The current sensor based on the principle of fluxgate is characterized by high linearity, accuracy and wide frequency band, widely used for precise measurement AC DC current. Derive magnetomotive force balance equation analyze excitation cancellation mechanism. According to method, was divided into two types: external type self type. research progress at home abroad elaborated, including application fields, structural principle, key technical indicators, main innovation points. Clear...

In this paper, a new kind of six-parallel-legged robot is presented. It designed for drilling holes on the aircraft surface. Each leg 3-DOF parallel mechanism with three chains: 1UP and 2UPS. The prismatic joints are active can be controlled either by position or force. First, task process gait plan discussed then, according to requirement, control method introduced. After that, topology patterns under different working conditions studied mode each motor determined. Then kinematical model...

This paper presents kinematic analysis of a 3-degree freedom parallel mechanism for hexapod walking-operating multifuctional robot. Each leg the robot consists three limbs: universal joint – prismatic chain (1-UP) and spherical (2-UPS) at end there is passive to adjust uneven ground. In this paper, first forward model built it shows that has close-form solution. Then work space discussed in which feet trajectories can be projected. It shown current only take very small space. After force...

Skin injury is a common pathological disaster; the causes are cuts, scratches, burns, and so on. Blood vessels will be damaged lose their normal functions. Finally, cellular apoptosis, tissue fibrosis, scar formation, dysfunction may happen. The generation of reactive oxygen species (ROS) inflammatory responses following skin damage worsen injury. Therefore, novel patch Mn3O4@PDA/VEGF/PAM-HA was designed in this experiment to remove ROS, resist inflammation, promote vascular reconstruction....

This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with structure, kinematic constrain equations are decoupled. Based on character, polynomial solutions forward kinematics problem also presented. In method, closed-loop chain manipulator is divided into two parts, solution position obtained by first-degree equation first, then an eighth-degree in single variable for orientation obtained. those solutions,...

The possibility of insulator flashover would be higher with the increase in icing degree. Therefore, method monitoring weight is vital importance. In this study, estimation on composite rime was proposed. By quite a few experiments under different conditions, results showed good agreement between estimated value and measured weight. proposed by study effective may used for predicting Based method, discusses effect key structural parameters conditions order to better apply electric...

This paper presents a new kind of walking robot for nuclear plants when disaster happens. It is designed to finish several tasks such as: turning off the pump in nuclear; detecting situations inside and so on. The applies parallel mechanism each leg which seldom used machines. In this paper, background introduced first then analyzed. Then force calculation shown theoretical analysis presented proves has very high load-bearing capability. experiment results are also included prototype turned...

SUMMARY Fault tolerance is a very important issue for legged robots, especially in some harsh environments. One of the most fragile parts actuation system. There are two common faults robot actuators: (1) motor locked and could not move anymore; (2) uncontrollable can be treated as passive joint. In this paper, we first discuss all fault combinations single leg hexapod walking with parallel-parallel mechanism topology. Then, tolerable criterion brought out, which defines whether tolerant....

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage that the three translational and rotational motions are partially decoupled: end-effector position only determined by inputs, while angles relative to all inputs. The design methodology via G F set theory brought out, using which limb type can be determined. mobility analyzed. After that, kinematic velocity models formulated. Then, workspace studied, since robot decoupled,...

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving immediate environment, building terrain map planning locomotion automatically. It now well established that current methods have non-negligible limitations difficult feature matching, requirement external tools intervention multiple people. In this paper, we propose novel methodology to identify geometric parameters 3D...

This paper proposes an improved zero-mean normalization sum of squared differences (ZNSSD) algorithm to solve the problem inability traditional structural measurement extract high-frequency vibration signals. In proposed technique, high-speed image sequence target is captured by a camera. Then, ZNSSD template matching with subpixel accuracy introduced process images in computer. Additionally, modified search algorithm, based on pyramid (ZNSSD-P), significantly reduce computation time and...

Walking robots have been studied a lot over last several decades due to their good adaptability in different complex environments. The walking robot this paper is designed for the research on emergency rescue missions nuclear plants. Unlike other mobile robots, it apply parallel mechanism its legs. This mainly focus kinematic performance of leg mechanism. Section 2 gives brief introduction our and model. Then section 3 analyze workspace tip. After that payload velocity capability are...

In this paper, a new kind of 6-legged robot is presented. It was designed for drilling holes on the aircraft surface. Each leg 3-DOF parallel mechanism and actuation can be controlled both by position force. The design method discussed. relationship between control motion topology under different working conditions studied. kinematical model built, based which plan are made. position-force control, so calculation force done. Finally, simulation result showed: drill fuselage surface...

This paper describes the development of a 300-kV standard full lightening impulse measurement system. The high-voltage (HV) arm resistive divider was constructed with an air-insulation frame wound nichrome alloy resistance wire using Ayrton-Perry winding method. inductances different cross-sectional shapes were studied. result showed that rectangular shape gives least inductance compared circular and square cross sections under condition same circumference. HV divided into 10 sections, stray...

Dynamical loads and dynamical power sources become more frequent in grids. Energy measurement under conditions is an important problem. In this paper, we describe the modulated waveforms as used electricity meter experiment. And designed a source to output different kinds of waveforms.

Mathematical model of magnetic modulator was established, characterized by the consistency with actual structure, which is two cores differential structure and excitation winding doubling as detection winding. Simulate analyze influence source (sine wave, triangle wave square wave) saturation depth core on output voltage The result shows that characteristic optimal when employing source. Meanwhile, working in over saturated state will lead to oscillation waveform.

With proper design, accurate current ratios of direct comparators (DCCs) can be achieved between series and parallel connections n sections primary windings with the same nominal number turns. Based on this principle, a DCC could calibrated connected in series, then operated parallel, at rated therefore have its ratio accurately extended by times. By keeping geometric position symmetrically rigidly fixed to cores, leakage fluxes their effects would minimized relatively unchanged connections....

In order to investigate the relationship and effect on performance of magnetic modulator among applied DC current, excitation source, loop sensitivity induced voltage detecting winding, this paper measured initial permeability, maximum saturation induction intensity, remanent coercivity, saturated field magnetization curve, permeability curve hysteresis main core 1J85 permalloy based ballistic method. On foundation, employ fitting tool MATLAB; adopt multiple regression method comprehensively...