This paper mainly introduces the mechanical structure and parameters of Chinese massage robot, establishes coordinate system for the whole structure and on this base, establishes equations of motion for manipulator by D-H method. Then this paper makes a planning for trajectory of Palm kneading which is one of ten massage techniques, realizes it using interpolation method, and takes a simulation to the trajectory by MATLAB software at the end.
In this paper the design of the waveform generator is introduced, and its frequency and amplitude is adjustable. Using the most commonly used 89C51 microcontroller, AD conversion chip ADC0809 and DDS chip AD9850, the generator can produce more accurate wave signal, and can realize the analog regulator of the frequency and amplitude.
Against the shortcomings of the live washing artificially, this paper puts forward a system about live washing robot, this system contains hydraulic system, video surveillance system, automatic regulatory system, communication system and motion control system. These subsystems can cooperate to complete live washing tasks. The operator commands manipulator and car from a cabin on the truck via a portable control box. In order to protect the operator, this system takes use of the wireless communication. This robotic system can finish the washing task perfectly instead of human. As for the inverse kinematic about the manipulator, this paper puts forward a new algorithm which is combined geometric method with algebraic method and confirms it’s correctness by simulation.
This paper presents a vision servo system for high-voltage-live-working robot, which consists of image acquisition subsystem, image processing subsystem and robot control subsystem. It uses binocular stereo camera which mounted on the hand of robot to get the image of the working scene, and then uses binocular stereo vision algorithms together with target tracking algorithm to get the 3-Dimensions information of the power equipment. The robot control subsystem receives the 3-Dimensions information, and then guide the robot moving to the target location to implement the high-voltage-work. The proposed system can implement the high-voltage-work without Human involvement and improve works level of automation and efficiency.
This paper provides an intelligent control system of water washing robot for Substations, which is based on the Internet of Things Technology and uses WIFI network as the link, effectively solves the problem that building control system of hydraulic manipulator under the environment of high voltage and strong magnetic in substation. This system uses Multi-Sensor Fusion Technology to construct a insulation protection control system of water washing robot, it can ensures the safe operation of the robot and the substation equipments. By utilizing this system to replace the operators, it can wash the equipments in substation for live working so that it can effectively reduce the heavy labor by manual and ensure safety of operators. And also, it can prevent equipments from pollution flash-over accidents happening and guarantee the power grid safe operation.
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