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Novel Mobility Formula for Parallel Mechanisms Expressed with Mobility of General Link Group

Chinese Journal of Mechanical Engineering 2013年第6期26卷 1082-1090页

作者： ZHANG Yitong LU Wenjuan MU Dejun YANG Yandong ZHANG Lijie ZENG Daxing Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University

The determination of virtual constraints is always one of the key and difficult problems in traditional mobility calculation. To make mobility calculation simple, considering avoiding virtual constraints, some new formulae have been presented, however these formulae can hardly intuitively reflect general link group＇s restrictions on output member and its influences on independence of output parameters, which is premise to the judgment of the properties of mobility. Towards the problem to reveal the intrinsic relationship between the degree of freedom（DOF） of a mechanism, the link group, and the dimension of output parameters, also to avoid determination of virtual constraint, based on the new concepts of the ＂DOF of general link group＂ and ＂node parameters＂, a new formula in the calculation of the mobility of mechanisms is presented that is expressed with DOFs of the general link groups and rank of motion parameters of base point of the output link. It is named GOM（mobility of groups and output parameter） formula. On the basis of new concepts of＂effective parameters＂ and ＂invalid parameters＂, a rule is put forward for solving the DOF of mechanisms with invalid parameters by GOM formula, that is, the base point parameters are the subset of effective parameters of link group. Thereafter, several examples are enumerated and the results coincide with the prototype data, which proves the validity of the proposed formula. Meanwhile, it is obtained that the necessary and sufficient condition for the judgment of output parameters independence is that each of the DOF of the link group is not less than zero. The proposed formula which is simple in calculation provides theoretical basis for the judgment of independence of output parameters and provides references for type synthesis of novel parallel mechanisms with independence requirements of their output parameters.

关键词： parallel mechanism degree of freedom general link group output parameters

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Development of 3D viewer based teleoperation interface for Human Support robot HSR

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ROBOMECH Journal 2014年第1期1卷 1页

作者： Yaguchi, Hiroaki Sato, Kenji Kojima, Mitsuharu Sogen, Kiyohiro Takaoka, Yutaka Tsuchinaga, Masayoshi Yamamoto, Takashi Inaba, Masayuki Department of Information Science and Technology The University of Tokyo Hongo Bunkyo-ku 7-3-1 Tokyo Japan Advanced Technology Engineering Dept. Partner Robot Div. Toyota Motor Corporation 543 Kirigahora Nishi-Hirose-cho Toyota Aichi Japan

In this paper, we introduce 3D-viewer-based teleoperation system for manipulation task of Human Support robot HSR. The system is integrated by three functions;3D environment information visualization based on Manhattan-world assumption, known object recognition using LINE-MOD algorithm, and virtual teaching with 3D robot model using interactive marker. We show some experimental results of manipulation tasks using proposed system. © 2014, Yaguchi et al.;licensee Springer.

关键词： Object recognition

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Laser scanner based foot motion detection for intuitive robot user interface system

Laser scanner based foot motion detection for intuitive robo...

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2012 21st IEEE International Symposium on robot and Human Interactive Communication, RO-MAN 2012

作者： Seo, Ju-Hwan Yang, Jeong-Yean Kwon, Dong-Soo Department of Mechanical Engineering and Human-Robot Interaction Research Center KAIST Korea Advanced Institute of Science and Technology Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781467346054

In order to achieve effective interaction between humans and robots, user interface system is one of important factors. To achieve a valid and appropriate user interface system, we have introduced a new system that consists of a beam projector that can display images for interacting with users and a laser scanner that can detect user's foot motion so that the system recognizes user's input and intention. In this paper, we have focused on how to cause projected images to be rectangular so that users can interact with ordinary rectangular images instead of trapezoidal images that will be produced if the beam projector attached on the robot projects images sideling and how to distinguish user's foot motions according to two classifications, drag motion and click motion. Finally, we have executed a test for checking the validity of the proposed system and have examined limitations and proposed further work for this system. © 2012 IEEE.

