoT-based information system, more work are needed to integrate advanced sensors within the IoT and develop more intelligent algorithms to replace manually remote control for the operations of robot players.

Practical implications

The proposed system is specifically for a football robot team; however, the associated approaches are applicable to any decentralized system for developing an information system to support IoT-based communication and coordination within the system in the real-time mode.

Originality/value

The exploration of IoT applications is still at its early stage, existing relevant work is mostly limited to the development of system architecture, sensor networks, and communication protocols. In this paper, the methods on how to use massive real-time data for decision-making of a decentralized team have been investigated, and the proposed system has its theoretical significance to developing other decentralized wireless sensor networks and decision-making systems.

Details

Internet Research, vol. 27 no. 2
Type: Research Article
ISSN: 1066-2243

Keywords

1 – 10 of over 2000