Search results

1 – 8 of 8
Per page
102050
Citations:
Loading...
Access Restricted. View access options
Article
Publication date: 22 February 2022

Changlong Ye, Yingxin Sun, Suyang Yu, Jian Ding and Chunying Jiang

The mechanical properties between wheel and ground will affect the motion performance of wheeled omnidirectional mobile robot (OMR). MY3 wheel is an omnidirectional wheel. This…

142

Abstract

Purpose

The mechanical properties between wheel and ground will affect the motion performance of wheeled omnidirectional mobile robot (OMR). MY3 wheel is an omnidirectional wheel. This paper aims to analyze the contact mechanical characteristics between MY3 wheel and ground to improve the motion accuracy of an omnidirectional mobile platform with MY3 wheel (MY3-OMR).

Design/methodology/approach

This method takes MY3 wheel as the research objective. The normal and tangential contact mechanics model and rolling contact mechanics model of MY3 wheel are established by analyzing the structure of MY3 wheel, and thereby, the slip ratio of MY3 wheel in the process of motion is calculated. The kinematics model of MY3-OMR is optimized by taking the slip ratio as the optimization parameter that aims to improve motion accuracy of MY3-OMR.

Findings

The correctness of the mechanical analysis and the feasibility of the method are verified by the MY3-OMR prototype. Let MY3-OMR move along the set circular trajectory and square trajectory, and the error between the motion trajectory before and after optimization and the standard trajectory is obtained. It illustrates that the error in the square trajectory is reduced by 1.5%, and the circular trajectory error is reduced by 2%; therefore, the method is effective.

Originality/value

A method based on contact mechanics is proposed and verified. Through the establishment of wheel-ground contact mechanics model to optimize MY3-OMR kinematics model, and thereby, the motion accuracy of MY3-OMR is improved, which lays a foundation for MY3-OMR engineering application.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 10 March 2022

Changlong Ye, Yunfei Zang, Suyang Yu and Chunying Jiang

The purpose of this paper is to demonstrate a multipurpose inspection robot that can both walk on the ground and climb on poles. The structure design, size optimization…

344

Abstract

Purpose

The purpose of this paper is to demonstrate a multipurpose inspection robot that can both walk on the ground and climb on poles. The structure design, size optimization, kinematics analysis, experiment and arithmetic of the robot are discussed in the paper.

Design/methodology/approach

The robot consists of three adjustable modules and a two-degree-of-freedom parallel mechanism in tandem, and the wheel-finger mechanism of each module can realize wheel-finger opening and closing for fast movement and obstacle crossing. This paper uses geometric analysis and simulation analysis to derive size optimization, and vector coordinate method to derive kinematics. Finally, the experiment is carried out by simulating the working environment of the robot.

Findings

The robot can realize ground walking and ground turning through the robot entity prototype experiment on the built working environment and efficiently realize 0°–90° pole climbing by the assemble design, optimization and machining. In addition, the robot can also smoothly complete the state transition process from 0° ground to 90° pole climbing. Furthermore, the robot shows good environmental self-adaptation and can complete daily inspection work.

Originality/value

The robot can pitch and yaw at a large angle and has six-legged characteristics. It is a multipurpose inspection robot that can walk on the ground and climb on poles. And through structure design, size optimization, kinematics analysis and simulation, the existing robots’ common shortcomings such as poor barrier-crossing ability and poor environmental adaptability are solved.

Details

Assembly Automation, vol. 42 no. 2
Type: Research Article
ISSN: 0144-5154

Keywords

Access Restricted. View access options
Article
Publication date: 3 May 2023

Changlong Ye, Jingru Shao, Yong Liu and Suyang Yu

Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large…

181

Abstract

Purpose

Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.

Design/methodology/approach

Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.

Findings

The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.

Originality/value

A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 20 June 2022

Changlong Ye, Yunfei Du, Suyang Yu, Qiang Zhao and Chunying Jiang

With the development of automation technology, the accuracy, bearing capacity and self-adaptation requirements of wheeled mobile robots are more and more demanding under various…

174

Abstract

Purpose

With the development of automation technology, the accuracy, bearing capacity and self-adaptation requirements of wheeled mobile robots are more and more demanding under various complex conditions, which will urge designers such shortcomings as the low accuracy, poor flexibility and weak obstacle crossing ability of traditional heavy haul vehicles and improve the wear resistance and bearing capacity of traditional omnidirectional wheels.

Design/methodology/approach

The optimal configuration for heavy payload transportation is obtained by building sliding friction consumption model of traditional wheels with different driving types based on Hertz tangential contact theory. The heavy payload omnidirectional wheel with a double-wheel steering and a coupled differential wheel driving is designed with the optimal configuration. The wheel consists of a differential gear train unit and a nonindependent suspension unit. Kinematics model of the wheel is established and relative parameters are optimized.

