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A Flexible Hingeless Control Surface Inspired by Aquatic Animals

Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong Wang,Jian Li,Guanrong Hang,Yangwei Wang state key laboratory of robotics and system,harbin institute of technology,harbin 150001,P.R.China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

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Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

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Journal of Donghua University(English Edition) 2010年第3期27卷 400-406页

作者：姚玉峰赵建文孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as ***,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix *** this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion *** an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion *** the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

关键词： wheeled mobile manipulator self-motion non-holonomic constraint redundancy

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Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

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Journal of Donghua University(English Edition) 2010年第4期27卷 486-490页

作者：李军强臧希喆赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was *** tremor suppression machine was designed,and the measure part and the tremor suppression part were ***,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked *** selected training data set,the off-line fuzzy neural network training was *** the tremor suppression method was simulated in *** the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

关键词： magnetorheological damper nonrigid body fuzzy neural network tremor suppression

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Sensing principle and optimization of curvature optical fiber sensor

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2011年第4期22卷 507-511页

作者： Di, Hai-Ting Fu, Yi-Li Liu, Ren-Qiang College of Engineering and Technology Northeast Forestry University Harbin 150040 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200240 China

To better understand the working principle and improve the performance of the curvature optical fiber sensor, the ray tracing simulation was carried out by using the optical analysis software TracePro, which provides the sensing process. The modulation principle of sensitive zone to light intensity was described by using geometric optics analysis method. The mathematic model of relations among light loss, parameters of sensitive zone's configuration and bending curvature was presented. Experiments were performed to validate the effectiveness of the proposed mathematic model. The rays will concentrate to the convex side of the bending fiber. That is, the light intensity will increase at convex side while decrease at concave side, which leads to the changes of light leakage at sensitive zone and realizes the modulation to light intensity.

关键词： Ray tracing

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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2010 2nd International Conference on Industrial and Information systems, IIS 2010

作者： Teng, Li Yanjie, Liu Lining, Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements. © 2010 IEEE.

关键词： Vector control (Electric machinery)

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Spatial geometry modeling of truss structure and analysis of connection deviation for deployable truss antenna

Spatial geometry modeling of truss structure and analysis of...

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International Conference on Measuring technology and Mechatronics Automation, ICMTMA 2010

作者： Tian, Dake Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769539621

Aiming at the problem of connection deviation of truss structure for deployable truss antenna (DTA) with hexagonal prism modules, spatial geometry model of multi-module truss structure is presented based on the homogeneous coordinate transformation method, which can be used in multi-module truss structure whose module number is less than seven. The structure and deployment principle of modules are introduced. According to the connection characteristics of modules, the geometry model of a single module is established, then transformation matrixe of basic coordinate system of any module to total coordinate system and coordinate of any point are all obtained. The equation of connection deviation is derived, and influencing factors on connection deviation are analyzed. Furthermore, the adjusting method of connection deviation is proposed. The spatial geometry model of truss structure can be taken as the theoretical basis for design and measurement of truss structure. © 2010 IEEE.

关键词： Geometry

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Model design of on-orbit autonomous assembly multi-robot systems

Model design of on-orbit autonomous assembly multi-robot sys...

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International Conference on Industrial and Information systems, IIS

作者： Pu, Jialun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

On-orbit autonomous assembly is a solution of building large space structures, these structures are lager than any current or proposed launch vehicles and should be launch as several separate parts. To assembly these parts, using multi-robot systems are a fair way. Due to the space environment and complexity structures, on-orbit assembly is different to other tasks. For the actual application of the on-orbit autonomous assembly, the modeling of the multi-robot system is introduced. The model is a hierarchical multi-robot system, and top-down design method is used in whole design. © 2010 IEEE.

关键词： Multipurpose robots

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A method for micro-spheres manipulation based on capillary force control

A method for micro-spheres manipulation based on capillary f...

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International Conference on Intelligent Human-Machine systems and Cybernetics

作者： Rong, Weibin Liu, Taochou Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769541518

To utilize the adhesion forces and avoid the design complexity derived from the electrochemical treatment of operating tools, a method for micro-objects manipulation based on the capillary force is presented. The pickup and release model of micromanipulation were established. The manipulation scheme was performed by mechanical motion to change the capillary force generated by the liquid medium between the tool and micro-sphere, so the micro-sphere can be picked up and released successfully. The experiments about sub-millimeter stannum spheres demonstrated the simplicity and feasibility of this method. © 2010 IEEE.

关键词： Spheres

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