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IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Hong Xiao Yue Bai Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The variable-sweep wing for unmanned aerial vehicle (UAV) can greatly improve the aerodynamic performance at high-speed and low-speed by changing the sweep angle. In this paper, a shear variable-sweep wing is proposed and studied based on a parallelogram mechanism. The skeleton of morphing wing is a single-degree-of-freedom mechanism composed of parallelogram mechanism unit topology. The skin of morphing wing is applied an innovative Kevlar/carbon fiber hybrid composite skin. The composite skins are stitched to the skeleton and sheared as the sweep-angle changes. The kinematics model of the morphing wing is established, and the wing area, aspect ratio, root-to-tip ratio and relative thickness are analyzed. Moreover, establish the composite skin buckling model and obtain the skin parameters that can be smoothly and continuously deformed within the range of sweep-angle changes. Finally, the variable-sweep morphing wing prototype is developed and scanned to verify the smoothness of the designed morphing skins and the deformation performance of morphing wing.

关键词： Deformable models Prototypes Kinematics Autonomous aerial vehicles Aerodynamics Skin Skeleton

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Design and Control of a Hydraulic Driven Robotic Gripper

Design and Control of a Hydraulic Driven Robotic Gripper

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IEEE International Conference on robotics and Biomimetics

作者： Jiahui Qi Xu Li Zhenguo Tao Haibo Feng Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The robots with robotic grippers can take the place of human to carry objects and use tools efficiently in different situations. This paper presents a novel hydraulic driven robotic gripper named the WLRG-I (the first generation of Wheel-legged robot gripper) which bears large load and has strong robustness. The WLRG-I is installed on the wheel-legged humanoid robot arm to make the WLR-III (the third generation of Wheel-legged robot) have the capability of grasping daily tools and fulfilling special operation tasks in harsh environments. This paper focuses on the design of gripper transmission structure, kinematics and statics. Firstly, the linkage mechanism is proposed according to the design goal. Then, the kinematics and statics of the gripper are studied, and a structural model is established. In addition, PID controller is used to control the position of the gripper with angle feedback. Finally, position tracking and load experiments are completed to verified the accuracy of the control. The gripper can grasp objects of 20kg with 2.15kg dead weight. To the authors’ best knowledge, robot grippers with such a high load-to-weight ratio are very rare.

关键词： Humanoid robots Kinematics Hydraulic systems Manipulators Robustness Mobile robots Grippers

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A Bistable Jumping Robot with Pure Soft Body Actuated by Twisted Artificial Muscle

A Bistable Jumping Robot with Pure Soft Body Actuated by Twi...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Dong Zhou Yuan Fu Jie Deng Jin Sun Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Soft robots made from soft materials can safely interact with humans and environments compared with the traditional rigid robots. However, the inherent compliance of the soft robots makes them difficult to realize the jumping motion. Although many soft robots can jump through the design of bistable structure. However, the existing soft robots need rigid spine to be embedded in the soft body. Therefore, it is still hard for the jumping of a soft robot with pure soft body. This paper offers the design method for the pure soft bistable robot with jumping ability. The critical buckling force and total elastic potential energy of the robot can be increased by designing the soft body with different thickness. We use the twisted artificial muscle (TAM) to realize the jumping motion of the soft bistable robot. The proposed robot can jump at a height nearly two times its body height. We envision that the design method will promote the application of the soft robot with pure soft body to realize more types of motion strategy.

关键词： Potential energy Fabrication Mechatronics Design methodology Machine vision Force Soft robotics

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Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution

Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipula...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Baoshi Cao Yang Liu Boyu Ma Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The 7-DoF redundant manipulator with offset links and symmetrical structure is applied in the space station. The analytical solution of the inverse kinematics(IK) is difficult when considering the joint limits. This study proposes a joint limit optimal IK solution based on the optimization of the fixed joint angle parameters. The analytical method of fixed joint inverse solution is combined with the numerical method of joint limit optimization. This semi-analytical method converges to a definite solution with a closed form and have symmetry to avoid the non-conservative of the pseudo-inverse solution. Simulation results verify the effectiveness of the IK algorithm.

