检索结果-内蒙古大学图书馆

2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Xu, Yurui Gao, Liang Liu, Benshan Zhang, Junming Zhu, Yanhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation. © 2022 IEEE.

关键词： Attitude control

来源：评论

学校读者我要写书评

暂无评论

Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

引用

Journal of Bionic Engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

来源：评论

学校读者我要写书评

暂无评论

Optimization of Machining Position for Wheel Hub Polishing Robot Based on the Kinematic Index 8

Optimization of Machining Position for Wheel Hub Polishing R...

引用

8th International Conference on Control, Automation and robotics, ICCAR 2022

作者： Xia, Yi Zhao, Lijun Liu, Zhiheng Zhu, Kui Harbin Institute Of Technology State Key Laboratory Of Robotics And System Harbin China

ISBN: (纸本)9781665481168

With the development of intelligent manufacturing, industrial robots are more and more widely used in machining operations, and polishing workpiece with free-form surfaces is one of them. The curvature of the free-form surface is variable, which means that the robot needs to have good kinematics when polishing, at the same time, the singularity of the robot needs to be avoided during processing. Therefore, it is necessary to select the regions with better kinematic performance for robot machining. For this reason, based on the kinematic performance evaluation index of the robot, a method for optimizing the machining position of the wheel hub is proposed in this paper. First, a kinematic index based on the Jacobian of the robot is introduced in detail, and the kinematic performance map is drawn according to the forgoing index. Then, the initial position of the workpiece with respect to the robot is determined through the kinematic performance map. Finally, combining the index with the characteristics of wheel hub polishing, the machining position of the robot for polishing the wheel hub is settled. © 2022 IEEE.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhao, Haoxiang Rong, Haoran Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Heilongjiang University of Science and Technology Harbin China

ISBN: (纸本)9798350327182

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario. © 2023 IEEE.

关键词： MEMS

来源：评论

学校读者我要写书评

暂无评论

Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

引用

InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

来源：评论

学校读者我要写书评

暂无评论

A bio-inspired spider-like structure isolator for low-frequency vibration

引用

Applied Mathematics and Mechanics(English Edition) 2023年第8期44卷 1263-1286页

作者： Guangdong SUI Shuai HOU Xiaofan ZHANG Xiaobiao SHAN Chengwei HOU Henan SONG Weijie HOU Jianming LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Astronautics Harbin Institute of TechnologyHarbin 150001China Yangtze River Delta HIT Robot Technology Research Institute Wuhu 241000Anhui ProvinceChina Tianjin Key Laboratory of Microgravity and Hypogravity Environment Simulation Technology Tianjin 300301China

This paper proposes a quasi-zero stiffness(QZS)isolator composed of a curved beam(as spider foot)and a linear spring(as spider muscle)inspired by the precise capturing ability of spiders in vibrating *** curved beam is simplified as an inclined horizontal spring,and a static analysis is carried out to explore the effects of different structural parameters on the stiffness performance of the QZS *** finite element simulation analysis verifies that the QZS isolator can significantly reduce the first-order natural frequency under the load in the QZS *** harmonic balance method(HBM)is used to explore the effects of the excitation amplitude,damping ratio,and stiffness coefficient on the system’s amplitude-frequency response and transmissibility performance,and the accuracy of the analytical results is verified by the fourth-order Runge-Kutta integral method(RK-4).The experimental data of the QZS isolator prototype are fitted to a ninth-degree polynomial,and the RK-4 can theoretically predict the experimental *** experimental results show that the QZS isolator has a lower initial isolation frequency and a wider isolation frequency bandwidth than the equivalent linear *** frequency sweep test of prototypes with different harmonic excitation amplitudes shows that the initial isolation frequency of the QZS isolator is 3 Hz,and it can isolate 90%of the excitation signal at 7 *** proposed biomimetic spider-like QZS isolator has high application prospects and can provide a reference for optimizing low-frequency or ultra-low-frequency isolators.

