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Design of the Force Sense Unit for Space Robot End-effector

Design of the Force Sense Unit for Space Robot End-effector

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Fenglei Ni Qingli Zhang Yingyuan Zhu Yongbin Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Mechanics & Electricity Beijing 100076China Institute of Robotics and Mechatronics German

ISBN: (纸本)9781424447749

In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit was integrated into the robot end-effector, which enhanced the reliability, reduced the installing and debugging difficulty. The structure of sensor's elastomer was modeled, and then it was analyzed by the FEA software Patran/Nastran. At last, inherence frequency of the sensor was figured out from mode analyzing, and a number of object capture tests were carried out. Experimental results showed that degree of non-linearity (1.7％), delicacy (0.0025 V/N) and stability of the sensor unit was significantly accorded with the design targets of space robot end-effector.

关键词： Force sensor FEA analyzing sensor demarcate space robot end-effector

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The research on a novel PZT actuated precise tilt positioning system

The research on a novel PZT actuated precise tilt positionin...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Bing Shao Liguo Chen Weibin Rong Min Xu Changhai Ru School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Automation College Harbin Engineering University China

The need for precise fast positioning technique draws attention on space inter-satellite optical communication. This paper presents a novel PZT actuated precise tilt positioning system (PTPS), which consists of the control module, the PZT driving module, the precise tilt positioning mechanism (PTPM), and the precise displacement measure module. It provides a fast and precise control in tilt movements. Firstly, the structure analysis and design of PTPM are accomplished. Then the control module is developed and the current/ voltage composite driving method is investigated in detail. Finally, following the experimental results which confirm the validity of the design and theoretical analysis of the PFPS.

关键词： Actuators Communication system control Materials science and technology Space technology Voltage Microwave communication robotics and automation Optical fiber communication Control systems Position measurement

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A Highly Integrated and Flexible Joint Test system Based on DSP/FPGA-FPGA

A Highly Integrated and Flexible Joint Test System Based on ...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Minghe Jin Yikun Gu Jin Dang Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Institute of Robotics and Mechatronics German Aerospace Center (DLR)WesslingD-82230Germany

ISBN: (纸本)9781424447749

This paper analyzes that a flexible robot test system should have these properties of data acquisition, servo control, multi-communication modes, complex and fast computation, multitasking and friendly interface. This paper investigates a highly integrated and flexible joint test system for HIT arm based on DSP/FPGA-FPGA. This test system includes two hardware levels, Cartesian level and joint level. The Cartesian level includes a digital signal processing/field programmable gate array (DSP/FPGA) structure. Based on this level, complex control algorithm and fast computation can be carried out;the joint level has the other FPGA, it can realize two joints functions: all sensors data acquisition, servo control. In this test system, there are two communication modes: CAN bus and M-LVDS bus. According to the hardware architecture, a novel software architecture was designed, which consists of three levels: external user level, the higher level and the lower level. This system is flexible, many measures and experiments can be implemented by this system. Experimental results demonstrate the effectiveness of the highly integrated and flexible joint test system.

关键词： Test system DSP FPGA joint servo control

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Humanoid detection of indoor dangerous gas source by mobile robot

Humanoid detection of indoor dangerous gas source by mobile ...

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IEEE International Conference on Automation and Logistics

作者： Fujun He Yingfei Sun Xiaolei liu Zhijiang Du Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： Mobile robots Robot sensing systems Gas detectors robotics and automation Helium Indoor environments Robot vision systems Fuzzy systems Fuzzy logic Sensor phenomena and characterization

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Study on a novel 6-DOF combinational parallel manipulator

Study on a novel 6-DOF combinational parallel manipulator

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IEEE International Conference on robotics and Biomimetics

作者： Wei Zhao Bing Li Hongjian Yu Ying Hu State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Harbin Heilongjiang CN Cognitive Technologies Laboratory Shenzhen Institute of Advanced Technology Chinese Academy and Sciences Shenzhen China

A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.

