TENTH INTERNATIONAL CONGRESS ON SOUND AND VIBRATION , ICSV 10 DESIGN AND ANALYSIS OF A PARALLEL MECHANISM FOR THE GOLF INDUSTRY
Previous work done in the study of golf club dynamics professes dissatisfaction with robotic testing used to evaluate and compare golf equipment. The main complaint is that the club dynamics measured during a robot swing do not correlate with the same data in a human swing. This paper presents the design and analysis of an alternative to the current robotic testing systems. The viability of a parallel kinematic (two-arm) concept as a robotic testing machine for golf clubs and balls is demonstrated. Human biometric data was used as the basis for determining link geometry as well as motion planning for the swing. Models, simulations, and correlations with human test data were used for validating the design. A demonstration prototype was built to show the interactions and motions of the various components.
Design of a Sliding Mode Observer Based on Computed Torque Control for Hyper Dynamic Manipulation
Received: 11 June 2019 Accepted: 13 September 2019 Hyper dynamic manipulation is an emerging control method that simulates the high-speed swing motions of golfer. This paper mainly designs a sliding mode observer for hyper dynamic manipulation, aiming to optimize the trajectory planning for robots. A golf swing robot with two actuated joints and mechanical stoppers was taken as the research object. To optimize the robot trajectory, the authors designed a control strategy with computed torque, and applied it to trajectory monitoring and simulation. In addition, a robust sliding mode observer was developed to estimate the states of the computed torque control, and eliminate the impact of modeling errors and uncertainties. Finally, the sliding mode observer based on computed torque control was proved effective and robust in optimizing the robot trajectory through numerical simulation.
Research on velocity distribution in semi-dry flue gas desulfurization tower
As an accurate high-quality instantaneous measurement technology, particle image velocimetry (PIV in acronym) has applied widely in single-phase flow and multiphase flow. The velocity distribution in semi-dry FGD tower directly influences gas-solid mix and contact situation. In base of the tower, gas-solid two-phase flow field is more complex, and has the quite tremendous influence to the overall system desulphurization efficiency. This paper utilized PIV to study velocity distribution in Semi-dry flue gas desulfurization tower and obtained velocity distribution.