To realize the digitalization and intellectualization of diamond roller processing and to monitor diamond roller grinding, an acoustic emission sensor is used to monitor the experiment of grinding to the roller binder. Through the time-frequency domain analysis of the Acoustic Emission(AE) signal, it is found that the energy, duration, ring count, and amplitude of the AE signal increase with the increase of abrasive cutting depth. Under different cutting depths, the maximum value of the AE signal in the frequency domain of the scratching binder is about 55kHz, and the energy ratio of the signal in the frequency band of 30-60khz is the largest. It can be considered that the main frequency of the removal of the binder during grinding is 30-60khz.
{"title":"Study on acoustic emission signal of diamond grinding roller binder","authors":"Qingbin Wang, Honghui He, Huadong Zhao, Zhen Zhu, Chang Liu, Shuaikang Zhou","doi":"10.1109/WCMEIM56910.2022.10021540","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021540","url":null,"abstract":"To realize the digitalization and intellectualization of diamond roller processing and to monitor diamond roller grinding, an acoustic emission sensor is used to monitor the experiment of grinding to the roller binder. Through the time-frequency domain analysis of the Acoustic Emission(AE) signal, it is found that the energy, duration, ring count, and amplitude of the AE signal increase with the increase of abrasive cutting depth. Under different cutting depths, the maximum value of the AE signal in the frequency domain of the scratching binder is about 55kHz, and the energy ratio of the signal in the frequency band of 30-60khz is the largest. It can be considered that the main frequency of the removal of the binder during grinding is 30-60khz.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115679285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021483
Jiyun Zhang, JinHua Liu, Zhixiang Pan
In view of the characteristics of Marine low speed diesel engine cylinder lubrication using external oil injection, a lubrication model for cross-head two-stroke diesel engine cylinder liner and piston ring pack was established. The orthogonal experimental design method is used to comprehensively analyze the influence of three factors, “oil injection timing”, “oil feed rate” and “oil injection hole position”, on the frictional work loss of the piston ring pack. Combined with genetic optimization algorithm and BP neural network, the optimization goal is to minimize the friction loss of piston ring pack, and further quantitative analysis of the orthogonal test results is carried out. The optimized design shows that: when the thickness of the oil film at the inlet of the cylinder liner surface is 3µm, the optimal combination is “oil injection timing (advance) + 8ms, oil feed rate 0.9g/kW. h, oil injection hole position angle 140°CA”. When the thickness of the oil film at the surface inlet is 2µm, the optimal combination is “oil injection timing (advance) + 12ms, oil feed rate 1.0g/kW. h, oil injection hole position angle 100°CA”.
{"title":"Research on Lubrication and Lubricating Oil Supply Strategy of Low-speed Diesel Engine Cylinder-Piston Ring Pack","authors":"Jiyun Zhang, JinHua Liu, Zhixiang Pan","doi":"10.1109/WCMEIM56910.2022.10021483","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021483","url":null,"abstract":"In view of the characteristics of Marine low speed diesel engine cylinder lubrication using external oil injection, a lubrication model for cross-head two-stroke diesel engine cylinder liner and piston ring pack was established. The orthogonal experimental design method is used to comprehensively analyze the influence of three factors, “oil injection timing”, “oil feed rate” and “oil injection hole position”, on the frictional work loss of the piston ring pack. Combined with genetic optimization algorithm and BP neural network, the optimization goal is to minimize the friction loss of piston ring pack, and further quantitative analysis of the orthogonal test results is carried out. The optimized design shows that: when the thickness of the oil film at the inlet of the cylinder liner surface is 3µm, the optimal combination is “oil injection timing (advance) + 8ms, oil feed rate 0.9g/kW. h, oil injection hole position angle 140°CA”. When the thickness of the oil film at the surface inlet is 2µm, the optimal combination is “oil injection timing (advance) + 12ms, oil feed rate 1.0g/kW. h, oil injection hole position angle 100°CA”.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"739 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115697468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021559
Qin Yuhan, Wang Kun, Hao Songhua
The load-sharing system is a class of redundant technology that allocate the total load to all surviving units, which can effectively improve the quality and reliability of the system. The units of the load-sharing system are dependent because of the load sharing mechanism, and the most popular load allocation strategy is equal load allocation strategy. However, the units of the load-sharing system are not always in the same reliability level, and equal load allocation strategy may not lead to the highest system reliability in this case. Confronted with this problem, this paper proposes a new load allocation strategy based on the practical lifetime characteristics of the units. The studied load-sharing system consists of two or three exponentially distributed units. Reliability models for these two kinds of systems are developed theoretically and numerically. Simulation results show that the proposed load-sharing strategy can greatly improve the system reliability.
