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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

Frontiers of Mechanical Engineering 2021年第4期16卷 711-725页

作者： Yiwei LIU Shipeng CUI Yongjun SUN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The safety of human-robot interaction is an essential requirement for designing collaborative ***,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative *** A follows the idea of modular design,mainly including a variable stiffiiess module and a drive *** variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A *** the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric *** design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the ***,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the *** facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also *** calibration and control experiments are performed to evaluate the physical performance of the designed *** results show that the VSA stiffiiess is close to the theoretical design ***,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.

关键词： variable stiffiiess actuator variable stiffness module drive module symmetrical structure doubledeck grooves expandable electrical system

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

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Acoustic black hole effect enhanced micromanipulator

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Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

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Kinematic Parameter Calibration Method of Light Weight Robots Based on Sequence Quadratic Programming Algorithm 12

Kinematic Parameter Calibration Method of Light Weight Robot...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Min, Kang Ni, Fenglei Shu, Xin Ji, Zhu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Kinematic parameter calibration can improve the absolute positioning accuracy of the robot tool center point (TCP). However, the current least-squares (LS) iterative method for calibration is sensitive to noise and ineffective when the Jacobian matrix is close to singular. In addition, the robot kinematic parameter errors cannot be directly compensated because its structure needs to satisfy Pieper's criterion. Thus, a kinematic parameter calibration based on sequence quadratic programming (SQP) algorithm is proposed to solve the above two issues. Firstly, the kinematics and its error model of TCP positions are established. Then, the kinematic parameter errors are identified by SQP algorithm. Finally, the identified kinematic parameter errors are converted into joint angle errors for error compensation. The simulations and experiments are carried out on the self-developed light weight robot. Simulation results show that the proposed calibration method is insensitive to noise. Experimental results reveal that mean positioning accuracy has increased 88.17% and 63.58% than that of the before calibration in sampling and verification regions, respectively. © 2022 IEEE.

关键词： Calibration

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th International Conference on Mechatronics, robotics and Automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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Stability Augmentation Control of Tilting Dual-Rotor UAV with Balance Tail

Stability Augmentation Control of Tilting Dual-Rotor UAV wit...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Xu, Yurui Gao, Liang Liu, Benshan Zhang, Junming Zhu, Yanhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation. © 2022 IEEE.

关键词： Attitude control

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Ha, Zekun Xiao, Junxiao Chi, Cheng Yao, Ziyun Liang, He Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in main belt comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent. © 2022 IEEE.

关键词： Detonation

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Duan, Bosong Mao, Tianyou Gong, Kening Guo, Chuangqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481090

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight;U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight;The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV. © 2022 IEEE.

关键词： Fluid structure interaction

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment 8

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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8th International Conference on systems and Informatics, ICSAI 2022

作者： Lin, Jiaye Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474481

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios. © 2022 IEEE.

关键词： Semantics

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Optimization of Machining Position for Wheel Hub Polishing Robot Based on the Kinematic Index 8

Optimization of Machining Position for Wheel Hub Polishing R...

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8th International Conference on Control, Automation and robotics, ICCAR 2022

作者： Xia, Yi Zhao, Lijun Liu, Zhiheng Zhu, Kui Harbin Institute Of Technology State Key Laboratory Of Robotics And System Harbin China

ISBN: (纸本)9781665481168

With the development of intelligent manufacturing, industrial robots are more and more widely used in machining operations, and polishing workpiece with free-form surfaces is one of them. The curvature of the free-form surface is variable, which means that the robot needs to have good kinematics when polishing, at the same time, the singularity of the robot needs to be avoided during processing. Therefore, it is necessary to select the regions with better kinematic performance for robot machining. For this reason, based on the kinematic performance evaluation index of the robot, a method for optimizing the machining position of the wheel hub is proposed in this paper. First, a kinematic index based on the Jacobian of the robot is introduced in detail, and the kinematic performance map is drawn according to the forgoing index. Then, the initial position of the workpiece with respect to the robot is determined through the kinematic performance map. Finally, combining the index with the characteristics of wheel hub polishing, the machining position of the robot for polishing the wheel hub is settled. © 2022 IEEE.

关键词： Kinematics

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