Mechanical components, systems and devices
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- Jia Qingxuan [3]
- Hong Lei [2]
- Sun Hanxu [2]
- Xu Tongle [1]
- Zhang Xinyi [1]
The causes of bearing fault and frequency changes are analyzed. The actual bearing fault signals are analyzed by wavelet and signal noise are reduced by three wavelet thresholding model. Bearing noise reduction effective way is obtained with three wavelet thresholding model comparison, and frequency analysis of signal is made in order to get bearing characteristic value.
The more complicated anticipant trajectory should be followed by the end-effector of a robot to meet the complex tasks of it, which is a hard job to a general industry robot, but the required path-planning can be realized by a redundant modular robot because of its less joint space limitation. An algorithm for three-dimensional spatial ellipse path-planning is presented in this paper in accord with the characteristic of the redundant modular robots. In this algorithm, the spatial trajectory is simplified to the one in two-dimensional plane by transformation of coordinates firstly, then the differential motion vector of end-effector is deduced by the method of linear interpolation with parabolic transition field, finally the differential increment of joint space is resolved by the inverse kinematics solution, even one or more joints damaged, the required trajectory can be realized continuously by Jacobian matrix reconfiguration. Through the simulations of a 9-DOF redundant modular robot, the results demonstrate that the tracking accuracy is up to ±2.2 mm, which verifies the applicability and effectiveness of the proposed algorithm, and it can be generalized to other styles of curves such as parabola, hyperbola, starlike line etc.
It is difficult to get solutions that can meet the requirements of high positioning accuracy and real time control simultaneously among the infinite solutions of a redundant robot. Based on weighted least-norm method (WLNM), an optimized algorithm for inverse kinematics solution of redundant modular robots, with which the joint limits can be avoided, is presented in this paper. According to the characteristic of robot global wrist organ, the position and pose of the robot tag end can be resolved separately, therefore the computing time is reduced without decreasing the solution accuracy. Recently, an Intravehicular Robot Service System's Ground Demonstration for Space Station has been built in the Space Robot Lab of Bupt, and the operation object of the demonstration is a 9-DOF modular reconfigurable robot. Through the experiments of pulling drawers and pressing buttons by the 9-DOF robot, the accurate and real-time solutions are given to show the applicability and effectiveness of the proposed algorithm. The experiment results demonstrate that the positioning accuracy is up to ±2.0 mm and single-step computing time is less than 1 ms.
