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2011 4th IEEE International Conference on Computer Science and Information technology(ICCSIT 2011)

作者： Dianyong Yu Qian Li State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781612848334

In order to study the reliability of arc welding robot which is used in the production and application,based on the theory of general structure design of robot,the article is dedicated to constructing the finite element model of robot forearm in ANSYS,using the probability analysis module of ANSYS(ANSYS/PDS),taking geometry,material properties and pressure loads as random input variables and analyzing the structural reliability of arc welding robot forearm with Monte-Carlo *** maximum stress probability distribution of the finite element analysis model and sensitivity are obtained,which provide theory basis for the optimization design and system reliability analysis of the arc welding robot *** that,the results also show that the reliability of arc welding robots meets the requirements.

关键词： arc welding robot ANSYS/PDS Monte-Carlo method structural reliability

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Study on Ultrasonic Micromateriel Transmission system

Study on Ultrasonic Micromateriel Transmission System

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The International Conference on Recent Trends in Materials and Mechanical Engineering（ICRTMME 2011）

作者： Junkao Liu Weishan Chen Xiaoyu Lv State Key Laboratory of Robotics and System Harbin Institute of Technology

A new type ultrasonic materiel transmission system is proposed in this *** this new design,bending vibration traveling wave is generated in an elastic pipe by using two uniform sandwich type longitudinal vibration ***,elliptical trajectory motions can be formed at particles on the pipe wall,which can drive the materiel by frictional *** adopting of sandwich transducer in this device can gain large vibration amplitude and improve the electromechanical coupling *** structure and working principle of the proposed design are *** transducer and the pipe are designed and analyzed by using FEM *** longitudinal vibration mode of the transducer and the bending vibration mode of the pipe are analyzed,and the resonant frequencies of these two modes are tuned to be close.A prototype system is fabricated and measured.

关键词： traveling wave,FEM,ultrasonic transducer,materiel transmission

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Rotary Ultrasonic Motor Using Longitudinal and Bending modes and Its Analysis

Rotary Ultrasonic Motor Using Longitudinal and Bending modes...

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2011 International Conference on Advanced Materials and Computer Science(ICAMCS 2011)

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

A rotary ultrasonic motor using longitudinal and bending vibration modes is proposed in this study. The proposed motor contains two exponential shape horns located on two ends, and the end tips of the horns are used as the driving feet. Two groups of PZT elements(Longitudinal PZT and Bending PZT) are clamped in the middle of the motor by a double head flange bolt to excite the longitudinal vibration mode and bending vibration mode of the motor, respectively. By the composing of the longitudinal and bending vibration modes, elliptical trajectory vibrations can be generated on the end tips of the horns, which have the same rotation directions and can driving the rotor together by frictional force. After the introducing of the working principle, modal analysis is developed to tune the resonant frequencies of the longitudinal and bending vibration modes to be close with each other. At last, transient analysis is developed to gain the vibration characteristics of the motor, and the gained elliptical trajectory motions of particles on the driving parts verify the feasibility of the proposed design.

关键词： ultrasonic motor rotary longitudinal and bending transducer FEM

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Research on Locomotive Evolution Based on Worm-Shaped Configuration of Self-reconfigurable Robot Hit MSR II

Research on Locomotive Evolution Based on Worm-Shaped Config...

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The 2011 International Conference on Electric and Electronics(EEIC 2011)

作者： Yanhe Zhu Xiaolu Wang Xindan Cui Jingchun Yin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

In this paper, we constructed a three-dimensional dynamic simulator for Hit MSR II which is a module self-reconfigurable robot system composed of single-rotational-freedom modules. Downhill Simplex Optimization Algorithm were used to evolve the locomotion of the robot ensuring that it is possible to get access to the relatively more optimized locomotion gaits parameters after large enough numbers of iterative calculations under a certain evaluation function. What's more. We selected worm-shaped configuration to research on the validation of locomotive evolution both in simulation and experiment.

关键词： self-reconfigurable robot 3D control simulator worm locomotive evolution Downhill Simplex Algorithm

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Development of Omni-directional Mobile Manipulator

Development of Omni-directional Mobile Manipulator

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The 2010 International Conference on Manufacturing Science and Materials Engineering(ICMSME 2011)

作者： ZHAO Jie MA Liang YAN Jihong GAO Yongsheng State Key Laboratory of Robotics and System Harbin Institute of Technology

An Omni-directional mobile manipulator with capability of zero-radius rotation is developedMechanism structure of the mobile platform and the manipulator are introduced, and the wheel model of the robot is designed with differential compensation structureMulti-sensor system comprising ultrasonic sensors, infrared sensors and force/torque sensor are used for achieving precise control for the robotMeanwhile, motion control of the mobile platform is analyzed, and servo control based on hierarchical structure of the manipulator is proposedFinally, experiments of the robot are executed, and the results show the error of the platform for forward 4m is 8mm approximately after corrected by ultrasonic sensors, average error of zero-radius rotation is 3.7658 mm, average error of re-orientation motion is 0.3mm, which verify the proposed omnidirectional mobile manipulator designed reasonable, and can achieve precise operation effectively.

关键词： robot manipulator omni-directional mobile zero-radius rotation

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Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

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Open Mechanical Engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

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Running control of a quadruped robot in trotting gait

Running control of a quadruped robot in trotting gait

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IEEE Conference on robotics, Automation and Mechatronics

作者： Zhenyu Jiang Mantian Li Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology China

In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robot body are constructed. Under the analysis of the dynamics model, a simple running control method was implemented to decouple six DOF of the body, which requires minimal task level feedback and only controls the leg torque and touch down angle. In simulation this control method successfully executes on robot running from stationary to a constant speed when climbing up or down slope with well regulated pitching, rolling and yawing motions. Additionally, a prototype robot is constructed, and the control method is verified by prototype experiment in the sagittal plane.

关键词： Legged locomotion Springs Hip Joints Shoulder Actuators

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Peng Yin Pengfei Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.

关键词： Legged locomotion Foot Robot sensing systems Planning Adaptation models Trajectory

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Running and Turning Control of a Quadruped Robot with Compliant Legs in Bounding Gait

Running and Turning Control of a Quadruped Robot with Compli...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Xin Wang Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyChina

In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from rest till a constant speed and hi-speed turning, both in the prototype simulation and robot experiment. These results contribute to that complex dynamically dexterous tasks may be controlled via simple energy control method and delayed task feedback, which is closer to the animal’s actual locomotion conditions. In the future, we plan to modify this method for reducing the energy expending and make the robot running fast.

关键词： Leg Torque Hip Legged locomotion Robot kinematics Turning

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Touchdown angle's impact on bounding gait of the quadrupeds

Touchdown angle's impact on bounding gait of the quadrupeds

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IEEE Conference on robotics, Automation and Mechatronics

作者： Haowei Wang Pengfei Wang Xin Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect; however energy control is a feasible method.

关键词： Energy states Legged locomotion Stability analysis Numerical models Numerical stability Animals

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