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Optimization and experimental research on a new-type short cylindrical cup-shaped harmonic reducer

Journal of Central South University 2012年第7期19卷 1869-1882页

作者：高海波庄红超李志刚邓宗全丁亮刘振 State Key Laboratory of Robotics and System(Harbin Institute of Technology)

In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress,multi-objective optimizations of key structural parameters were achieved. Flexspline,wave generator,and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype,the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.

关键词： harmonic drive flexspline structural parameter multi-objective optimization

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The Global Stability Analysis of Passive Biped Robot Based on Gradual Point Mapping - Cell Mapping Method

The Global Stability Analysis of Passive Biped Robot Based o...

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International Symposium on Instrumentation and Measurement, Sensor Network and Automation

作者： Xizhe Zang Jifeng Bai Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927173

On the basis of Poincare mapping and cell mapping theories, this paper proposes an improved PCM method that is Gradual Point Mapping - Cell Mapping (GPCM) method. Compared with Point Mapping - Cell Mapping Synthesis (PCM) method, GPCM method proposed can better address the calculation excessive, the credibility guarantee and other issues. The global stability of passive biped robot was analyzed by using GPCM method, the global domains of attraction of a variety of physical parameters' combinations were solved, and we optimized the robot's parameters accordingly. The dynamics simulation and robot prototype experiments show that the robot has strong robustness and can converge to a stable gait by a fast convergence rate.

关键词： Passive Biped Robot Global Analysis Poincare Mapping Domain of Attraction Dynamic Simulation

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

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Virtual Force Feedback-based 3D Master/Slave Tele-nanomanipulation in SEM

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Journal of Nano Research 2012年 20卷 109-116页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electromechanical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyn's stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper. © (2012) Trans Tech Publications, Switzerland.

关键词： Stability criteria

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Simulation and experiments on magnetic microforces for magnetic microrobots applications

Simulation and experiments on magnetic microforces for magne...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Lefeng Wang Mohamed Dkhil Aude Bolopion Patrick Rougeot Stéphane Régnier Michaël Gauthier Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China AS2M department FEMTO-ST Institute Besançon France Institut des Système Intelligents et de Robotique (ISIR) Paris France

Magnetic microrobots have a wide variety of applications in micro/nano-manipulation, micro/nano sensing and biomedical fields. Untethered magnetic microrobots are usually driven by a group of electromagnetic coils. To control the magnetic microrobots trajectory it is of utmost importance to know the magnitude of the magnetic force applied on them. In this paper finite element simulations are proposed to derive the magnetic field produced by an iron core coil. A three dimensional static magnetic analysis is also performed to simulate the magnetic force applied on a magnetic microrobot. The simulation results are validated by experimental measurements. A teslameter is used to measure the magnetic field on the central axis of the coil. A magnetic microrobot (less than 400 × 400 μm 2 ) is fabricated and glued to a force sensor to measure the magnetic force applied on it. The measurement results are in good agreement with the simulation and show the effectiveness of the magnetic simulation.

关键词： Coils Magnetic fields Magnetic field measurement Assembly Magnetic cores Force measurement Micromagnetics

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Service Robot Localization Based on Global Vision and Stereo Vision

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Journal of Donghua University(English Edition) 2012年第3期29卷 197-202页

作者：于清晓闫维新付庄赵言正 State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.

关键词： service robot hierarchical positioning binocular vision localization

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Component synthesis vibration suppression method of two component forces for flexible spacecraft

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Journal of harbin institute of technology(New Series) 2012年第6期19卷 1-5页

作者：齐乃明赵宝山赵立军赵志刚莫丽东 School of Astronautics Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Tianjin Astronautics Electromechanical Device

Considering the characteristics of two component forces on component synthesis vibration suppression （CSVS） method, two theorems on two component forces suppressing fractional multiple design frequency are given respectively. Meanwhile, the control force, which is composed by two arbitrary component forces with different initial time, can suppress certain frequencies for second-order undamped vibration system. Using the above theorems, control moment of jet attitude maneuver on flexible spacecraft is designed on the basis principle of CSVS method. The simulations validate the correctness and effectiveness of the orooosed method.

关键词： Vibration suppression CSVS Two component forces Attitude maneuver Jet control

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The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

The optimization of obstacle-crossing and the simulation in ...

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2012 9th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2012

作者： Wang, Weidong Wu, Dongmei Dong, Wei Xie, Chun Sun, Pengfei State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467300223

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot's obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle. © 2012 IEEE.

关键词： Motion planning

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Theory analysis of a new absolute position sensor based on electromagnetism

Theory analysis of a new absolute position sensor based on e...

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International Conference on Automatic Control and Artificial Intelligence, ACAI 2012

作者： Zhang, Zijian Ni, Fenglei Liu, Hong Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781849195379

Rotating angle of joint is an important factor in control field of robot arm. In the paper, a new sensor to test the absolute rotating angle of robot arm joints is designed. Firstly, structure of the magnetic field emitter is presented. Secondly, the generating process of signals sine and cosine is introduced. Then, working principle of the senor is described. At last, a new encoder is designed. The emitter working together with the encoder can test the absolute rotating angle and the calculation process is given in the paper. At the end of the paper, advantages of the sensor are listed.

关键词： Signal encoding

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