Congbin Yang

Color recognition and dynamic decision-making model of 6 axis of industrial robot based on embedded system

For the problem that industrial robot have a poor ability to perceive external environment, and not able to change the way of operation and path of transformation timely as working condition changes. This paper selects color sensor as the medium of recognition, introduces the embedded system Raspberry Pi to 6 axis industrial robot grabbing assignments, and puts forward a six axis industrial robot intelligent recognition model with color perception, dynamic decision-making and other multi-function. In the model, the color sensor signal will be resolved by color processing algorithm in embedded system, and consequently color information of material on the conveyor can be obtained. The color information after processing by the embedded system will be converted to digital signals. Then input the digital signal into robot controller. Finally, robot controller chooses corresponding motion path according to the input signal. The experimental results show that the six axis industrial robot intelligent recognition system can distinguish colors of material with almost 100% accuracy, and adjust operation way and path in 0.72 s time rapidly. Efficiency could be improved by more than 75%.

Regulation Mechanism of Salt Ions for Superlubricity of Hydrophilic Polymer Cross-Linked Networks on Ti6Al4V

Poly(vinylphosphonic acid) (PVPA) cross-linked networks on Ti6Al4V show superlubricity behavior when sliding against polytetrafluoroethylene in water-based lubricants. The superlubricity can occur but only with the existence of salt ions in the polymer cross-linked networks. This is different from the phenomenon in most polymer brushes. An investigation into the mechanism revealed that cations and anions in the lubricants worked together to yield the superlubricity even under harsh conditions. It is proposed that the preferential interactions of cations with PVPA molecules rather than water molecules are the main reason for the superlubricity in water-based lubricants. The interaction of anions with water molecules regulates the properties of the tribological interfaces, which influences the magnitude of the friction coefficient. Owing to the novel cross-linked networks and the interactions between cations and polymer molecules, their superlubricity can be maintained even at a high salt ion concentration of 5 M. These excellent properties make PVPA-modified Ti6Al4V a potential candidate for application in artificial implants.