关键词： User interfaces

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High strength, low modulus, and ductile metastable beta Ti-Nb-Zr-Fe alloys by laser powder bed fusion in-situ alloying

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Journal of Materials Science & technology 2026年 241卷 270-283页

作者： Yue Li Liuyong Wang Haoyue Wu Feng Ding Min Lei Jin Yang J.P. Oliveira Ming Yan Wei Guo Yulong Li Jiangxi Key Laboratory of Intelligent Robot School of Advanced Manufacturing Nanchang University Nanchang 330031 China Department of Physics School of Physics and Materials Science Nanchang University Nanchang 330031 China School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai 201620 China CENIMAT | I3N Department of Materials Science School of Science and Technology NOVA University Lisbon Caparica 1099-085 Portugal Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen 518055 China School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

A novel, high strength, low modulus, and ductile metastable β Ti-14Nb-6Zr-3Fe (TNZF) alloy was manufactured via laser powder bed fusion (LPBF) in-situ alloying. Process parameter optimization resulted in near-fully dense samples (< 0.1% porosity) under optimal conditions. The microstructure and mechanical properties of TNZF alloy were then tailored using two chessboard scanning strategies and a simple scanning strategy. Samples fabricated using the chessboard scanning strategy (CS-TNZF) benefited from a lower thermal gradient, the high growth restriction factor associated with the addition of Fe, and constitutional supercooling around residual Nb particles, resulting in a near-equiaxed grain structure (average aspect ratio: 2.0) compared to the AS-TNZF (fabricated using the simple scanning strategy). The microstructure consisted of a β-Ti matrix with 2–5 nm sized ω precipitates. Due to the addition of Zr, the transition from β to ω was suppressed during thermal cycling associated with LPBF, resulting in the presence of a partially collapsed ω phase. Without post-processing heat treatments, the AS-TNZF condition exhibited a yield strength (YS) of 1091 MPa, an elastic modulus (E) of 68 GPa, and an elongation (EL) of 16.8%, while the CS-TNZF counterpart achieved a higher YS of 1147 MPa and E of 71 GPa, but a lower EL of 10.8% due to a higher volume fraction of ω phase. Both AS-TNZF and CS-TNZF demonstrated high elastic admissible strain values (YS/E ratio) of 1.60 and 1.62, respectively, achieving high strength, low modulus, and good ductility, which indicates their suitability for biomedical implant materials.

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robot head-eye calibration using the minimum variance method

Robot head-eye calibration using the minimum variance method

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Kim, Sin-Jung Jeong, Mun-Ho Lee, Joong-Jae Lee, Ji-Yong Kim, Kang-Geon You, Bum-Jae Oh, Sang-Rok Korea Republic of Korea Republic of Lab. of Robot Vision and Intelligence School Robot Kwangwoon Univ. Korea Republic of Machine Intelligence Group Information and Technology Lab. LGE Advanced Research Institute Korea Republic of

ISBN: (纸本)9781424493173

This paper presents a calibration method for a robot Head-Eye system which can be used in a humanoid robot vision system. This method estimates the transformation between the robot coordinate and the camera coordinate. The calibration procedure uses visual measurements and kinematic information as the inputs of nonlinear optimization. For this calibration method, an objective function for the optimization, that uses the Minimum Variance method is defined. The procedure of this method is very simple and intuitive. Besides, the result of this method is considerably precise and robust against the noisy environment. The performance is compared with earlier approaches and the results of simulation and actual experiment are followed. © 2010 IEEE.

关键词： Anthropomorphic robots

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Research on Trajectory Planning of 6-DOF Cutting-robot in Machining Complex Surface 2

Research on Trajectory Planning of 6-DOF Cutting-robot in Ma...

