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Design of hybrid-type MEMS microgripper

Design of hybrid-type MEMS microgripper

引用

ieee International Conference on Mechatronics and Automation

作者： Liguo Chen Baixu Liu Tao Chen Bing Shao State Key Laboratory of Robotics and System Robotic Institute Harbin Institute of Technology Harbin China

As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In this work, a hybrid-type electrostatic silicon microgripper integrated vacuum tool is designed and fabricated to realize the steady gripping and reliable placing manipulations. This hybrid-type microgripper keeps the traditional functions of electrostatic comb drive microgripper and also combines the advantages of the vacuum tool. Vacuum tool integrated in this novel microgripper is used to improve its pick and place capability. Bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The vacuum control subsystem and electrostatic comb drive control subsystem are also designed for the microgripper controlling. At a driving voltage of 80V, a deflection of 25¿m at the arm tip of the gripper is achieved. The objects ranging from 100¿m to 200¿m are picked and placed successfully in the experiment, and the experiment results indicate that this microgripper can realize the steady manipulation.

关键词： Micromechanical devices Grippers Electrostatics Silicon Adhesives robotics and automation Micromachining Robots Rough surfaces Surface roughness

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A hybrid visual servoing control of 4 DOFs space robot

A hybrid visual servoing control of 4 DOFs space robot

引用

ieee International Conference on Mechatronics and Automation

作者： Guoliang Zhang Bin Wang Jie Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper presents research and development for a hybrid visual servoing control method for a newly developed space robot. The hybrid scheme consists of an eye-in-hand camera and eye-to-hand camera configuration. The first one guarantees good accuracy and the ability to explore the workspace; the second one ensures a panoramic sight of the workspace. The motivation of this paper is to take advantage of both in a cooperation scheme to makes the execution of complex tasks easier and offers higher flexibility in the presence of a dynamic scenario. Compared with other multi-camera system, both global and local vision has the capability of determining pose of target independently. Moreover, this paper also addresses suitable object recognition and pose estimation algorithm based on polygonal approximation. To realize real-time visual servoing control, part of recognition module has been optimized to increase process speed. Finally, 3D visual servoing within a dynamic look and move scheme based on estimated object pose has been carried out. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

关键词： Visual servoing Orbital robotics Robot vision systems Cameras Space technology robotics and automation Object recognition Automatic control Control systems Robot control

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Working Principle and Design of a Linear Ultrasonic Motor with Rectangle-type Stator

Working Principle and Design of a Linear Ultrasonic Motor wi...

引用

2009 The 18th ieee International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨ieee国际铁电应用联合会议)

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001Heilongjiang ProvinceChina

A linear ultrasonic motor with rectangletype stator is proposed in this paper. The stator of proposed motor contains four longitudinal transducers, which are located in rectangle-type. Every transducer includes two exponential shape horns located on each end. And the horns of adjacent transducers intersect at tip ends where located a driving foot. Longitudinal vibrations are superimposed in the motor and generated elliptical trajectories at the driving feet. The working principle of proposed motor is analyzed. The resonant frequencies of two working modals are degenerated by adjusting the structure parameters. The motion trajectories of nodes on the driving feet are gained by transient analysis, results indicate that the motion trajectories of nodes on the four driving feet are ellipses. The vibration amplitudes of driving feet indicate the proposed motor has potential advantage in output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor linear rectangle -type four driving feet longitudinal-bending vibration

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A Ring Type Standing Wave Ultrasonic Motor Using Bending Transducer

A Ring Type Standing Wave Ultrasonic Motor Using Bending Tra...

引用

2009 ieee 16th International Conference on Industrial Engineering and Engineering Management(ieee第16届工业工程与工程管理国际学术会议)

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001Heilongjiang ProvinceChina

ISBN: (纸本)9781424436712

A ring type standing wave USM using bending transducer is proposed. The transducer includes one exponential horn located on leading end,and the horn insect with the ring at tip end. The working principle of proposed motor is analyzed. The ring and transducer are designed with FEM. The bending vibration modals of ring and transducer are degenerated. Transient analysis is developed to gain the vibration characteristics of stator,and results indicate that the motion trajectories of nodes on the teeth are oblique lines. Results also indicate the proposed design enables the standing wave USM to operate with large vibration amplitude,which would improve the mechanical output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor,ring type standing wave bending transducer FEM

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An exoskeleton master hand for controlling DLR/HIT hand

An exoskeleton master hand for controlling DLR/HIT hand

引用

2009 ieee/RSJ International Conference on Intelligent Robots and systems

作者： Honggen. Fang Zongwu. Xie Hong. Liu Institute of Robotics and Mechatronics German Aerospace Center Germany State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ¿four-bar mechanism joint¿ in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure with 200 ¿s cycle time is designed. The operating modes of the master hand can be contact or non-contact, which depends on the motion states of slave hand, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master hand, an master-slave control experiment based on force-position control method between the master hand and DLR/HIT hand is conducted. The results demonstrate this new type master hand can augment telepresence.

