Fang Lijin

Obstacle-navigation strategy of a wire-suspend robot for power transmission lines

This paper presents an obstacle navigation strategy for a wire-suspend robot for power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle navigation control are analyzed in detail. A realtime expert system with hybrid architecture C language integrated production system (CLIPS) is described as the mobile robot control system. The realtime expert system is developed by CLIPS and C language, so it has powerful logical reasoning ability and data processing ability. And the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires. A realtime process and a conflict elimination algorithm realize the realtime ability of the control system. The robot task plan has two modes: layered plan and direct control. The robot can study online or offline, and when it encounter the same obstacles, it can navigate them quickly

Obstacle-navigation control for a mobile robot suspended on overhead ground wires

This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of power transmission lines based on a novel movement mechanism. The kinematics of the mobile robot and the process of obstacle-navigation control are analyzed in detail. This paper presents to develop robot expert system using hybrid programming of C language integrated production system (CLIPS) and C language, and the robot expert system has powerful logical reasoning ability and data processing ability. The robot control modes have layered planning and direct control. This paper describes the robot expert system with hybrid architecture and analyzed decision-making of obstacle-navigation in layered planning mode in detail. The robot can learn online or offline, and when it encounter the same obstacles, it can navigate them quickly. Obstacle-navigation control is the difficult point of the type of wire-suspended robot and the expert system can instruct the mobile robot to navigate obstacles autonomously on overhead ground wires.

A novel 4-DOF parallel manipulator and its kinematic modelling

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented in this paper.In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes, respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on the 4-DOF parallel manipulator is presented.

Development of a novel parallel manipulator based machine tools

A new type of 5-axis parallel machine tool based on a novel 4 degrees-of-freedom hybrid parallel platform manipulator with base mounted prismatic actuators is presented. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which the workpiece is fixed instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction of the new machine tool is greatly enlarged. Its rigidity is higher because of the adaptation of a gantry structure. This machine tool is controlled by a PC-based NC system in simultaneous 5-axis control mode.