Improvement for the stability of an air-lubricated six-axis force/moment sensor

Huang, Bin; Tao, Jiayue; Yi, Jiajing; Li, Chengwei; Chen, Shijing

doi:10.1007/s00170-017-0054-2

Cited by 3 publications

(2 citation statements)

References 8 publications

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“…The leveling system of the controlled platform is shown in Figure 3, it includes a six-axis combined sensor, four electric cylinders, four ground-touch detection sensors, four laser displacement sensors and a controller (Huang et al , 2017). The six-axis combined sensor MPU6050 is functionally equivalent to a combination of a three-axis acceleration sensor and a three-axis gyroscope (Liu et al , 2013).…”

Section: Drilling Robot Leveling Principlementioning

confidence: 99%

Four-point dynamic leveling method for drilling platform application

2021

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Purpose It is essential to level the drilling platform across which a drilling robot travels in a slant underground coal mine tunnel to ensure smooth operation of the drill rod. However, existing leveling methods do not provide dynamic performance under the drilling conditions of the underground coal mine. A four-point dynamic leveling algorithm is presented in this paper based on the platform attitude and support rod displacement (DLAAD). An experimental drilling robot demonstrates its dynamic leveling capability and ability to ensure smooth drill rod operations. Design/methodology/approach The attitude coordinate of the drilling robot is established according to its structure. A six-axis combined sensor is adopted to detect the platform attitude, thus revealing the three-axis Euler angles. The support rod displacement values are continuously detected by laser displacement sensors to obtain the displacement increment of each support rod as needed. The drilling robot is leveled according to the current support rod displacement and three-dimensional (3 D) attitude detected by the six-axis combined sensor dynamically. Findings Experimental results indicate that the DLAAD algorithm is correct and effectively levels the drilling platform dynamically. It can thus provide essential support in resolving drill rod sticking problems during actual underground coal mine drilling operations. Practical implications The DLAAD algorithm supports smooth drill rod operations in underground coal mines, which greatly enhances safety, reduces power consumption, and minimizes cost. The approach proposed here thus represents considerable benefits in terms of coal mine production and shows notable potential for application in similar fields. Originality/value The novel DLAAD algorithm and leveling control method are the key contributions of this work, they provide dynamical 3 D leveling and help to resolve drill rod sticking problems.

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Section: Drilling Robot Leveling Principlementioning

confidence: 99%

Four-point dynamic leveling method for drilling platform application

2021

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“…16 For mathematical methods to calculate stability, Huang et al examined the stability of the circular air bearing based on the approximate integral method similar to Licht. 17 Wu et al investigated the stability of the circular air bearing using the transient Reynolds equation calculated by finite element method (FEM). 18 Wang et al researched the stability of the circular air bearing based on the empirical mode method.…”

Section: Introductionmentioning

confidence: 99%

Stability of orifice-compensated air bearing with rectangular shape considering air film thickness

Zhang

2024

Proceedings of the Institution of Mechanical Engineers, Part J:

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A theoretical model of the orifice-compensated air bearing with rectangular shape is built to study the stability, the stiffness and the air consumption considering the air film thickness. The study shows that, the pocket volume ratio of less than 0.03 is recommended to avoid the pneumatic hammer. The stability is good and the air consumption is small when the bearing has the high stiffness. Strict control of the structural deformation is crucial as it can significantly affect the stability. Increasing the nozzle number can improve the stability and avoid the choked flow. The findings are of great importance for the design of the orifice-compensated air bearing.

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Redundant Parallel Beam Multiaxis Force Sensor—Accuracy Space

Yao

Xing

2022

IEEE Sensors J.

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Improvement for the stability of an air-lubricated six-axis force/moment sensor

Cited by 3 publications

References 8 publications

Four-point dynamic leveling method for drilling platform application

Four-point dynamic leveling method for drilling platform application

Stability of orifice-compensated air bearing with rectangular shape considering air film thickness

Redundant Parallel Beam Multiaxis Force Sensor—Accuracy Space

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