By Lihui Jin, Yutian Wang, Guorui Wang (auth.), David Jin, Sally Lin (eds.)
This publication contains the quantity 1 of the complaints of the 2012 foreign convention on Mechanical and digital Engineering(ICMEE2012), held at June 23-24,2012 in Hefei, China. The convention supplied an extraordinary chance to assemble world wide researchers who're operating within the fields. This quantity 1 is targeting Mechanical Engineering and Automation in addition to automobile Engineering and expertise.
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This quantity, quantity 3, has thirteen chapters masking numerous welding suggestions.
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A comprehensive consideration is also given in the research in terms of establishment of robot coordinate system, the coordinate transformation of D-H parameter, as well as the inverse problem solving of kinematics. Using Matlab tools to implement both the forward and inverse kinematic solutions for robot, the research performed modeling of the robot and PTP motion control simulation and achieved the accurate control for robot end effecter. In the research the method of parabola transition linear interpolation is applied to realize PTP motion control, resulting in greater smoothness of the joint's trajectory and convenience for speed and acceleration implementation for engineering practice.
Jin and S. ): Advances in Mechanical and Electronic Engineering, LNEE 176, pp. 21–26. com 22 Z. Zhao and S. Sun cause the movement of connecting rod. Use the link between homogeneous transformation matrixes (Ai) established the robot's kinematics equations (T). J6 J4 X4 Z6 X5 X6 Y6 J5 Y4 Z5 Y5 Z4 O 4 , O5 , O 6 X3 a3 Y3 O3 Z3 d4 X2 J3 a2 Y2 O2 J1 Z2 Z 0 , Z1 Y0 J2 X 0 X1 a1 O 0 , O1 Y1 Fig. 1. 6-DOF of robot's connecting rod coordinate system T = A1 A2 A3 A4 A5 A6 (1) Ai = Trans(ai −1 ,0,0) Rot ( X i −1 , α i −1 )Trans(0,0, d i ) Rot ( Z i , θ i ) cθ i sθ cα = i i −1 sθ i sα i −1 0 − sθ i 0 cθ i cα i −1 cθ i sα i −1 − sα i −1 cα i −1 0 0 ai −1 − d i sα i −1 d i cα i −1 1 (2) In equation (2) : c representative cos functions; s representative sin function.
6, curvature of inside or outside of triangular helix structure varied with rotation angles of 120 degree periodically and it was greater on arc segments than on the straight, while constant value for round structure. According to Fig. 7, torsion of inside or outside of triangular helix structure varied with rotation angles of 120 degree periodically, especially approach to zero on arc segments for non-distorted; but it was constant value for round structure. 4 Conclusions In this paper, the triangular helical structure which is a kind of important mechanical equipment in mechanical engineering is systematically investigated.
Advances in Mechanical and Electronic Engineering: Volume 1 by Lihui Jin, Yutian Wang, Guorui Wang (auth.), David Jin, Sally Lin (eds.)