A5051731680- Advanced Surface Polishing Techniques
- Soft Robotics and Applications
- Innovations in Concrete and Construction Materials
- Tunneling and Rock Mechanics
- Robotic Mechanisms and Dynamics
- Drilling and Well Engineering
- Manufacturing Process and Optimization
- Piezoelectric Actuators and Control
- Advanced Neural Network Applications
- Rock Mechanics and Modeling
- Advanced Numerical Analysis Techniques
- Advanced machining processes and optimization
- Image and Object Detection Techniques
- Mechanics and Biomechanics Studies
- Industrial Vision Systems and Defect Detection
Central South University
2020-2024
Minjiang University
2024
State Key Laboratory of High Performance Complex Manufacturing
2022
In order to overcome the low efficiency, high labor intensity and risk of steel arch support operations in tunnel boring machines, a looping manipulator with multiple actuators was designed. Firstly, simplify complex design requirements manipulator, an exponential product model established analyze influence each single joint on end output, decomposed into different modules. The is carried out separately, layer by layer, actuator-trunk module-branch module. Then, optimal obtained considering...
Abstract Robotic splicing of steel arches is a challenging task that necessary to realize the grasping and docking in limited space. Steel often have mass more than 200 kg length 4 m. Owing large volume high requirements for accurately positioning splicing, it difficult general manipulator meet stiffness requirements. To enhance structural arch manipulator, single-degree-of-freedom (DOF) closed-loop mechanism was added structure manipulator. Based on basic principle synthesis, solution model...
Mechanisms with multiple end-effectors are widely used in engineering due to their ability synchronize and collaborate on processes. However, this kind of mechanism is difficult design its high topological complexity complex applied loads. In order solve problem, article proposes a configuration synthesis method for tree-type hybrid mechanisms from two aspects: modular decomposition open-loop closed-loop power-concentrated joints. According the correlation space degrees freedom between...
In order to explain the synthesis process of serial mechanism in a concise and intuitive geometric perspective, this paper introduces conformal algebra, an effective representation computational mathematical tool, describe actuator poses joint axes. The pose is represented as three characteristic planes, planes are sequentially overlapped with corresponding desired realize transformation requirement. plane coincidence transformation, outer product operation algebra used construct axes...
Abstract As a challenging task, the robotic splicing of steel arch is required to realize grasping and docking arches in limited space. The often have mass over 200kg length 4m. Due large volume high requirements for positioning accuracy splicing, it difficult general manipulator meet its flexibility stiffness requirements. single-degree-of-freedom(DOF) closed-loop mechanism has simple reliable structure. Adding into can effectively improve dynamic performance increase structural stiffness....