Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 kg/Nm)

Visual Servo Control of the Macro/Micro Manipulator with Base Vibration Suppression and Backlash Compensation

This study investigates the visual servo control of the space station macro/micro manipulator system. The proposed approach is based on the position-based eye-in-hand visual servo (PBVS) and takes advantage of the hardware sensors to overcome the macro manipulator’s base flexibility and joint backlash. First, a vibration suppression approach based on the reaction force feedback control is proposed, the deflection forces are measured by the six-axis force/torque sensor at the base of the micro-manipulator, and damping is injected into the flexible base in the closed-loop control to suppress the base vibration. Second, the small changes of joint backlash are compensated based on the macro manipulator joint angles sensor and converted to the desired motion of the payloads. Finally, PBVS with the lag correction is proposed, which is adequate for the precise positioning of large payloads with significant low-frequency oscillations. Ground micro-gravity experiment implementation is discussed, simulations and experiments are carried out based on the equivalent 3-DOF flexible base manipulator system and the macro/micro manipulator ground facilities, and results demonstrate the effectiveness of the proposed control algorithm

Molecular characterization of SPL gene family during flower morphogenesis and regulation in blueberry

Abstract The SPL gene is a plant-specific transcription factor involved in the regulation of plant growth and development, which have been identified in woody plants. The process of floral bud differentiation affects the timing of flowering and fruit set and regulates plant growth, however, the mechanism of regulation of flower development by SPL genes is less studied. In this study, 56 VcSPL genes were identified in the tetraploid blueberry. The VcSPL gene family was classified into six subfamilies, and analysis of cis-elements showed that VcSPL genes were regulated by light, phytohormones (abscisic acid, MeJA), and low temperature. In the evolutionary analysis, segmental replication may play an important role in VcSPL gene amplification. Interestingly, we also studied diploid blueberry (Bilberry), in which 24 SPL genes were identified, and 36 homologous pairs were found, suggesting a high degree of convergence in the syntenic relationship between blueberry (Vaccinium corymbosum L) and bilberry (Vaccinium darrowii). Based on the expression profile, VcSPL genes were expressed at high levels in flowers, shoots, and roots, indicating a diversity of gene functions. Then we selected 20 differentially-expressed SPL genes to further investigate the role of VcSPL in floral induction and initiation. It showed that the genes VcSPL40, VcSPL35, VcSPL45, and VcSPL53 may play a crucial role in the blueberry floral transition phase (from vegetative growth to flower initiation). These results provided important information for understanding and exploring the role of VcSPLs in flower morphogenesis and plant growth.