关键词： bionic isolation structure curved beam nonlinear stiffness quasi-zero stiffness(QzS) low-frequency vibration isolator

来源：评论

学校读者我要写书评

暂无评论

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Frequency unlocking-based MEMS bifurcation sensors

引用

Microsystems & Nanoengineering 2023年第3期9卷 171-181页

作者： Yan Qiao Zhan Shi Yutao Xu Xueyong Wei Alaaeldin Elhady Eihab Abdel-Rahman Ronghua Huan Wenming Zhang State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina Department of Mechanics Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceZhejiang UniversityHangzhouChina State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’anChina Department of Systems Design Engineering University of WaterlooWaterlooONCanada

MEMS resonators exhibit rich dynamic behaviors under the internal resonance regime. In this work, we present a novel MEMS bifurcation sensor that exploits frequency unlocking due to a 1:3 internal resonance between two electrostatically coupled micro-resonators. The proposed detection mechanism allows the sensor to operate in binary (digital) and analog modes, depending on whether the sensor merely detects a significant jump event in the peak frequency upon unlocking or measures the shift in the peak frequency after unlocking and uses it in conjunction with a calibration curve to estimate the corresponding change in stimulus. We validate the success of this sensor paradigm by experimentally demonstrating charge detection. High charge resolutions are achieved in binary mode, up to 0.137 fC, and in analog mode, up to 0.01 fC. The proposed binary sensor enables extraordinarily high detection resolutions due to the excellent frequency stability under internal resonance and the high signal-to-noise ratio of the shift in peak frequency. Our findings offer new opportunities for high-performance ultrasensitive sensors.

关键词： locking bifurcation binary

来源：评论

学校读者我要写书评

暂无评论

A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

引用

Journal of Bionic Engineering 2024年第5期21卷 2184-2198页

作者： Jing Deng Wenzheng Jiang Haibo Gao Yapeng Shi Mantian Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001HeilongjiangChina Shenzhen Academy of Aerospace Technology Shenzhen518063China Faculty of Computing Harbin Institute of TechnologyHarbin150001HeilongjiangChina Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic UniversityShenzhen518055China

Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer *** paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and *** intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position *** force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control *** dynamics feedforward layer mitigates the effect of the exoskeleton itself on ***,the feedback compensation layer provides reliable closed-loop *** approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed *** this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

关键词： Hierarchical control Active power-assist Exoskeleton robots Dynamics feedforward Force distribution Feedback compensation

来源：评论

学校读者我要写书评

暂无评论

MEMS Huygens Clock Based on Synchronized Micromechanical Resonators

引用

Engineering 2024年第5期36卷 124-131页

作者： Xueyong Wei Mingke Xu Qiqi Yang Liu Xu a Yonghong Qi Ziming Ren Juan Ren Ronghua Huan Zhuangde Jiang State Key Laboratory for Manufacturing System Engineering Xi’an Jiaotong UniversityXi’an 710049China School of Construction Machinery Chang’an UniversityXi’an 710064China Department of Mechanics Zhejiang UniversityHangzhou 310027China

With the continuous miniaturization of electronic devices,microelectromechanical system(MEMS)oscillators that can be combined with integrated circuits have attracted increasing *** study reports a MEMS Huygens clock based on the synchronization principle,comprising two synchronized MEMS oscillators and a frequency compensation *** MEMS Huygens clock improved shorttime stability,improving the Allan deviation by a factor of 3.73 from 19.3 to 5.17 ppb at 1 s.A frequency compensation system based on the MEMS oscillator’s temperature-frequency characteristics was developed to compensate for the frequency shift of the MEMS Huygens clock by controlling the resonator *** effectively improved the long-term stability of the oscillator,with the Allan deviation improving by 1.6343105 times to 30.9 ppt at 6000 *** power consumption for compensating both oscillators simultaneously is only 2.85 mW·℃^(-1).Our comprehensive solution scheme provides a novel and precise engineering solution for achieving high-precision MEMS oscillators and extends synchronization applications in MEMS.

关键词： Frequency stability Huygens clock MEMS Oscillator Synchronization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：