{"title":"Reliability optimization for load-sharing systems with exponentially distributed units","authors":"Qin Yuhan, Wang Kun, Hao Songhua","doi":"10.1109/WCMEIM56910.2022.10021559","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021559","url":null,"abstract":"The load-sharing system is a class of redundant technology that allocate the total load to all surviving units, which can effectively improve the quality and reliability of the system. The units of the load-sharing system are dependent because of the load sharing mechanism, and the most popular load allocation strategy is equal load allocation strategy. However, the units of the load-sharing system are not always in the same reliability level, and equal load allocation strategy may not lead to the highest system reliability in this case. Confronted with this problem, this paper proposes a new load allocation strategy based on the practical lifetime characteristics of the units. The studied load-sharing system consists of two or three exponentially distributed units. Reliability models for these two kinds of systems are developed theoretically and numerically. Simulation results show that the proposed load-sharing strategy can greatly improve the system reliability.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123071752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021414
X. Chen, Bang Li
The existing pre-valve pressure compensation flow control valve has the problems of low flow control accuracy, poor operating performance. In this regard, a load-sensitive flow valve with controllable pressure compensation ability is proposed, which improves the rapidity of large flow conditions and the energy saving and control accuracy of small flow conditions by ensuring that the pressure difference of the main valve is consistent with the change of pilot pressure. The working principle of variable pressure differential pressure compensation multi-way valve is clarified, and the simulation model of the multi-way valve is established on the AMESIM simulation platform for simulation analysis. The results show that when the compound movement requires a large flow, a wide range of no-flow saturation function can be achieved by increasing the pilot pressure, and the flow change curve is smooth in the whole process, and the whole machine runs without jitter, which has good controllability. When a small flow rate is required at low speeds, the pressure loss of the system is reduced by reducing the pressure drop, and the energy saving of the system is improved.
{"title":"Study on the Characteristics of Multiway Valve with Compensator with Variable Pressure Difference","authors":"X. Chen, Bang Li","doi":"10.1109/WCMEIM56910.2022.10021414","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021414","url":null,"abstract":"The existing pre-valve pressure compensation flow control valve has the problems of low flow control accuracy, poor operating performance. In this regard, a load-sensitive flow valve with controllable pressure compensation ability is proposed, which improves the rapidity of large flow conditions and the energy saving and control accuracy of small flow conditions by ensuring that the pressure difference of the main valve is consistent with the change of pilot pressure. The working principle of variable pressure differential pressure compensation multi-way valve is clarified, and the simulation model of the multi-way valve is established on the AMESIM simulation platform for simulation analysis. The results show that when the compound movement requires a large flow, a wide range of no-flow saturation function can be achieved by increasing the pilot pressure, and the flow change curve is smooth in the whole process, and the whole machine runs without jitter, which has good controllability. When a small flow rate is required at low speeds, the pressure loss of the system is reduced by reducing the pressure drop, and the energy saving of the system is improved.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116877399","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021537
Shaolong Han, Jianlin Zhang, Lei Liu, Zhenyu Yang, Baoxin Ran
This paper mainly introduces the application of a cut tobacco volume flow detection system based on bulkscan lms511 in the tobacco industry. First, bulkscan lms511 identifies and marks the installation space location information through self-learning algorithm; Then, the cross-sectional feature information such as the height, width and angle of the conveyor belt is extracted and analyzed; Finally, according to the extracted characteristic information, combined with the encoder signal, the instantaneous / cumulative volume flow of conveying cut tobacco can be calculated, and then combined with the cut tobacco density value, the instantaneous / cumulative mass flow of cut tobacco can be calculated indirectly. The measurement error range is 1.11 %-1.48%, and the average error value is 1.29%. The detection system has the characteristics of high precision and high reliability. Based on this platform, more research topics can be carried out. For example, through the PID closed-loop control system to regulate the running speed of the bottom belt of the storage cabinet, it can indirectly control the flow of cut tobacco and improve the continuity and stability of the feed flow.
