Dongyang Shang
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View article: Vibration suppression for rotating space slender flexible structures based on novel deformation description and NNSMC controller with hyperbolic tangent function
Vibration suppression for rotating space slender flexible structures based on novel deformation description and NNSMC controller with hyperbolic tangent function Open
Rotating Space Slender Flexible Structures (RSSFS) are extensively utilized in space operations because of their light weight, mobility, and low energy consumption. To realize the accurate space operation of the RSSFS, it is necessary to e…
View article: Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand
Dynamic modeling and RBF neural network compensation control for space flexible manipulator with an underactuated hand Open
In space operation, flexible manipulators and gripper mechanisms have been widely used because of light weight and flexibility. However, the vibration caused by slender structures in manipulators and the parameter perturbation caused by th…
View article: Probio-X Relieves Symptoms of Hyperlipidemia by Regulating Patients’ Gut Microbiome, Blood Lipid Metabolism, and Lifestyle Habits
Probio-X Relieves Symptoms of Hyperlipidemia by Regulating Patients’ Gut Microbiome, Blood Lipid Metabolism, and Lifestyle Habits Open
The human gut microbiota have a potential effect on the lipid metabolism and are closely related to the disease hyperlipidemia. Our trial has demonstrated that 3-month intake of a mixed probiotic formulation alleviates hyperlipidemic sympt…
View article: Adaptive sliding mode robust control of manipulator driven by tendon-sheath based on HJI theory
Adaptive sliding mode robust control of manipulator driven by tendon-sheath based on HJI theory Open
The load side and the motor connected by flexible joints in the manipulators’ joint servo system. During the motion of manipulators driven by tendon-sheath, the status change of the end-effector will result in the change of the load side r…
View article: Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network
Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network Open
The length of flexible manipulators with a telescopic arm alters during movement. The dynamic parameters of telescopic flexible manipulators exhibit significant time-varying characteristics owing to variations in length. With an increase i…
View article: Vibration Suppression Method for Dual-flexible Manipulator Considering Bearing Friction Based on Adaptive PI Control Strategy with Nonlinear Disturbance Observer
Vibration Suppression Method for Dual-flexible Manipulator Considering Bearing Friction Based on Adaptive PI Control Strategy with Nonlinear Disturbance Observer Open
A manipulator that contains both flexible joints and flexible loads is called a dual-flexible manipulator. The vibration of dual-flexible manipulators is affected by the bearing friction torque and the double flexibilities. This vibration …
View article: Control Method for Flexible Joints in Manipulator Based on BP Neural Network Tuning PI Controller
Control Method for Flexible Joints in Manipulator Based on BP Neural Network Tuning PI Controller Open
With the development of robot technology, integrated joints with small volume and convenient installation have been widely used. Based on the double inertia system, an integrated joint motor servo system model considering gear angle error …
View article: Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB
Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB Open
A dual-flexible manipulator with a telescopic arm is affected by joint flexibility, load flexibility, and bearing friction, which will cause angular velocity fluctuation. Besides, the motion of the telescopic arm leads to dynamic parameter…
View article: Dynamic Modeling and Vibration Characteristics Analysis of Deep-Groove Ball Bearing, Considering Sliding Effect
Dynamic Modeling and Vibration Characteristics Analysis of Deep-Groove Ball Bearing, Considering Sliding Effect Open
To study the vibration characteristics of deep-groove ball bearing, considering the influence of sliding, the dynamic model of the DGB 6205 system is established in this paper. The DGB 6205 system model includes the movement of the bearing…
View article: Dynamic Characteristics Analysis of ISD Suspension System under Different Working Conditions
Dynamic Characteristics Analysis of ISD Suspension System under Different Working Conditions Open
The “inerter-spring-damper” (ISD) suspension system is a suspension system composed of an inerter, spring, and damper. To study the ride comfort and stability of the vehicle by using the ISD suspension system, a vehicle model with ISD susp…
View article: Control Method of Flexible Manipulator Servo System Based on a Combination of RBF Neural Network and Pole Placement Strategy
Control Method of Flexible Manipulator Servo System Based on a Combination of RBF Neural Network and Pole Placement Strategy Open
Gravity and flexibility will cause fluctuations of the rotation angle in the servo system for flexible manipulators. The fluctuation will seriously affect the motion accuracy of end-effectors. Therefore, this paper adopts a control method …
View article: Analysis of Contact Mechanical Characteristics of Flexible Parts in Harmonic Gear Reducer
Analysis of Contact Mechanical Characteristics of Flexible Parts in Harmonic Gear Reducer Open
Harmonic gear reducer is widely used in industrial robots, aerospace, optics, and other high‐end fields. The failure of harmonic gear reducer is mainly caused by the damage of flexible bearing and flexspline of thin‐walled vulnerable compo…
View article: Resonant Suppression Method Based on PI control for Serial Manipulator Servo Drive System
Resonant Suppression Method Based on PI control for Serial Manipulator Servo Drive System Open
A typical serial manipulator consists of a servo motor, a serial mechanism and an independent joint placed between the motor and the serial mechanism. Both the time-varying characteristics of the inertia of the serial mechanism and the fle…
View article: Control Strategy of Flexible Load Servo Drive System Based on Manipulator Position and Position Transformation
Control Strategy of Flexible Load Servo Drive System Based on Manipulator Position and Position Transformation Open
摘要: 伺服驱动系统的柔性负载端转动惯量等参数随柔性机械臂位姿变化而变化,进而影响伺服驱动系统电动机输出端转速。为降低电动机输出端速度波动,采用极点配置的方法设计伺服驱动系统转速环PI控制器参数,该参数的选择随柔性机械臂位姿变化而变化,从而使伺服驱动系统在不同位姿下获得良好的动态响应特性,避免机械谐振发生。首先根据连续体振动理论和拉格朗日原理建立了柔性负载伺服驱动系统动力学模型,并通过状态方程求得电动机转速到柔性负载驱动转矩的传递函数。将变参数PI控制策略应用于伺服驱动系统…
View article: The Rotary Storing-and-separating Device Based on Radio Frequency Identification Technology
The Rotary Storing-and-separating Device Based on Radio Frequency Identification Technology Open
Nowadays, bar code recognition technology is widely used for separating expresses in the market. There are many problems that exists in express logistics industry such as low level of intelligence and low sorting efficiency. Aiming at the …