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11th International Conference on Control, Automation, robotics and Vision, ICARCV 2010

作者： Chen, Liguo Zhu, Jifeng Rong, Weibin Sun, Lining Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9781424478132

In the die bonding process of MEMS microphone chip, the exact center and rotate angle of MEMS microphone chip is corrected after the vacuum nozzle has adsorbed it. In order to achieve high speed and precision placement function, the flying vision system based on rotating mirror is proposed, the mirror is driven to rotate by the power drawn from the nozzle rise and fall movement through a rack and pinion mechanism, the nozzle pick and place functions is not interfered by mirror through designing the rack and pinion mechanism parameters. The vision system can capture an static clear MEMS chip image when the mirror rotated to a 45 degrees position referenced with horizontal position, the center position and rotating angle of MEMS chip is fast calculated by the fine and coarse Hough Transform Algorithm, the center location and angle will be corrected by the control system during the mounted head is flying to placement position. The experimental results show that the system can obtain high-quality MEMS microphone chip image, the chip's center position and rotating angle correction algorithm takes no more than 0.1s, so it can meet the high-speed placement requirements. In this proposed flying vision system, mechanical structure is simple and compact, MEMS chip's image is clear without distortion, and there is no restriction on the mounted head movement trajectory. The flying vision system significantly enhances the quality and efficiency of SMD Chip;it can be widely used in the surface mounted system. ©2010 ieee.

关键词： Hough transforms

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Active control of adhesion force for pick-and-place of micro objects with compound vibration in micromanipulation

Active control of adhesion force for pick-and-place of micro...

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2010 ieee International Conference on Automation Science and Engineering, CASE 2010

作者： Chen, Liguo Chen, Tao Sun, Lining Rong, Weibin Shao, Bing Yang, Qing State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

ISBN: (纸本)9781424454471

Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator. A micromanipulation system is set up to test and verify the proposed method. The system consists of a microgripper and a piezoelectric ceramics module. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Theoretical analyses were conducted to understand the release principle. Experiments were carried out through the manipulation of 30-80μm polystyrene spheres under an optical microscope. Experimental results show that this method can achieve a repeatability of 100% with releasing accuracy of 4μm, and is substrate independent. Based on this preliminary study, the system prove to be an effective solution for the active pick-and-place manipulation of microobjects. © 2010 ieee.

关键词： MEMS

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Modeling and simulating the nonlinear characters of robot joints

Modeling and simulating the nonlinear characters of robot jo...

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2010 ieee International Conference on robotics and Biomimetics, ROBIO 2010

作者： Xiao, Yongqiang Du, Zhijiang You, Wei Li, Ruifeng School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424493173

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the "congruency" assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way. © 2010 ieee.

关键词： Hysteresis

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A review on continuum robot

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Jiqiren/Robot 2010年第5期32卷 688-694页

作者： Sun, Lining Hu, Haiyan Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

As a novel biologically inspired robot, the continuum robot features a kind of flexible ″invertebrate″ backbone with no discrete joint and rigid link. The continuum robot has excellent bending ability, good adaptability to unstructured and highly congested environments. It not only can grasp or grip object with the end-effector attached at the end of the robot, like traditional robots, but also can grasp object by using whole arm manipulation. In this paper, the bionics principles and structure characteristics of continuum robot are analyzed, the present research state of the continuum robot is reviewed, the potential application is foreseen, and the problems needing further research are discussed.

关键词： Motion planning

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Kinematic analysis and simulation for cable-driven continuum robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2010年第19期46卷 1-8页

作者： Hu, Haiyan Wang, Pengfei Sun, Lining Zhao, Bo Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Continuum robot is a new class of biologically inspired robot with good compliance and high dexterity. In contrast to traditional discrete robot such as serial robot or parallel robot, this class of flexible "invertebrate" robot features a continuous backbone with no rigid joints and links, thus its kinematic analysis can't be realized by the conventional D-H approach. Based on the analysis of the differences between continuum robot and discrete robot, a novel and simplified kinematics for cable-driven continuum robot is presented with geometric analysis method, the mapping relationships among simple joint drive space, joint space and operation space are analyzed, and the three-dimentional workspace is introduced. In view of the coupling influences between the joints of cable-driven robot, the decoupling kinematics of cable-driven continuum robot is deduced. The simulation of end position and length of cables and the prototype experiments are carried out to verify the correctness of kinematics algorithm and to show the motion performances. © 2010 Journal of Mechanical Engineering.

关键词： Kinematics

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Velocity analysis of tri-axial differential pipeline robot when getting across elbow

Velocity analysis of tri-axial differential pipeline robot w...