{"title":"Design of a cut tobacco volume flow detection system based on bulkscan lms511","authors":"Shaolong Han, Jianlin Zhang, Lei Liu, Zhenyu Yang, Baoxin Ran","doi":"10.1109/WCMEIM56910.2022.10021537","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021537","url":null,"abstract":"This paper mainly introduces the application of a cut tobacco volume flow detection system based on bulkscan lms511 in the tobacco industry. First, bulkscan lms511 identifies and marks the installation space location information through self-learning algorithm; Then, the cross-sectional feature information such as the height, width and angle of the conveyor belt is extracted and analyzed; Finally, according to the extracted characteristic information, combined with the encoder signal, the instantaneous / cumulative volume flow of conveying cut tobacco can be calculated, and then combined with the cut tobacco density value, the instantaneous / cumulative mass flow of cut tobacco can be calculated indirectly. The measurement error range is 1.11 %-1.48%, and the average error value is 1.29%. The detection system has the characteristics of high precision and high reliability. Based on this platform, more research topics can be carried out. For example, through the PID closed-loop control system to regulate the running speed of the bottom belt of the storage cabinet, it can indirectly control the flow of cut tobacco and improve the continuity and stability of the feed flow.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116905186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021369
Yang Song, Xu Kai, Su Hua, Zhang Gang
One of the fundamental mechanical constructions of ships and navigators is the cylindrical shell structure. Their damping control is difficult to predict and frequently depends on precise control models. For that reason, this work provides a data-driven multi-intelligence reinforcement learning damping control approach that is significance for damping control of massive structures. Firstly, the dynamics equations of cylindrical shell structure are established based on the hypothetical modal method, and modal variables are introduced to derive the state-space equations for damping control of cylindrical shell structure, and an interactive environment for multi-intelligent reinforcement learning is established. Secondly, the damping control strategy of cylindrical shell structure with multiple intelligences is designed based on the value decomposition QMIX algorithm. For a single smart body design vibration displacement, velocity, piezoelectric actuator voltage, smart body operation steps as the state space, quadratic performance indicators with saturation characteristics as the damping effect reward function, greedy strategy as damping action selection method for multi-intelligent body cooperative damping. The QMIX algorithm hybrid network performs fusion evaluation of the joint action value of each intelligence and updates the action value function of a single intelligence. Finally, five sets of hyperparameters are set based on the Grid Search approach for comparative simulation experiments for deep learning network hyperparameter selection. The result of the simulation demonstrate that the current tactic effectively suppresses the vibration of the cylindrical shell construction. Furthermore, the optimal hyperparameter is determined by comparing simulation trials with different values, proving that the approach described in this article has better damping performance under this parameter.
{"title":"QMIX Multiple Intelligences Reinforcement Learning Damping Control for Cylindrical Shell","authors":"Yang Song, Xu Kai, Su Hua, Zhang Gang","doi":"10.1109/WCMEIM56910.2022.10021369","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021369","url":null,"abstract":"One of the fundamental mechanical constructions of ships and navigators is the cylindrical shell structure. Their damping control is difficult to predict and frequently depends on precise control models. For that reason, this work provides a data-driven multi-intelligence reinforcement learning damping control approach that is significance for damping control of massive structures. Firstly, the dynamics equations of cylindrical shell structure are established based on the hypothetical modal method, and modal variables are introduced to derive the state-space equations for damping control of cylindrical shell structure, and an interactive environment for multi-intelligent reinforcement learning is established. Secondly, the damping control strategy of cylindrical shell structure with multiple intelligences is designed based on the value decomposition QMIX algorithm. For a single smart body design vibration displacement, velocity, piezoelectric actuator voltage, smart body operation steps as the state space, quadratic performance indicators with saturation characteristics as the damping effect reward function, greedy strategy as damping action