For dealing with the complexity in gaining solution for inverse kinematics of 7-DOF manipulator, a new approach based on GA (genetic algorithm) is proposed. To solve the problem of multi-solution caused by redundancy, a rule for a joint of "best compliance" based on weighted Least Square Method is supposed at the beginning of this paper, which makes the multi-solution a mono-one with application of genetic algorithm to search for all global optimum solutions. Satisfactory result has been achieved. Simulation shows that the method proposed in the paper is feasible, provides a new approach for inverse kinematics solution of manipulator of any redundancy.
A measurement method is proposed to compensate temperature change for the isothermal discharge method, which determines flow-rate characteristics of pneumatic components by measuring the pressure response in a tank when air is discharged. The tank was stuffed with isothermal materials, such as a thin copper wire, to keep the temperature change small. However, the isothermal performance worsened when less material and a smaller tank were used to reduce the test device cost. This state is called quasi-isothermal. A compensation term for the temperature change in an exponential expression is proposed as a component of the flow-rate equation based on the mathematical model for the air discharge process for a quasi-isothermal tank. The compensated flow rate was found to be in good agreement with that measured by the ISO6358 Exhaust-to-atmosphere method. There were very small errors between the flow-rate characteristics of the sonic conductance C and the critical pressure ratio b as calculated by the proposed equation and the results measured by the ISO6358 method.
In this paper the dynamic model of a pneumatic system containing an air cushion cylinder is built by using bond graph method. Bond graphs are extended to deal with non-linearities and multiports in the form of equations by using the language SIDOPS+. Simulations are carried out with different working parameters such as openings of cushion needle valve. Simulation results are verified by experiments. Finally, an optimal opening of the cushion needle valve under a certain working condition is obtained by running multiple simulations with parameter sweep. The bond graph simulation can help to predict the performance of the air cushion and to determine the optimal opening of cushion needle valve.
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