The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is feature...The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is featured by a far deeper level of uncertainty than new manufacturing,such as probabilistic routing files,and highly variable processing time.The stochastic disturbances result in the production bottlenecks,which constrain the productivity of the job shop.The uncertainties in the remanufacturing process cause the bottlenecks to shift when the workshop is processing.Considering this outstanding problem,many researchers try to optimize the production process to mitigate dynamic bottlenecks toward a balanced state.This paper proposes a data-driven method to predict bottlenecks in the remanufacturing system with multi-variant uncertainties.Firstly,discrete event simulation technology is applied to establish a simulation model of the remanufacturing production line and calculate the bottleneck index to identify bottlenecks.Secondly,a data-driven method,auto-regressive moving average(ARMA)model is employed to predict the bottlenecks in the system based on real-time data captured by the Arena software.Finally,the proposed prediction method is verified on real data from the automobile engine remanufacturing production line.展开更多
Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platfor...Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.展开更多
Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a ...Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
基金Projects(51975099,51775086)supported by the Natural Science Foundation of China。
文摘The remanufacturing system is remolding the manufacturing industry by bringing scrapped products back to such a condition that reintegrated performance is just as good as new.The remanufacturing environment is featured by a far deeper level of uncertainty than new manufacturing,such as probabilistic routing files,and highly variable processing time.The stochastic disturbances result in the production bottlenecks,which constrain the productivity of the job shop.The uncertainties in the remanufacturing process cause the bottlenecks to shift when the workshop is processing.Considering this outstanding problem,many researchers try to optimize the production process to mitigate dynamic bottlenecks toward a balanced state.This paper proposes a data-driven method to predict bottlenecks in the remanufacturing system with multi-variant uncertainties.Firstly,discrete event simulation technology is applied to establish a simulation model of the remanufacturing production line and calculate the bottleneck index to identify bottlenecks.Secondly,a data-driven method,auto-regressive moving average(ARMA)model is employed to predict the bottlenecks in the system based on real-time data captured by the Arena software.Finally,the proposed prediction method is verified on real data from the automobile engine remanufacturing production line.
基金Project(2014QNB18) supported by the Fundamental Research Funds for the Central Universities of ChinaProject(2014CBO46300) supported by the National Basic Research Program of China
文摘Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