selection method for multi-intelligent body cooperative damping. The QMIX algorithm hybrid network performs fusion evaluation of the joint action value of each intelligence and updates the action value function of a single intelligence. Finally, five sets of hyperparameters are set based on the Grid Search approach for comparative simulation experiments for deep learning network hyperparameter selection. The result of the simulation demonstrate that the current tactic effectively suppresses the vibration of the cylindrical shell construction. Furthermore, the optimal hyperparameter is determined by comparing simulation trials with different values, proving that the approach described in this article has better damping performance under this parameter.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117113220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021570
Oliver Lohse, Aaron Haag, Tizian Dagner
Production disruptions, e.g., machine breakdowns, cannot be predicted in any case. Such disruptions lead to a deviation of the planned and optimized production schedule, and the actual production process. Instead of manually re-routing products, an online scheduler can re-route products automatically and maintain the best possible production throughput. To establish such an online scheduler, a framework for combining Monte-Carlo Tree Search (MCTS) and a multi-agent Deep Q-Network (MADQN) to solve the Open Shop Scheduling Problem (OSSP) is developed. Similar to approaches of using some sort of single-agent to guide the MCTS during the exploration phase, this approach deploys a multi-agent. Although the combination of single agents and MCTS have shown promising results in relatively small environments, applications relying on this approach have a very limited number of use cases in a real production scenario due to the considerable number of machines and products [10]. However, for that particular use case, the multi-agents promise a scalable solution even for large environments [6]. To do so, the problem has to be formulated such that a multi-agent can solve it. In addition to that, a learning framework is presented, and the developed approach is compared to an MCTS and single-agent combination.
{"title":"Enhancing Monte-Carlo Tree Search with Multi-Agent Deep Q-Network in Open Shop Scheduling","authors":"Oliver Lohse, Aaron Haag, Tizian Dagner","doi":"10.1109/WCMEIM56910.2022.10021570","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021570","url":null,"abstract":"Production disruptions, e.g., machine breakdowns, cannot be predicted in any case. Such disruptions lead to a deviation of the planned and optimized production schedule, and the actual production process. Instead of manually re-routing products, an online scheduler can re-route products automatically and maintain the best possible production throughput. To establish such an online scheduler, a framework for combining Monte-Carlo Tree Search (MCTS) and a multi-agent Deep Q-Network (MADQN) to solve the Open Shop Scheduling Problem (OSSP) is developed. Similar to approaches of using some sort of single-agent to guide the MCTS during the exploration phase, this approach deploys a multi-agent. Although the combination of single agents and MCTS have shown promising results in relatively small environments, applications relying on this approach have a very limited number of use cases in a real production scenario due to the considerable number of machines and products [10]. However, for that particular use case, the multi-agents promise a scalable solution even for large environments [6]. To do so, the problem has to be formulated such that a multi-agent can solve it. In addition to that, a learning framework is presented, and the developed approach is compared to an MCTS and single-agent combination.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126114925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021353
Ju Gao, Xiangrong Xu, Xingning Zhang, Shanshan Xu, Quancheng Pu
Path planning technology is the core part of the independent navigation of mobile robots. The problem of unscrupulous road planning and many turning point nodes need to be resolved. In response to the problem of traditional A* algorithm expansion nodes, long search time, and excessive path bending, an improvement A* algorithm that uses an inspiration function optimization and cubic Bezier curve optimization. Based on the ROS open-source system, the Gazebo physical simulation environment is built, and the practical Gmapping builds a grid map. The improved algorithm before and after the improvement is used as a global path planner plugin and applied to ROS for simulation experiments. The simulation results show that in the same simulation experimental environment, the length of the improved A* algorithm path is reduced by 17.161%, and the number of redundant turning nodes is reduced by 71.429%; More reasonable, further meet the constraints of mobile robots.
