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Kinematics modeLing of the developed welding mobile robot is presented and a real time seam tracking algorithm based on fuzzy neural network is proposed. At first, the kinematics behavior of mobile robot body and cross sLiders action to the welding torch are investigated by the Denavit-Hartenberg(D-H) Homogeneous transformation method, and a full kinematics model is estabLished. And then a seam tracking...
A hybrid five bar actuator is a configuration that combines the motions of two characteristically different electric motors by means of a five bar mechanism to produce programmable output. Hybrid five bar actuator is the most representative one of hybrid actuator. In this paper, the method of kinematics and dynamics analysis for a hybrid five-bar actuator based on power bond graph theory is introduced...
A hybrid mechanism is a configuration that combines the motions of two characteristically different electric motors by means of a mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, the kinematic analysis for a hybrid five-bar mechanism is introduced. An optimization design of hybrid actuator is performed with reference...
Hybrid driving mechanism, which are a combination of two types of motor and mechanism, have great flexibility. The concise and available method of dynamics analysis and optimal design for a hybrid driving mechanism is derived on the basis of geometric configuration of the hybrid driving mechanism in this paper. D'Alembert's principle, the principles of virtual displacement and calculus of variations...
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