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2010 ieee International Conference on Information and Automation, ICIA 2010

作者： Li, Qingkai Tang, Dewei Deng, Zongquan Jiang, Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Beihua University Jilin China

ISBN: (纸本)9781424457021

A wheel-type pipeline robot applying a tri-axial differential mechanism is presented in this paper, which is targeted for moving inside the elbow while the ratios of angular velocities of the driving wheels depend on their movement trajectories. The main features of the robot are illustrated and some details about the mechanism are provided. To confirm the differential effectiveness of the robot, a geometry model of the robot in the elbow is established, which makes it possible to calculate the wheel centers and the contact points between the wheels and the inner surface of the pipeline. On the basis of the geometry model, the velocity ratios of the driving wheels can be computed. Several virtual experiments are performed, and the differential function of the robot is validated through the comparisons of the results between the theoretical analysis and the experiments. ©2010 ieee.

关键词： Robots

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Novel hook-type connecting mechanism for self-reconfigurable robot

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Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2010年第4期40卷 1086-1090页

作者： Tang, Shu-Feng Zhu, Yan-He Zhao, Jie Zhang, Yu-Hua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The function and effect of the connecting mechanics in robot reconfiguration and locomotion were analyzed. Then a novel hook-type mechanics was designed for modular robot. The mechanism can provide dependable conjunction for adjacent modules in robot motion, and quick connection/ disconnection for adjacent modules in reconfiguration. The connecting mechanics was composed of micro DC-motor, active hook-type rod mechanism and passive connecting board, which possesses the function of alignment and self-locking, no motor torque requirement after docking and energy-saving. The connecting principle, condition and mechanics characteristics of the mechanism were studied. Experiments were carried out and results show that the designed mechanism is efficient and it can perform connection even with certain geometrical error.

关键词： Energy conservation

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Research on signal regenerating algorithm for road-test state used in motion simulation

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Zhongguo Gonglu Xuebao/China Journal of Highway and Transport 2010年第4期23卷 121-126页

作者： Kong, Min-Xiu Sui, Xiao-Chuan Fu, Li-Xin You, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

In order to generate the input signals for motion simulation, a novel signal regenerating algorithm was presented. Through the spectrum analysis, the main frequency components of the initial signal could be selected and were used as the basic frequency of the regenerated signal. Therefore, both the initial and regenerated signals have the same frequency component. Through adjusting phase offset versus each frequency component and using the genetic algorithm, phase offsets for the regenerated signal could be optimized. Finally, expressions of the regenerated signals could be obtained. Result shows that regenerated signals got by the expressions accord with working spatial range and can meet all requirements of the motion simulator.

关键词： Multiobjective optimization

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Registration technology based on ICP algorithm for spinal surgical navigation

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Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) 2010年第11期38卷 141-147页

作者： Tian, He-Qiang Wu, Dong-Mei Du, Zhi-Jiang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

This paper deals with the registration between preoperative CT images and intraoperative physical objects in the three-dimension computer-assisted spinal surgical navigation technology, and proposes a two-step registration strategy, which realizes the registration by an electromagnetic positioning system on the three-dimension visualization platform based on Visualization Toolkit(VTK). In this strategy, several feature points are extracted on a spine bone surface respectively in the virtual space and in the physical space for coarse registration, an electromagnetic positioning probe is used to extract points on the spine surface in physical space, and the corresponding points are extracted in the virtual space. Moreover, the ICP(Iterative Closest Point) algorithm is used to complete a fine registration. The ICP algorithm is then validated by simulation and the accuracy of it is also analyzed. Finally, a registration experiment is performed with a spine model to evaluate the accuracy of the proposed method, followed with an error analysis. The results show that the proposed registration method is simple and reliable, and that the final registration accuracy for spine model meets the finical surgery requirements well.

关键词： Image registration

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Development of a robot with jumping legs

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2010年第1期42卷 69-73页

作者： Wang, Meng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a mechanical jumping leg with the capability of jumping, retracting the leg in the air and adjusting the energy of spring. For the purpose of reducing the weight and the energy consumption, the jumping leg is actuated by a single motor. The 5-bar linkage is adopted as the main part of the leg including the foot and the tarsometatarsal joint to enhance the stability during jumping and landing. The key motion of each phase in the whole jump is analyzed by simulation. Experiments are implemented on the jumping leg robot, and the result demonstrates that it has good capability of jumping, shows high jumping efficiency, and can retract the leg in the air for landing steadily. The mechanical leg will be applied to the design of jumping frog robot as hindlimb.

关键词： Robots

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