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检索条件"机构=1State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin"

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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

引用

2010 International Conference on Intelligent Computation technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective.

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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A closed-loop intelligent control strategy for precise non-contact liquid dispensing

A closed-loop intelligent control strategy for precise non-c...

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IEEE International Conference on Mechatronics and Automation

作者： Yaxin Liu Yufeng Yao Liguo Chen Lining Sun Instrument Science and Technology Postdoctoral Mobile Station Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In biomedical, chemical and pharmacological areas, thousands of reagents with different viscosities need to be dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiments to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, a precise non-contact closed-loop liquid dispensing system with novel adaptive intelligent control method was developed. First, the non-contact liquid dispensing system construction is introduced. Secondly, a MEMS flow sensor was used for closed-loop control the dispensed volume, and the factors that affect dispensing precision are analyzed. Thirdly, a compound intelligent fuzzy control strategy is proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1μl and approach 4% at 100 nl.

关键词： Valves Viscosity Solenoids Fuzzy control Compounds Fluctuations

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Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain

Slip-ratio-coordinated control of planetary exploration robo...

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Ding Haibo Gao Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and 0.2. In this study, wheel-soil interaction terramechanics, which considers the slip ratio as an important state variable, is applied to analyze the quasi-static equations of a planar robot system. The slip ratios of wheels are controllable, but the degree of freedom is the number of wheels minus 1. A generalized algorithm for distributing the slip ratios of all the wheels of a robot to optimize the energy consumption is presented. Experimental and simulation results show that the “equal slip ratio” is at least a sub-optimal solution for optimizing energy consumption. Further, a more robust control method has been developed; this methods aims to equalize the slip ratios of all the wheels while maintaining a constant body velocity on rough terrains, without solving the values of the slip ratios. This method is verified by controlling a virtual four-wheeled robot using dynamics simulations.

关键词： Wheels Mobile robots Robot kinematics Energy consumption Soil Angular velocity

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Active control of adhesion force for pick-and-place of micro objects with compound vibration in micromanipulation

Active control of adhesion force for pick-and-place of micro...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Liguo Chen Tao Chen Lining Sun Weibin Rong Bing Shao Qing Yang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China Robotics and Microsystems Center Soochow University Suzhou China

ISBN: (纸本)9781424454471

Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator. A micromanipulation system is set up to test and verify the proposed method. The system consists of a microgripper and a piezoelectric ceramics module. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Theoretical analyses were conducted to understand the release principle. Experiments were carried out through the manipulation of 30-80μm polystyrene spheres under an optical microscope. Experimental results show that this method can achieve a repeatability of 100% with releasing accuracy of 4μm, and is substrate independent. Based on this preliminary study, the system prove to be an effective solution for the active pick-and-place manipulation of microobjects.

关键词： Vibrations Grippers Substrates Adhesives Force Compounds Acceleration

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Micro manipulation based on adhesion control with compound vibration

Micro manipulation based on adhesion control with compound v...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Tao Chen Liguo Chen Lining Sun Weibin Rong Qing Yang Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Due to scale effects, the releasing of micro objects has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation system is presented based on the adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4±0.5μm, which was experimentally quantified through the manipulation of 20-100μm polystyrene spheres under an optical microscope. The micromanipulation system consists of a microgripper and a piezoelectric ceramics module. The compound vibration comes from the electrostatic actuator and the piezoelectrically driven actuator. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Experimental results confirmed that this adhesion control technique is independent of substrate. Theoretical analyses were conducted to understand the releasing mechanism. Based on this preliminary study, the micromanipulation system proves to be an effective solution for active releasing of micromanipulation.

关键词： Grippers Vibrations Adhesives Acceleration Substrates Force Compounds

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Biomechatronic approach to a multi-fingered hand prosthesis

Biomechatronic approach to a multi-fingered hand prosthesis

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Xinqing Wang Jingdong Zhao Dapeng Yang Nan Li Chao Sun Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany

The development of a biomechatronic hand with multi-FSRs (Force Sensitive Resistor) interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion and extension independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to commercial prosthesis. The hardware architecture is hierarchically organized as control system and human-machine interaction system. To evaluate the performances of the hand, the pattern reorganization experiment based on support vector machine (SVM) was conducted. The results show that FSR sensing technology is suitable for muscle activity detection; Compared to nearest neighborhood classifier, SVM method improves the predict success rate. Moreover, it also demonstrates that the hand is dexterous and manipulates like human.

关键词： Fingers Sensors Thumb Humans Couplings Joints Muscles

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Progress in the biomechatronic design and control of a hand prosthesis

Progress in the biomechatronic design and control of a hand ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinqing Wang Yiwei Liu Dapeng Yang Nan Li Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion-extension movement independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to conventional prosthesis. The hardware architecture is divided into control system and EMG signal processing system. Moreover, a novel two-stage decision strategy combing the position-based impedance control scheme is implemented to realize the real-time sEMG control of the hand. According to the grasp experiment results, the hand can accomplish several grasp modes stably; the success rate of 10 modes is up to 90%.

关键词： Fingers Thumb Electromyography Humans Joints Prosthetic hand Sensors

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

引用

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

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II

Experimental study on impedance control for the five-finger ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhaopeng Chen Neal Y. Lii Thomas Wimboeck Shaowei Fan Minghe Jin Christoph H. Borst Hong Liu Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Faculty of State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints. To improve the performance of the impedance controller, system parameter estimations with extended kalman filter and gravity compensation have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint toruqe feedback, accurate position tracking and stable torque/force response can be achieved with cartesian and joint impedance controller. In addition, a FPGA-based control architecture with flexible communication is proposed to perform the designed impedance controller.

关键词： Joints Impedance Torque Robot sensing systems Gravity Hardware

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Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Terramechanics-based high-fidelity dynamics simulation for w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liang Ding Keiji Nagatani Keisuke Sato Andres Mora Kazuya Yoshida Haibo Gao Zongquan Deng Department of Aerospace Engineering University of Tohoku Sendai Japan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Harbin Institute of Technology Harbin Heilongjiang CN

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel-as a result of the deformable soil-are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.

关键词： Deformable models Mobile robots Mathematical model Numerical simulation Motion analysis Motion control Jacobian matrices Wheels Robot kinematics Orbital robotics

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