Findings

The prototype experiments show that the wheel has higher motion accuracy and environment adaptability. The results are consistent with the theoretical calculation, which show that the accuracy is more than 50% higher than that of differential prototype. The motion stability and the accuracy of the coupled differential omnidirectional wheel are better than those of the traditional omnidirectional wheels during the moving and obstacle crossing process under complex conditions, which verifies the correctness and advantages of the design.

Originality/value

Aiming at the specific application of heavy payload omnidirectional transportation, a new omnidirectional mobile mechanism with a two-wheel coupling drive structure and an adaptive mechanism is proposed. The simulation and experimental results show that it can realize the high-precision heavy-load omnidirectional movement, the effective contact with the ground and improve the adaptability to the rugged ground. It is flexible, simple and modular and can be widely applied to transportation, exploration, detection and other related industrial fields.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 4 June 2021

Suyang Yu, Changlong Ye, Guanghong Tao, Jian Ding and Yinchao Wang

The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of…

209

Abstract

Purpose

The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance.

Design/methodology/approach

FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance.

Findings

From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work.

Practical implications

The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications.

Originality/value

An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 8 July 2022

Xiaolong Yang, Long Zheng, Da Lü, Jinhao Wang, Shukun Wang, Hang Su, Zhixin Wang and Luquan Ren

Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research…

1386

Abstract

Purpose

Snake-inspired robots are of great significance in many fields because of their great adaptability to the environment. This paper aims to systematically illustrate the research progress of snake-inspired robots according to their application environments. It classifies snake-inspired robots according to the numbers of degrees of freedom in each joint and briefly describes the modeling and control of snake-inspired robots. Finally, the application fields and future development trends of snake-inspired robots are analyzed and discussed.

Design/methodology/approach

This paper summarizes the research progress of snake-inspired robots and clarifies the requirements of snake-inspired robots for self-adaptive environments and multi-functional tasks. By equipping various sensors and tool modules, snake-inspired robots are developed from fixed-point operation in a single environment to autonomous operation in an amphibious environment. Finally, it is pointed out that snake-inspired robots will be developed in terms of rigid and flexible deformable structure, long endurance and multi-function and intelligent autonomous control.

Findings

Inspired by the modular and reconfigurable concepts of biological snakes, snake-inspired robots are well adapted to unknown and changing environments. Therefore, snake-inspired robots will be widely used in industrial, military, medical, post-disaster search and rescue applications. Snake-inspired robots have become a hot research topic in the field of bionic robots.

Originality/value

This paper summarizes the research status of snake-inspired robots, which facilitates the reader to be a comprehensive and systematic understanding of the research progress of snake-inspired robots. This helps the reader to gain inspiration from biological perspectives.

Details

Assembly Automation, vol. 42 no. 4
Type: Research Article
ISSN: 0144-5154

Keywords

Access Restricted. View access options

Abstract

Graphical abstract

Purpose

The theme park industry has attracted wide attention and visitors’ perceptions are key to improving theme park management. Applying the cognitive-affective theory, this study aims to explore various cognitive attributes and affective attitudes and how they affect the overall theme park image.

Design/methodology/approach

A mixed research method was used to analyze tourists’ cognitive, affective and overall evaluations of theme parks through text mining and logistic regression and to verify their internal relationships.

Findings

Study 1 confirms the impact of six features of theme parks, including food and beverage consumption, merchandising, spatiality, immersive technologies, interactive performances and thematization. Study 2 reveals that finer-grained emotions such as goodness, sadness, disgust, surprise, fear, joy and anger are present in visitor reviews. Study 3 confirms the significant influence of cognitive characteristics and emotions related to theme parks on the overall image through regression analysis. The findings carry meaningful implications for theme park managers, offering guidance on customer needs, perceived negative attributes and how to improve visitor experiences.

Originality/value

This study explores the attribute characteristics of cognitive and affective images of theme parks and their influence on the overall image, thereby enriching the research on the connotations of cognitive-affective theory. In particular, this study introduces and quantitatively analyses the concept of theme parks for the first time through a large-scale data analysis, which empirically reconciles the contradictions of previous reviews of different definitions of theme parks.

