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The kinematic design of a planar-cam type pick-and-place device
Wen-Tung Chang,Long-Iong Wu,Chun-Hsien Liu 대한기계학회 2008 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.22 No.12
The planar-cam type pick-and-place device can clearly and effectively achieve the desired curvilinear motion of its end effector, and it can be designed and fabricated easily. By employing the concept of velocity instant center, the cam profiles, the paths of cutters, the pressure angles and the radii of curvature of the dual cams of the planar-cam type pickand- place device can be expressed parametrically. The cam profiles may have concave portions, and each minimum radius of curvature of the concave portion of the dual cam profiles is the upper bound of the grinding-wheel radius that may not cause undercutting.
SOPC Based Weight Lifting Control Design for Small-Sized Humanoid Robot
Tzuu-Hseng S. Li,Chia-Ling Hsu,Chun-Yang Hu,Yu-Te Su,Ming-Feng Lu,Shao-Hsien Liu 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
An SOPC based small-sized humanoid robot for weight lifting is introduced in this paper. All performances will be implemented using the SOPC chip, Altera EP1C12F324C8. The contribution of this paper is mainly the design of the self-balanced control of a small sized humanoid robot. According to the concept of sensory reflex, we combine the signals of the accelerometers and force sensors with a fuzzy controller to design a dynamic balanced controller for the humanoid robot. Through the implementation of the controller, we can strengthen the activity stability and the robustness of adapting to lift the weight. Finally, the experiment results show that the robot can successfully execute weight lifting function.