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ICALEO 2004 - 23rd International Congress on Applications of Laser and Electro-Optics

作者： Lee, Kyoung-Don Park, Ki-Young Ha, In-Chul Center for Robot and Manufacturing Technology Institute for Advanced Engineering Yongin-city Kyonggi-do Korea Republic of

ISBN: (纸本)0912035773

Nowadays, laser beam welding is one of the major joining technologies in automotive industry, especially for a vehicle constructed with Tailored Welded Blank. However, laser beam welding still suffers from difficulties in applying to aluminum alloys and automatic controlled equipment for mass production. Especially for aluminum space frame, joined by a robot and Nd:YAG laser, presents considerable challenges due to its 3-dimensional structure. This paper deals with a butt-welding for A6063-T6 pipes. A robot with a seam tracking system, including a CCD camera and a diode laser, is used for this welding process. Using a 6-axis industrial robot manipulator, a 3kW cw Nd:YAG laser, and a filler wire feeding device, rectangular and cylindrical pipes, as the basic primitives making up space frame structures, are joined through the 3-dimensional welding process.

关键词： Laser beam welding

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Control of a redundantly actuated power line inspection robot based on a singular perturbation model

Control of a redundantly actuated power line inspection robo...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wang, Ludan Cheng, Sheng Zhang, Jianwei Hu, Ying Center for Robot Engineering and Cognitive Technology Lab Shenzhen Institute of Advanced Technology China TAMS University of Hamburg Germany Germany

ISBN: (纸本)9781424426799

This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the "conflict" between the two wheels. To effectively damp the elastic vibration caused by the flexible manipulator, the control system was decomposed into two subsystems, a slowly-changing subsystem and a fast-changing subsystem based on a singular perturbation model. A hybrid control method, consisting of a RBF adaptive PD control which was applied to slow-changing subsystem and optimal control which was applied to fastchanging subsystem was presented. The RBF adaptive algorithm can estimate the unknown resistance on-line and keep the controller stable. Simulation results prove this method to be reasonable and effective. © 2008 IEEE.

关键词： Wheels

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Resonant frequencies of a piezoelectric drum transducer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第9期10卷 1313-1319页

作者： Jiang-bo YUAN Tao XIE Xiao-biao SHAN Wei-shan CHEN State Key Laboratory of Advanced Robot and System Harbin Institute of Technology Harbin 150001 China

This paper presents a piezoelectric-metal structure called a drum transducer. An equation for calculating the resonance frequency of the drum transducer is obtained based on thin plate elastic theory of piezoelectric and metal material combined with the Rayleigh-Ritz method. The finite element method (FEM) was used to predict the excitation frequency of the drum transducer. To verify the theoretical analysis, the input impedance characteristic of the drum transducer was measured using an experimental method. The results obtained from theoretical analysis were in very good agreement with those from the FEM and experimental results. The effect of geometrical changes to the thick-walled steel ring of the drum transducer at the first resonance frequency is also described. The calculated results were found to be in good agreement with the FEM results. The results indicate that the first resonance frequency of the drum decreases with the increasing inner diameter of the thick-walled steel ring.

关键词： Piezoelectric Drum transducer Resonance frequency

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Design,Modeling and Experimentation of a Biomimetic Wall-climbing robot for Multiple Surfaces

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Journal of Bionic Engineering 2020年第3期17卷 523-538页

作者： Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli Institute of Advanced Manufacturing Technology Hefei Institutes of Physical ScienceCASChangzhou 213164China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei 230026China Department of Industrial Engineerings University of Rome Tor Vergata Via del Politecnico 100133RomaItaly

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation ***,traditional single-mode robots cannot ensure the stable attachment on complex wall *** by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are *** at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration *** static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or *** on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform ***,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling ***,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall *** findings could provide practical reference for the robot’s application on walls.

关键词： wall-climbing robot spine wheel adhesive material adsorption system

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Development of a Wearable Upper Limb Rehabilitation robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： Xinbo Chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot 17

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Lei Xu, Linsen Liu, Jinfu Xu, Jiajun Chen, Shouqi Cheng, Gaoxin Xu, Hong Shi, Jia University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (纸本)9781728164151

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis. © 2020 IEEE.