图形摘要

主题公园评论:文本挖掘的认知特征和情感如何决定主题公园形象

摘要

目的

主题公园行业备受关注, 而游客的看法是改进主题公园管理的关键所在。本研究运用认知-情感理论, 旨在探索游客评论的认知属性与情感态度, 以及它们如何影响主题公园的整体形象。

设计/方法/途径

采用混合研究方法, 通过文本挖掘和逻辑回归分析游客对主题公园的认知、情感及总体评价, 并验证它们之间的内在关系。

发现

研究1证实了主题公园的六个特征所产生的影响, 包括餐饮消费、商品销售、空间性、沉浸式技术、互动表演和主题化。研究2表明, 游客评价中存在更细化的情感, 如好感、悲伤、厌恶、惊讶、恐惧、喜悦和愤怒。研究3通过回归分析证实了与主题公园相关的认知和情感特征对整体形象具有显著影响。这些研究结果对主题公园管理者具有重要意义, 为了解客户需求、识别负面属性以及如何改善游客体验提供了指导。

原创性

本研究对主题公园认知和情感形象的属性特征及其对整体形象的影响进行了探索, 从而丰富了认知-情感理论内涵。特别是本研究首次通过引入大规模数据并量化分析了主题公园的概念, 从实证角度调和了以往针对主题公园不同定义的相关评论中存在的矛盾。

Resumen gráfico

Reseñas de parques temáticos: cómo la minería de textos de las características cognitivas y las emociones pueden determinar la imagen del parque temático

Resumen

Propósito

El sector de los parques temáticos ha atraído una gran atención y las percepciones de los visitantes son clave para mejorar su gestión. Aplicando la teoría cognitivo-afectiva, este estudio pretende explorar diversos atributos cognitivos y actitudes afectivas, y cómo afectan a la imagen global del parque temático.

Diseño/metodología/enfoque

Se adoptó un enfoque de investigación de métodos mixtos para analizar las evaluaciones cognitivas, afectivas y globales de los turistas sobre los parques temáticos mediante minería de textos y regresión logística, y para validar la relación intrínseca entre ellas.

Conclusiones

El estudio 1 confirmó el impacto de seis características de los parques temáticos, como el consumo de alimentos y bebidas, el merchandising, la espacialidad, las tecnologías inmersivas, los espectáculos interactivos y la tematización. El estudio 2 reveló la presencia de emociones más sutiles en las evaluaciones de los visitantes, como la bondad, la tristeza, el asco, la sorpresa, el miedo, la alegría y la ira. El estudio 3 confirmó, mediante un análisis de regresión, que las características cognitivas y las emociones asociadas a los parques temáticos tienen un efecto significativo en la imagen global. Estas conclusiones tienen importantes implicaciones para los gestores de los parques temáticos, ya que proporcionan orientación para comprender las necesidades de los clientes, identificar los atributos negativos percibidos y saber cómo mejorar las experiencias de los visitantes.

Originalidad

Este estudio explora las características de los atributos de las imágenes cognitivas y afectivas de los parques temáticos y su impacto en la imagen global, enriqueciendo así la investigación sobre las connotaciones de la teoría cognitivo-afectiva. En particular, este estudio introduce y analiza cuantitativamente por primera vez el concepto de parque temático mediante un análisis de datos a gran escala, que concilia empíricamente las contradicciones que existían en revisiones anteriores de las distintas definiciones de parque temático.

Access Restricted. View access options
Article
Publication date: 15 December 2020

Desheng Wu, Jingxiu Song, Yuan Bian, Xiaolong Zheng and Zhu Zhang

The increase of turbulence sources and risk points under the complex social information network has brought severe challenges. This paper discusses risk perception and intelligent…

673

Abstract

Purpose

The increase of turbulence sources and risk points under the complex social information network has brought severe challenges. This paper discusses risk perception and intelligent decision-making under the complex social information network to maintain social security and financial security.

Design/methodology/approach

Cross-modal semantic fusion and social risk perception, temporal knowledge graph and analysis, complex social network intelligent decision-making methods have been studied. A big data computing platform of software and hardware integration for security combat is constructed based on the technical support.

Findings

The software and hardware integration platform driven by big data can realize joint identification of significant risks, intelligent analysis and large-scale group decision-making.

Practical implications

The integrated platform can monitor the abnormal operation and potential associated risks of Listed Companies in real-time, reduce information asymmetry and accounting costs and improve the capital market's ability to serve the real economy. It can also provide critical technical support and decision support in necessary public opinion monitoring and control business.

Originality/value

In this paper, the theory of knowledge-enhanced multi-modal multi-granularity dynamic risk analysis and intelligent group decision-making and the idea of an inference think tank (I-aid-S) is proposed. New technologies and methods, such as association analysis, time series evolution and super large-scale group decision-making, have been established. It's also applied in behavior and situation deduction, public opinion and finance and provides real-time, dynamic, fast and high-quality think tank services.

Details

Industrial Management & Data Systems, vol. 121 no. 1
Type: Research Article
ISSN: 0263-5577

Keywords

1 – 8 of 8
Per page
102050