关键词： Manipulators Fasteners Kinematics Parallel robots Fixtures Jacobian matrices Biomimetics Equations Interference Cognitive robotics

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Dynamic Analysis and Robust Reliability Design of Pan Mechanism for a cooking Robot

Dynamic Analysis and Robust Reliability Design of Pan Mechan...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Hong Wang Wei Zhao Bing Li Xiaorui Lin Donglai Zhang Harbin Institute of Technology P.R.China State Key Laboratory of Robotics and System (HIT)Harbin 150001P.R.China

ISBN: (纸本)9781424447749

As a novel service robot, the automatic cooking robot(ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability which are the important factors influencing the quality of the dishes are not high. Therefore, a proved turning-over mechanism is introduced based on the purpose of vibration and noise reduction. The dynamic analyses of the two turning-over mechanisms are done through Ansys and their low-order natural frequencies and vibration modes are presented in this paper. And it is concluded that the proved mechanism has smaller vibration and noise through the comparison of natural frequencies and integer displacements. Then, the key factors influencing the reliability of the turning-over motion are analyzed through the design and analysis of robust reliability.

关键词： Dynamic analysis cooking robot Natural frequencies Noise noise damping peroxyacetyl nitrate Turning parabolic reflectors Vibration Vibrations modes

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Binaural Sound Localization Based on Detection of Multi-band Zero-Crossing Points

Binaural Sound Localization Based on Detection of Multi-band...

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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Cong-qing Li Shi-jie Dai Fang Wu He Huang Li-xin Sun Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A method of binaural sound localization based on detection of multi-band zero-crossing points generated from binaural filter-band outputs is presented. In the presented method, the ITD values are estimated by a histogram weighted by the estimated source noise rate(SNR) computed from the variances of ITD samples. As a result, the method provides an accurate estimate of sound source direction and is more robust to noise. To verify the validity of the method, simulations for sound localization are performed under the condition of white noise. The simulation results show that the method is able to provide an accurate estimate of sound source direction and is more robust to noise while offering significantly less computational complexity compared to the conventional cross-correlation based methods.

关键词： Acoustic noise Noise robustness Signal to noise ratio Computational complexity Working environment noise Frequency Intelligent networks Computational modeling Sun Humans

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A Novel Method of Binaural Sound Localization Based on Dominant Frequency Separation

A Novel Method of Binaural Sound Localization Based on Domin...

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Congress on Image and Signal Processing, CISP

作者： Cong-qing Li Fang Wu Shi-jie Dai Li-xin Sun He Huang Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A novel method of binaural sound localization based on the dominant frequency separation is proposed. In this method, the ITD values is estimated by using the property for sound signals to keep their dominant frequency components unchanged in the frequency domain. To verify the validity of the suggested method, the test of the dominant frequency separation is made. Firstly, in frequency domain, the separation of the mixed signal of two signals is made by applying this method and the separated result is satisfactory. Secondly, the test of single sound source localization and that of two simultaneous sound sources localization are performed respectively under our test condition. The experimental results show that the proposed method is able to provide a valid estimation of sound source directions and offer less computational complexity.

关键词： Frequency domain analysis Acoustic testing Computational complexity Microphones Frequency estimation Performance evaluation Sun Laboratories Robots Fast Fourier transforms

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Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

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IEEE International Conference on Mechatronics and Automation

作者： Chen Guodong Ming Xie Zeyang Xia Lining Sun Junhong Ji Zhijiang Du Wang Lei State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore School of mechanical and aeroSpace engineering Nanyang Technological University Singapore Harbin Institute of Technology China

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming.

关键词： Humanoid robots Navigation Feedback Robot vision systems Cameras Calibration Image processing Information processing Robot kinematics Legged locomotion

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Study of digital control system for seismic simulation test rig

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 342-346页

作者： Cong, Dacheng He, Jingfeng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The digital control system of a seismic simulation test rig was developed for earthquake waveform replication. The control system was implemented by the two-level distributed network which increases the stability, reliability and safety of the system. The three control variables method (displacement velocity and acceleration) broad the frequency range of the test rig. Accurate waveform replication was realized by vibration control technique based on system identification and iterative algorithm. The experimental results show that the correlation coefficient between the response and the reference was greater than 0.9 after two to three times system identification and iterative control.

关键词： Digital control systems

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