关键词： Drills

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A Visual Based robot Trajectory Teaching Method for Traditional Chinese Medical Moxibustion Therapy 6

A Visual Based Robot Trajectory Teaching Method for Traditio...

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6th IEEE International Conference on Computer and Communications, ICCC 2020

作者： Liu, Jiaxun Lei, Qujiang Qiao, Yukai Gui, Guangchao Li, Xiuhao Jin, Jintao Wang, Weijun Intelligent Robot Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou 511458 China

ISBN: (纸本)9781728186351

At present, Chinese traditional physiotherapy is more and more trusted and valued by people, among which moxibustion is a very effective treatment. In order to improve the efficiency of human-computer interaction and help physiotherapists to use robots to replace human power, this paper proposes a visual based robot arm trajectory teaching method. The physiotherapy staff only needs to use an optical marker to demonstrate the therapeutic trajectory on the patient's back, and the robotic arm can pick up the expected trajectory and repeat the same work. We use LK optical flow algorithm to obtain marker's motion trajectory, and then smoothen the trajectory through SG filter, which is more executable for robot arm. Finally, we design an experiment and simulate it on MATLAB to obtain the accuracy of the trajectory and the results is impressive. © 2020 IEEE.

关键词： Computer vision

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The role of mental model and shared grounds in Human-robot Interaction

The role of mental model and shared grounds in Human-Robot I...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Hwang, Jung-Hoon Lee, KangWoo Kwon, Dong-Soo Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)0780392752

This paper investigates the role of mental model and shared grounds in Human-robot Interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative Human-robot Interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task. © 2005 IEEE.

关键词： Human computer interaction

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RFID-enabled target tracking and following with a mobile robot using direction finding antennas

RFID-enabled target tracking and following with a mobile rob...

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IEEE International Conference on Automation Science and Engineering

作者： Kim, Myungsik Chong, Nak Young Ahn, Hyo-Sung Yu, Wonpil School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan Intelligent Robot Research Division ETRI Daejeon South Korea

ISBN: (纸本)9781424411535

A stand-alone direction finding RFID reader is developed for mobile robot applications employing a dual-directional antenna. By adding search and localization capabilities to the current state of RFID technology, robots will be able to acquire and dock to a static target in a real environment without requiring a map or landmarks. Furthermore, we demonstrate RFID-enabled tracking and following of a target moving unpredictably with a mobile robot. The RFID reader keeps the robot aware of the direction of arrival (DOA) of the signal of interest toward which the dual-directional antenna faces the target transponder. The simulation results show that the proposed RFID system can track in real time the movement of the target transponder. To verify the effectiveness of the system in a real environment, we perform a variety of experiments in a hallway including target tracking and following with a commercial mobile robot.

关键词： Radio frequency identification (RFID)

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Design of a robot gripper for a rapid service robot

Design of a robot gripper for a rapid service robot

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6th IFAC Symposium on Mechatronic Systems, MECH 2013

作者： Jung, Tae J. Oh, Jun H. Mechanical Engineering Department Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of Humanoid Robot Research Center Korea Advanced Institute of Science and Technology Dae-jeon Korea Republic of

ISBN: (纸本)9783902823311

This research designs a robot gripper for a rapid service robot. For a service robot that moves rapidly, a robot gripper must be lightweight and must have the ability to grasp objects of any size or shape stably. In addition, sufficient gripping force, a low cost, and a friendly shape are necessary. To satisfy the above requirements, this research designs a new robot gripper. We use a four-bar linkage underactuated system for shape adaptability and to reduce the weight. In a simulation, the four-bar linkage is designed to eliminate the rollback ejection phenomenon while also maximizing the utilization of a parallel grasping. While other studies place emphasis on preventing rollback ejection phenomenon, in this research we stress the maximum utilization of both parallel and power grasping using a compliance jaw and a double four-bar linkage design. With the parallel four-bar linkage system, the gripper can perform both parallel grasping and power grasping, allowing it to grip a diverse range of objects. Moreover, the compliant jaw enhances the stability of its grasp, and its worm gear enables the gripper grasp to be stable while also reducing the gripper's weight. With a force sensor, it can manage sensitive force control. In this way, we designed a robot gripper suitable for rapid service robots. © 2013 IFAC.

关键词： Grippers

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