关键词： Jacobian matrices Simulation Conferences Kinematics Manipulators Search problems Orbits

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Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control

Configuration Transformation of the Wheel-Legged Robot Using...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links, is derived. The Partial Feedback Linearization (PFL) combined with a Sliding Mode Control (SMC) is used to design the inverse dynamics controller of AWIP, while considering full dynamics terms. The well-known WLR model is used as a simple example of AWIP to accomplish the configuration transformation task. An optimization based configuration transformation algorithm is proposed to realize a comprehensive optimization of the shortest path in joint space and the minimum location drift of WLR on the floor. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation to implement the configuration transformation task.

关键词： Heuristic algorithms Dynamics Wheels Mathematical models Trajectory Mobile robots Task analysis

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Puncture Status Perception Method for a Venipuncture Robot Based on Force Prediction

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Research on venipuncture robots has excellent potential for reducing workload and addressing healthcare professional shortages while advancing medical automation and intelligent healthcare. This paper proposes a method for improving the perception ability of venipuncture robots by predicting the puncture force to efficiently determine whether the puncture needle has entered the vein, thus increasing the safety and success rate of the robot. Initially, the characteristics of the puncture force are analyzed, and a force‒time-series-prediction model is established via a BiLSTM network and Kalman filter error compensation. A time series dataset is constructed using puncture force data collected under different conditions. The experimental results indicate that the model’s prediction error is less than 0.01 N, and the calculation time is less than 0.02 s. Based on this prediction model, a puncture status perception method is proposed, which considers the trend and regularity of puncture force changes during venipuncture to determine whether the needle has entered the vein. Finally, experiments are conducted via this method in a venipuncture phantom and compared with those of other methods. The findings indicate a substantial improvement in puncture status perception efficacy of 82% and a corresponding 11% increase in the success rate of robot-assisted venipuncture. These results demonstrate the effectiveness of this method in enhancing the performance and safety of venipuncture robots and highlight its potential for practical application. © 1963-2012 IEEE.

关键词： Intelligent robots

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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Force-Distribution Analysis for Redundant Cable-Driven Parallel Robots Under Hybrid Joint-Space Input

SSRN

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SSRN 2022年

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo Xiang, Sheng State Key Laboratory of Robotics and System Harbin Institute of Technology China School of Automation Nanjing University of Information Science and Technology China

Cable-driven parallel robots (CDPRs) represent a class of mechanisms where the force distribution in cables is a core problem. This study aims to evaluate the effects of cable tension errors in the selected force-controlled cables on the overall distribution of tension in other cables. The force-distribution sensitivity (FDS) and cable force error limit (CFEL) values for one, two, and three redundancies werecalculated to find appropriate cable combinations and acceptable cable force errors for the force control. To validate the calculation, a hybrid joint-space input trajectory planning strategy was developed using multibody dynamics simulations, based on a suspended configuration with layouts including one, two, and three redundancies while considering the interference of cable length and cable forces. We found that cable combinations are essential for force control as the force control errors may be significantly magnified in cable combinations with high FDS characteristics. A methodology to select the target cable combination for the force control was devised using the selection criteria FDS and CFEL. © 2022, The Authors. All rights reserved.

关键词： Cables

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Force Distribution-Based Control Strategy of Landing Gear for the Unmanned Helicopter Landing on the Inclined Surface

Force Distribution-Based Control Strategy of Landing Gear fo...

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IEEE International Conference on robotics and Biomimetics

作者： Baolin Tian Haitao Yu Shihao Mao Yuxin Cui Zhen Yan Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481106

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea.

关键词： Sea surface Gears Trajectory tracking Simulation Helicopters Force Transportation

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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2020 International Conference on Communications, Information system and Computer Engineering, CISCE 2020

作者： Yang, Jubo Kong, Minxiu Wang, Rundong School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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