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AIAAT 2020 Speakers

Prof. Dan Zhang

Fellow of CAE, EIC, ASME, CSME

York University, Canada


Keynote Lecture:  Performance Optimization of Parallel Robotic Manipulators

Abstract: Accuracy is one of the most crucial factors which affects the profound laboratory research and extensive industrial application of parallel robotic manipulators. Kinematic calibration is a necessary approach to make the nominal value approximately equivalent to the actual value for the pose of end-effector under different input of actuation variables. Since the error source of parallel manipulator is strong coupling, highly nonlinear, and uncontrollable, the pseudoerror theory is proposed by considering multiple errors, including manufacturing and assembly error, thermal error, and nonlinear stiffness error, as a single hypothetical error source, which only causes the deflection of joint variables. A novel cooperative coevolutionary neural network (CCNN) is designed to establish the complex nonlinear relationship between joint variables and the related deviation with respect to the measured pose of the end-effector. With CCNN, the pseudoerror in arbitrary joint configuration can be obtained, and thus, the control parameters can be adjusted accordingly. The results are validated through the case studies about a parallelogram-based 3-DOF parallel manipulator and a parallel robotic machine tool. This approach is generic and feasible for all types of robotic system.

Since performance improvement is one of the most important factors that greatly affect the application potential of hybrid manipulators in different industry fields, to deeply investigate the comprehensive features, the local/global performance indexes of stiffness, dexterity, and manipulability are mathematically modeled and mapped. A discrete-boundary-searching method is developed to calculate and visualize the workspace. Pareto-based evolutionary multi objective performance optimization is implemented to simultaneously improve the four indexes, and the representative nondominated solutions are listed.

Prof. Makoto Iwasaki

Fellow of IEEE, IEEJ, JSPE

Nagoya Institute of Technology, Japan

Keynote Lecture: Feedback Vibration Suppression Using Variable Notch Filter for Positioning Devices with Strain Wave Gearing

Abstract: The keynote talk presents a practical vibration suppression compensator design technique for precision positioning devices including strain wave gearing. Since HarmonicDrive® gears (HDGs), typical strain wave gearing, inherently possess nonlinear properties known as Angular Transmission Errors (ATEs) due to structural errors and flexibility in the mechanisms, the ideal positioning static accuracy corresponding to the apparent resolution cannot be essentially attained at the output of gearing in the devices. In addition, mechanisms with HDGs generally excite resonant vibrations due to the periodical disturbance by ATEs, especially in the condition that the frequency of synchronous components of ATE corresponds to the critical mechanical resonant frequency. The keynote, therefore, focuses on the vibration suppression in positioning, in order to improve the performance deteriorations by applying a feedback control using notch filters. In the compensator design, a feedback compensator using variable notch filter has been adopting to shape frequency characteristics on the mechanical vibration, with adaptive properties against variations in mechanical vibration frequency. The proposed approach has been applied to precision motion control of actual industrial robots, and verified through numerical simulations and experiments.

Prof. Bin He

Shanghai University, China

Keynote Lecture:  Industrial Internet-based Sustainable Intelligent Manufacturing and Robotics System

Abstract: As a global concern, the sustainability of a product is the responsibility for manufacturing. Robots have vastly increased the productivity, efficiency and product quality of manufacturing. Now, in Intelligent Manufacturing, Robots are also playing a significant role in environmentally conscious sustainable manufacturing practices. It will introduce the state of the art in the product sustainable design and manufacturing methodologies and tools from the perspective of environmental, economic, and social aspects. For the environmental perspective, design for environment methodologies and tools would enable products in a more environmentally friendly manner in the manufacturing. For the economic perspective, this paper introduces the design methodologies for the economic sustainability with cost, assembly, manufacture, and supply chain. For the social perspective, this paper introduces sustainable social design and social responsibility design for social sustainability, and social sustainability through social intervention and social innovation.






AIAAT Past Speakers