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ITER (international thermonuclear experimental reactor) tractor is an in-cask remote handling equipment, and its tilting and lifting mechanism is very important for the tractor to operate 45t plug in front of the ports of the hot cell and the VV (vacuum vessel) successfully. This paper was aimed at proposing a tilting and lifting mechanism to accurately grasp and operate the heavy-load plug in the...
Based on further study on the existing RPCCL (rival penalized controlled competitive learning) algorithms and discovering some drawbacks, a new advanced RPCCL clustering algorithm is proposed. The new algorithm initializes the clustering centers according to the density of sample points, and the weights are updated according to the location of input data. The simulation results show that the new advanced...
In this paper, a method of variable structure bang-bang controller is introduced. This controller is designed to implement the accurate control of the pneumatic shaft angle servo system and applied on three shafts of a space floating satellite simulation system. Simulation results show that the static and dynamic performance is excellent. The method is one of the most possible approaches to control...
Some polygon prisms with small planes are usually fixed in vehicles and machines. A method is brought out in this paper, which adds a rotatory movement with the same direction of to tools, which machines all kinds of polyhedrons by composing of turning and milling and can get better effect. The coordinates systems of turning polygon prisms movement are selected, and the vector models of tools and...
Because the number of iterations necessary to locate the global best solution is not known a priori, it's problematic to make a proper choice of inertial weights omega and constriction coefficients l of particle swarm optimization (PSO) algorithm in advance. The existing PSO algorithms are sensitive to the above two parameters. In addition, standard PSO algorithms convergence slowly and coarsely in...
Most robot grippers can hardly be applied to space service due to their devoid of the ability of outputting large force, autonomously making decision and sensing the environment. In this paper, a space underactuated gripper which can stably grasp various objects based on fewer actuators, large force and autonomous decision and multisensory information feedback is introduced. Firstly, the versatile...
Although parallel robot is widely used on many fields now, it is still a fascinating problem of kinematics solution of parallel robot. Using common methods involves the solving a series of simultaneous non-linear equations and, usually, non-unique, multiple sets of solutions are obtained from one set of data. Here a method based on LS-SVM is presented, the proposed method is applied to the parallel...
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