{"title":"Path Planning of Mobile Robot Based on Improved A* Algorithm","authors":"Ju Gao, Xiangrong Xu, Xingning Zhang, Shanshan Xu, Quancheng Pu","doi":"10.1109/WCMEIM56910.2022.10021353","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021353","url":null,"abstract":"Path planning technology is the core part of the independent navigation of mobile robots. The problem of unscrupulous road planning and many turning point nodes need to be resolved. In response to the problem of traditional A* algorithm expansion nodes, long search time, and excessive path bending, an improvement A* algorithm that uses an inspiration function optimization and cubic Bezier curve optimization. Based on the ROS open-source system, the Gazebo physical simulation environment is built, and the practical Gmapping builds a grid map. The improved algorithm before and after the improvement is used as a global path planner plugin and applied to ROS for simulation experiments. The simulation results show that in the same simulation experimental environment, the length of the improved A* algorithm path is reduced by 17.161%, and the number of redundant turning nodes is reduced by 71.429%; More reasonable, further meet the constraints of mobile robots.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126123093","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021392
Xin Su, Xin Chen, Xiaojing Lv
In this paper, we propose a robot motion control method based on operability optimization. For cooperative robots with redundant degrees of freedom and even super redundant robots (such as elephant nose robots), in the process of motion control, we focus not only on how to achieve the trajectory tracking of the end, but also on how to use the redundant degrees of freedom of the system to make the robot work in a better position. In this process, manipulability is an important representation of robot flexibility. We first construct the angular acceleration satisfying the convergence of terminal error, and then design the acceleration component that can optimize the kinetic energy of the system in the zero space of the robot. The control variables of the system are obtained based on the calculated torque method. Numerical simulation shows the effectiveness of the proposed method.
{"title":"Toward Kinematic Control for Redundant Manipulators with Flexibility Optimization","authors":"Xin Su, Xin Chen, Xiaojing Lv","doi":"10.1109/WCMEIM56910.2022.10021392","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021392","url":null,"abstract":"In this paper, we propose a robot motion control method based on operability optimization. For cooperative robots with redundant degrees of freedom and even super redundant robots (such as elephant nose robots), in the process of motion control, we focus not only on how to achieve the trajectory tracking of the end, but also on how to use the redundant degrees of freedom of the system to make the robot work in a better position. In this process, manipulability is an important representation of robot flexibility. We first construct the angular acceleration satisfying the convergence of terminal error, and then design the acceleration component that can optimize the kinetic energy of the system in the zero space of the robot. The control variables of the system are obtained based on the calculated torque method. Numerical simulation shows the effectiveness of the proposed method.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122973126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-18DOI: 10.1109/WCMEIM56910.2022.10021390
Jinliang Yin, Ting Yuan, Jiacheng Rong, Yan Yang
A cherry tomato picking robot manipulator was designed for greenhouse cherry tomato harvesting in bunches. The manipulator consists of an end-effector and its control system which adopts the “bottom-up” enveloping fruit harvesting method to complete the shearing and clamping of the fruit stems of the fruit bunches to realize the bunch picking operation of cherry tomatoes. The end-effector adopts a gearing - five-link mechanism, and the structural parameters are designed using the analytical method with length and envelope constraints. The structural parameters are optimized by analyzing the mechanical properties of fruit stalk shearing and the shearing and clamping motion process of the gear-five-link mechanism. The experimental results showed that the fruit envelope success rate of the end-effector of the string tomato picking robot was 92%, the picking success rate was 87%, the fruit damage rate was 7%, and the average picking time was 10.43s per string.
{"title":"Design and Experiment of a Novel Manipulator for Autonomous Harvesting Tomato Clusters","authors":"Jinliang Yin, Ting Yuan, Jiacheng Rong, Yan Yang","doi":"10.1109/WCMEIM56910.2022.10021390","DOIUrl":"https://doi.org/10.1109/WCMEIM56910.2022.10021390","url":null,"abstract":"A cherry tomato picking robot manipulator was designed for greenhouse cherry tomato harvesting in bunches. The manipulator consists of an end-effector and its control system which adopts the “bottom-up” enveloping fruit harvesting method to complete the shearing and clamping of the fruit stems of the fruit bunches to realize the bunch picking operation of cherry tomatoes. The end-effector adopts a gearing - five-link mechanism, and the structural parameters are designed using the analytical method with length and envelope constraints. The structural parameters are optimized by analyzing the mechanical properties of fruit stalk shearing and the shearing and clamping motion process of the gear-five-link mechanism. The experimental results showed that the fruit envelope success rate of the end-effector of the string tomato picking robot was 92%, the picking success rate was 87%, the fruit damage rate was 7%, and the average picking time was 10.43s per string.","PeriodicalId":202270,"journal":{"name":"2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114512774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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