关键词： Exoskeletons Master-slave Force control Digital signal processing Force feedback Wire Couplings Fingers Data communication Filtering theory

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An exoskeleton force feedback master finger distinguishing contact and non-contact mode

An exoskeleton force feedback master finger distinguishing c...

引用

ieee/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Honggen Fang Zongwu Xie Hong Liu Tian Lan Jinjun Xia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

关键词： Exoskeletons Force feedback Fingers Digital signal processing Field programmable gate arrays Master-slave Data communication Filtering theory Delay Kernel

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Indoor Dangerous Gas Environment Detected by Mobile Robot

Indoor Dangerous Gas Environment Detected by Mobile Robot

引用

2009 ieee International Conference on robotics and Biomimetics(2009 ieee 机器人与仿生技术国际会议 ROBIO 2009)

作者： Fujun He Zhijiang Du Yingfei Sun Xiaolei liu State Key Laboratory of Robotics and System Harbin Institute of Technologyand Daqing Petroleum Inst State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang Provi Department of Mechanical Science and Technology Electrical Engineering DepartmentDaqing Petroleum I

ISBN: (纸本)9781424447749;9781424447756

It will be dangerous if hazard gas or inflammable gas arises in room without being noticed for a long time. A robot is a good choice to automatically detect the dangerous gas and send out accurate information and alarm. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional gas source searching ways is not satisfying. An intelligent robot mounted gas sensors, laser finder and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： valve diameter Robot Gas sensors Mobile robots search strategies combustible gas safety

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Vehicle-logo Recognition Method Based on Tchebichef Moment Invariants and SVM

Vehicle-logo Recognition Method Based on Tchebichef Moment I...

引用

WRI World Congress on Software Engineering, WCSE

作者： Shijie Dai He Huang Zhangying Gao Kai Li Shumei Xiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology TianJin China

ISBN: (纸本)9781424435661

In order to solve the problem about the recognition accuracy, Tchebichef moment invariants and support vector machine (SVM) are adopted to recognize the vehicle-logo. It extracts six invariant moments of the object as feature vectors, and then uses the support vector machines (SVM) to recognize vehicle-logo. Tchebichef moment invariants perform significantly better than Hu moment invariants and Zernike moment invariants. The result of these experiments suggests that this system has a high recognition rate in both noise-free and noisy environment which has high practical value.

关键词： Support vector machines Vehicles Noise shaping Licenses robotics and automation Working environment noise Shape Redundancy Polynomials Software engineering

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DSP/FPGA-based highly integrated flexible joint robot

DSP/FPGA-based highly integrated flexible joint robot

引用

2009 ieee/RSJ International Conference on Intelligent Robots and systems

作者： Zongwu Xie Jingdong Zhao Jianbin Huang Kui Sun Genliang Xiong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China academy of Space Technology China Institute of Robotics and System Dynamics German Aerospace Center Germany

This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for the arm/hand Cartesian level control, and FPGA for two high speed (up to 25 Mbps) real-time Serial Buses communication with the arm and hand. All the electronics are integrated into the joint to achieve the high modularity and reliability. Cartesian impedance control and position control with on-line gravity compensation are realized for regulation tasks of the robot with elastic joints. In addition, the experiments of the joint impedance control and Cartesian impedance control demonstrate that the multi-sensors highly integrated robot has a good performance.

关键词： Digital signal processing Field programmable gate arrays Robot sensing systems Sensor arrays Communication system control Impedance Hardware Software architecture Data processing Brushless DC motors

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Path Planning for Mobile Robot Based on Rough Set Genetic Algorithm

Path Planning for Mobile Robot Based on Rough Set Genetic Al...

引用

International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Shijie Dai He Huang Fang Wu Shumei Xiao Ting Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multi-group test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments.

关键词： Path planning Mobile robots Genetic algorithms robotics and automation Set theory Intelligent networks Intelligent robots Decision making Rough sets Orbital robotics

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