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2022 ieee International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Ha, Zekun Xiao, Junxiao Chi, Cheng Yao, Ziyun Liang, He Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in main belt comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent. © 2022 ieee.

关键词： Detonation

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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2022 ieee International Conference on robotics and Biomimetics, ROBIO 2022

作者： Duan, Bosong Mao, Tianyou Gong, Kening Guo, Chuangqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481090

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight;U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight;The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV. © 2022 ieee.

关键词： Fluid structure interaction

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method 26

Speed Fluctuation Suppression of Current Scaling Errors Base...

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26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Mu, Haoyi Yu, Guodong Li, Shaobin Zhu, Pengcheng Xu, Yongxiang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350317589

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation. © 2023 ieee.

关键词： Errors

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Stability Augmentation Control of Tilting Dual-Rotor UAV with Balance Tail

Stability Augmentation Control of Tilting Dual-Rotor UAV wit...

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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

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

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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

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

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

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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

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

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

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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

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

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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

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

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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

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

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

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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

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