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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

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

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.

关键词： Wheels Legged locomotion Robot kinematics Optimization Planning

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Numerical investigation of hydrodynamics of flapping caudal fin

Numerical investigation of hydrodynamics of flapping caudal ...

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IEEE Symposium on Electrical & Electronics Engineering (EEESYM)

作者： Zhijun Wu Weishan Chen Junkao Liu Shengjun Shi Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467323635

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°~30°maximum angle of attack with 70°~90° difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency.

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Designing and dynamic modeling of 1D nanopositioner based on stick-slip motion principle

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2012年第19期48卷 29-34页

作者： Zhang, Shizhong Rong, Weibin Tai, Guoan Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Nanoscience Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Two stick-slip inertial stages respectively for horizontal and vertical positioning are designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). The flexible hinges of drive mechanism and rubber ring for finely adjusting friction are applied to assure the entire structure compact. Due to linear dynamics of piezoelectric transducer and nonlinear friction in the stick-slip stage, a dynamical model representation based on LuGre model is presented and verified by being compared with experimental results. With largest sizes of 24 mm×24 mm×17 mm and 24 mm×24 mm×34 mm, both of horizontal and vertical stages have resolutions of 8 nm and strokes of 50 mm, while their abilities to lift up to 66g are also be demonstrated. A two-tip manipulation of nanowires is performed in assistant of the nanopositioners developed, and the excellent performance of the nanopositioner in SEM is demonstrated. © 2012 Journal of Mechanical Engineering.

关键词： Stick-slip

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On the role of motion element on the thrust contribution for fishlike swimming

On the role of motion element on the thrust contribution for...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Xia, Dan Chen, Weishan Liu, Junkao School of Mechanical Engineering Southeast University Jiangning Jiangning Nanjing 211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781467312776

The swimming performance is numerical simulated for three dimensional fishlike robot. To study the thrust contribution, this work considers the robot divided into seven motion elements along the fish axis from head to tail, executing the heave and pitch motion respectively. The results show that each motion element is found to yield thrust and the thrust takes on sinusoidal periodic variation. During a motion cycle, the value increases with the motion elements close to the tail, while a phase delay of thrust generation is found. Due to the thrust contribution by each motion element accompany with the phase difference existence, the total thrust may be adjusted to a reasonable value. © 2012 IEEE.

关键词： Robots Kinematics Force Drag Hydrodynamics Mathematical model Marine animals

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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

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

ISBN: (纸本)9781627481205

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： Absolute position sensor Magnetic sensor Diamagnetic material Robot control

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Influence of amplitude on locomotor batoid

Influence of amplitude on locomotor batoid

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第十一届全国水动力学学术会议暨第二十四届全国水动力学研讨会并周培源诞辰110周年纪念大会

作者： WU Zhi-jun CHEN Wei-shan State Key Laboratory of Robotics and System Harbin Institute of Technology

A bionic batoid model is developed and used to study how the amplitudes of the pectoral fins affect the computational model's propulsive *** design of the bionic model is based on a detailed analysis of pectoral fins locomotion of natural batoid *** pectoral fins of bionic model are made to execute the kinematics resembling the pectoral fins of a biological fish during rajiform swimming,which makes the fluid-structure interaction as similar as the biological *** simulations are conducted at 5 different amplitude indexes from 0.08 to 0.32 with undulating frequency at f=2.2 Hz and wave number of *** and dynamic parameters are recorded in three dimensions during the *** simulation results show that the swimming velocity of bionic batoid model increases with the increasing of amplitude value in general and also indicate that the outstanding steady forward swimming of bionic batoid emerges at the amplitude of 0.14 as the biological batoid choose.

关键词： Bionic batoid Pectoral fins Amplitude Dynamic simulation

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STUDY ON A NEW LINEAR ULTRASONIC MOTOR WITH BENDING PZT ELEMENTS

STUDY ON A NEW LINEAR ULTRASONIC MOTOR WITH BENDING PZT ELEM...

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2012全国压电和声波理论及器件技术研讨会

作者： Xiao-hui YANG Wei-shan CHEN Ying-xiang LIU Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

A new linear ultrasonic motor using the 1st longitudinal and the 4th bending vibration modes of a bolt-clamped type transducer has been proposed and *** new motor with two feet employed only the bending PZT *** groups of PZT elements are clamped between the two exponential shape horns and the flange *** driving feet are located in the same side of the *** working principle of the proposed motor are *** the fabrication of a prototype,its admittance characteristics are measured using an impedance analyzer and the vibration modes are tested by a scanning laser Doppler ***,the mechanical ability of the prototype is tested.

关键词： Ultrasonic motor Bending PZT elements Admittance Vibration characteristics

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Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Stiffness analysis and modal analysis of precision parallel ...

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

作者： Weibin Rong Yuliang Luan Limin Qi Hui Xie Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was o... 详细信息

关键词： Manipulators Vibrations Modal analysis Shape Finite element methods Analytical models

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Optimal design of robotic manipulators based on simultaneously considering links and joints flexibility

Optimal design of robotic manipulators based on simultaneous...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yongqiang Xiao Wei Dong Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.

关键词： Optimization Joints Mathematical model Manipulator dynamics Equations Vectors

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Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yang Xiao-hui Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer.

关键词： Vibrations Ceramics Acoustics Electrodes Transducers Shape Stators

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