China Jiliang University

Binrui Wang

Yinglian Jin

Tao Zheng

Shanqiang Wu

Ke Zhang

Haochun Wang

Xianlei Chen

Zhenwu Guo

Kun Zhou

Wei Song

A synchronization optimization method for EtherCAT master slaves is provided. By capturing a time when a master sends a data frame, a time when receives, and a time when a reference slave receives the data frame, a transmission delay is calculated. A compensated transmission delay is obtained. A time taken for a data frame to leave a parent port and return to the same parent port, a transmission delay, a clock offset, and a clock drift are calculated. The clock drift is compensated. A new clock offset is obtained by subtracting the compensated clock drift from the clock offset and written into the non-reference slave for compensation to complete a synchronization optimization. The present application reduces the clock drift and enables the master to compensate for the clock drift of each slave more rapidly.

Synchronization optimization method for EtherCAT master slaves

A bionic robot and a spine apparatus thereof. Magnetorheological fluids are filled in the cavity, the first tube and the second tube to actuate the first end of the piston rod, so that the piston rod is actuated to move along the axial direction of the cavity. The excitation coil is wound around the first tube. When the controller provides a variable current for the excitation coil, the excitation coil produces a variable magnetic field at the first tube, thereby causing a magnetorheological effect that the magnetorheological fluid is in low liquidity and high viscosity. Then, the transmission speed of the piston rod is changed, which is presented as a damping characteristic, reducing the pause and transition in the spine apparatus, and improving the flexibility and the bionic performance of the robot.

Bionic robot and spine apparatus thereof

Growing community of inventors

Zhejiang, China

Binrui Wang