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2nd International Conference on Mechanical, System and Control Engineering, ICMSC 2018

作者： Jiao, Sheng-Xi Wang, Hao Xia, Lin-Lin Zhang, Shuai University of Northeast Electric Power in Jilin Advanced Sensor Technology Institute Jilin China University of Northeast Electric Power in Jilin Research Institute of Robot and Image Visual Detection Technology Jilin China

It is important and difficult for the complicated surface processing in mechanical industry. In this paper, an improved algorithm for trajectory planning is proposed in impeller surface processing by using 6-DOF cutting-robot. Taking a single finished path of the impeller blade as an example, the feedrate of the cutter, bow height error, cutter-orientation and position are planned by the B-spline interpolation algorithm, the best cutting trajectory is obtained. On the basis of trajectory planning, the optimal movement scheme of 6-DOF cutting-robot joints is obtained, the 6-DOF cutting-robot feedrate and trajectory smooth transition is achieved and the joints movement adaptive adjustment is completed. Finally, the angles, the angular velocitys of the joints and their interrelated properties are analyzed. The research works indicate that the robot joint angle curves are continuous and stable, which has met the requirements of smooth movement of the robot, and the results show that the trajectory planning is effective and practical. © The Authors, published by EDP Sciences, 2018.

关键词： Interpolation

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Difference of efficiency in human-robot interaction according to condition of experimental environment

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4th International Conference on Social robotics, ICSR 2012

作者： Ahn, Ho Seok Lee, Dong-Wook Choi, Dongwoon Lee, Duk-Yeon Hur, Manhong Lee, Hogil Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan 426-791 Korea Republic of Intelligent Robotics and Communication Laboratories Advanced Telecommunications Research Institute International Kyoto 619-0288 Japan

ISBN: (纸本)9783642341021

Human-robot Interaction is most important function for social robot systems. Android robot systems, which have human-like appearance, are used for interaction with humans because they have the merit of showing their emotions by similar way to humans. Lots of these robot systems are developed and verified their efficiency and performance by analyzing the experimental results from questionnaire method. However, the results from questionnaire method can be different from many conditions. In this paper, we analyze the difference of experimental results from questionnaire method by comparing three groups: the first group gains benefits by competition, the second group gains benefits without competition, and the last group does not gain anything. For these experiments, android head system EveR-4 H33, which has 33 motors inside of head to show its facial expressions, is used. © 2012 Springer-Verlag.

关键词： Human robot interaction

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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Development of emotional attachment on a cleaning robot for the long-term interactive affective companion

Development of emotional attachment on a cleaning robot for ...

引用

22nd IEEE International Symposium on robot and Human Interactive Communication: "Living Together, Enjoying Together, and Working Together with robots!", IEEE RO-MAN 2013

作者： Yang, Jeong-Yean Dinh, Binh Khanh Kim, Han-Gyeol Kwon, Dong-Soo Human-Robot Interaction Research Center Korea Advanced Institutes of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of Korea Advanced Institutes of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9781479905072

Emotional interaction has been widely applied to many robotic applications. Emotional behavior, which is complementary to limited cognitive ability in a service robot, is becoming the attractive service task even including its own therapeutic functions. This paper focused on the user study of an interactive affective companion by using a cleaning robot as a pet. The cognitive and emotional subsumption model is designed for the robust behavior selection with the response to human's commands. In addition, we testified the appropriateness of long-term interaction through tablet-based modality. © 2013 IEEE.

关键词： behavioural sciences human-robot interaction mobile robots service robots

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Vibration reduction control for human-riding biped robot, HUBO FX-1

Vibration reduction control for human-riding biped robot, HU...

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作者： Kim, Jung-Yup Lee, Jungho Park, Ill-Woo Oh, Jun-Ho HUBO Laboratory Humanoid Robot Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9783902661173

This paper presents a control algorithm that reduces the vibrations of a human-riding biped robot, HUBO FX-1 during walking. This kind of robot should handle the payload of at least 100 kg in order to carry a person easily. To secure a sufficient payload, it is important to reduce the weight of the robot. The weight of the robot is mainly composed of motors, reduction gears, and body frames. Reducing the weight of the body frame is more efficient use of power than reducing the capacities of motors and reduction gears. A disadvantage is that the leg structures become flexible, so serious structural vibrations are generated during walking. We solved this problem by using simple theoretical models and experiments based on sensory feedback. This control strategy is very effective for the weight reduction of biped robots. Copyright © 2006 IFAC.

关键词： robots

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