Kinematics and Control of an omni-d
全部作者: 李江昊 李振波 陈佳品 第1作者单位: 上海交通大学微纳科学技术研究院;燕山大学信息科学与工程学院 论文摘要: This paper presents the Kinematics and control of an omni-directional mobile microrobot for micro-assembly in a micro-factory. The millimeters size microrobot is approximately 9 mm in length, 9 mm in width and 6 mm in height. It has three normal wheels which are connected with each other through a set of micro gears. Through a kind of special steering structure, the microrobot wheels can steer together with the same steering angles. A micro gripper is mounted on the top of the microrobot chassis, and can be turned with the front wheel synchronously. Through analyzing the rank of the kinematic matrix, the mobility freedom and steering freedom are calculated to demonstrate the omni-directional characteristic of the microrobot. Further, the microrobot and the micro gripper kinematic models are derived. Using these models, simulations show the relation between the microrobot movement situation and the control input. The microrobot is guided by an external vision system and controlled by a circuit board connected to the microrobot by flexible ultraminiature wires. Experiment results demonstrate the movement flexibility of the microrobot and the validity of the whole control system. 关键词: Mobile microrobot, Omni-directional, Micro-factory, Micro-assembly (浏览全文) 发表日期: 2007年05月15日 同行评议:
(暂时没有)
综合评价: (暂时没有) 修改稿:
-
骨科手术患者术前的心理护理
随着医学科学的发展,医学模式的转变级高新技术的广泛应用,对护理工作和护理人员提出了更高的要求。目前,心理学已被应用于临床护理工作中,所以医学模式也由生物医学模式转变为生物、心理、社会三者结合的医学模式。手术作为骨科一个重要的治疗手段,广泛应用与骨科临...
-
简析高校图书馆与大学生信息素质教育
论文摘要:随着近几年来我国高校素质教育的全面开展,信息素质教育已经逐步成为素质教育之中的重要组成部分,高校图书馆是大学生信息教育中最重要的信息机构,因此图书馆肩负着提高大学生信息素质的重任,本文主要对大学生信息教育的重要性和教育现状进行探讨,并提出高校...
-
中国传统文化论文3000字
在学习、工作中,大家都有写论文的经历,对论文很是熟悉吧,论文的类型很多,包括学年论文、毕业论文、学位论文、科技论文、成果论文等。那么一般论文是怎么写的呢?以下是小编为大家整理的中国传统文化论文3000字,欢迎大家分享。摘要:中国传统文化课程是汉语言文学的必修...
-
提高低年级体育课堂教学抗干扰能力的几点策略
我校是一所区属实验小学,现有48个班级,2500多名学生,每节体育课都有若干个班级在操场上课,有高低年级,在上课过程中,低年级的学生容易受到高年级学生的干扰,如何培养低年级学生在体育课堂教学中的"抗干扰",本人做了一些尝试,取得了明显的效果。一、科学规划,应对外因(...
相关文章
- Measurement and control professional fresh graduates cover l
- Impulsive Control of the Passive co
- The Structure of an Interview
- Secrets of Success at an Interview
- Measurement and control professional graduates cover letter
- Measurement and control professional cover letter
- Machinery manufacturing and control classes resume
- Measurement and control application letter
- Measurement and control graduates cover letter
- 职场英语:Measurement and control application letter