A survey for grasping synthesis method with dexterous robot hand is presented in this paper. The difference of characters introduced between and underactuated hand. Especially the feature self-adaptive enveloping grasp by finger mechanism outlined as having good performance unknown objects. In order to generate valid grasps target objects apply real-time control system hand, a strategy universal tasks proposed based on human knowledge analysis. It composed off-line neural networks training...

This paper presents an analysis of the design problems and requirements for underactuated mechanisms robotic fingers. The case performing a grasping task is considered solution proposed that consists series linked mechanisms. Optimality criteria are analysed with aim formulating general algorithm based on suitable optimization problem. An example four-phalanx modular finger used to highlight practical feasibility concepts procedures.

<p>Given the characteristics of flexible job-shop scheduling problem and practical production a given enterprise, model was proposed to minimize maximum completion time. A novel algorithm solve by integrating dung beetle optimization simulated annealing algorithm. Algorithmic improvements include design single-layer process encoding scheme with machine selection during decoding ensure higher level initial population. During population update, applied for optimization, followed...

Abstract. The haptic interface force feedback is one of the key factors for a reliable flight simulation. This paper addresses design and control implementation simple joystick-like to be used helicopter simulator. expression obtained by dynamic analysis operation. proposes new strategy aiming at avoiding use an expansive complex force/torque sensor. Accordingly, specific model implemented including Stribeck friction describe moment. Experimental data are processed as based on genetic...

The coupled rotor/ship flowfield is investigated using the Navier–Stokes solver when helicopter rotor hovers in ship's airwake. solid model (SRM) and virtual (VRM) are employed, considering different types of simulation by momentum source method. Qualitative quantitative analyses conducted at locations with wind-over-deck conditions. results show that both models effectively reflect vortex interactions velocity distributions flowfield, discrepancy magnitudes between SRM VRM kept within 1 m/s...

Dynamic modelling plays a significant role in the design and control of fast-moving multilegged machines. In this paper, modular method for formulating dynamics robots with general leg structures is proposed. Each considered as an individual module, whole system treated free-floating module being coupled to main body. The inertia matrix can then be formulated through combining sub-matrix each module. It seen that dynamic equations having characteristics derived using Lagrange's equations. An...

In this paper, the grasp operation of an underactuated finger mechanism is simulated with aim to characterize and analyze its performance. The design proposed based on spring systems that give suitable underactuation characteristics. A CAD model then it used in a procedure for numerical simulation. Simulation results show capability grasping wide range objects size shape by operating inside body. achieved has been as human-like functionality contact each phalanx.

To solve the unfixed grasping tasks during fruits picking and rating, modeling is researched as most important part of robot hand solutions. A survey for synthesis method with dexterous presented in this paper. The difference characters introduced between underactuated hand. Especially, feature self-adaptive enveloping grasp achieved by finger mechanism outlined, which has good performance unknown objects. In order to generate valid grasps target objects apply real-time control system hand,...

Laying head is a high-precision engineering device in hot-rolled high speed wire rod production line. Previously research works are focused on the laying pipe wear-resisting. curve design method based kinematics and dynamics analyses not reported before. In order to manufacture pipe, motion force process of should be studied. this paper, novel approach proposed investigate modeling for pipe. An idea limited element used analysis calculates forces between inner surface rod. The requirements...

To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for LARM Hand in this paper. The controller composed high level PC-based panel low DSP card two parts communicate with each other through RS-232. software which an operator can input parameters, additionally observe changes force values velocities three motors real time. mainly used to motion by PWM signals as based on position control. A method PID PD both have been Simulations simplified model...

A frame of modular design problems and requirements for underactuated mechanisms is discussed as related to robotic fingers. The proposed mechanism connected sequentially by series units mechanisms, which have the feature passive self-adaptive in grasp operation uniformizable procedure. considerations are outlined. Optimality criteria analyzed with aim formulate a general algorithm. An example four-phalanx finger studied an improvement new version LARM Hand show practical feasibility...

Abstract In order to realize a stable clamping of the large cabin part, this paper studied optimization force for mechanism large-mass and large-size part. Firstly, three kinds contact models are introduced. Then matrix is constructed particular configuration nonlinear friction cone constraint at point transformed into linear affine in smooth Riemannian manifold by using special structure positive definite symmetric matrix. Finally, part aerospace field used as an example calculation...

In order to realize the stable clamping of large cabin parts, this paper studied force optimization mechanism for large-mass and large-size parts. Firstly, three kinds contact models are introduced. Then, a matrix is constructed particular configuration. The nonlinear friction cone constraint at point transformed into linear affine in smooth Riemannian manifold using special structure positive definite symmetric matrix. Finally, part used aerospace field as an example calculating simulating...

It is widely known that porous structure design an important way to reduce the weight of matrix materials. However, there still a lack systematic understanding how factors such as shape, size, and concentration pores affect dynamic response This study investigated elastic–plastic behavior failure characteristics nanoporous Al from molecular dynamics perspective, taking into account columnar voids with diameter 2–18 nm two types arrangement configurations. The results show all samples undergo...