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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yang Xiao-hui Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer.

关键词： Vibrations Ceramics Acoustics Electrodes Transducers Shape Stators

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Numerical investigation of hydrodynamics of flapping caudal fin

Numerical investigation of hydrodynamics of flapping caudal ...

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IEEE Symposium on Electrical & Electronics Engineering (EEESYM)

作者： Zhijun Wu Weishan Chen Junkao Liu Shengjun Shi Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467323635

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°~30°maximum angle of attack with 70°~90° difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency.

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4M-model based bionic design of artificial skeletal muscle actuated by SMA 1

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Zhang, Jianjun Zhu, Jianying State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China Mechatronics Research Institute Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents a novel 4M-model based artificial skeletal muscle (AM) actuated by shape memory alloy (SMA) wires. Different from Hill-and Huxley-model, the 4M-model is developed based on the microscopic working mechanism of molecular motor (4M), which is the origin of muscle contraction. Overlapped SMA wires and custom made passive composite (CMPC) of the AM were used to mimic biomechanical characteristics of skeletal muscle, which mainly refers to force-length relationship. Experimental results of the AM demonstrate the desired performance. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Shape memory effect

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Optimal design of robotic manipulators based on simultaneously considering links and joints flexibility

Optimal design of robotic manipulators based on simultaneous...

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

作者： Yongqiang Xiao Wei Dong Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.

关键词： Optimization Joints Mathematical model Manipulator dynamics Equations Vectors

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Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Stiffness analysis and modal analysis of precision parallel ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Weibin Rong Yuliang Luan Limin Qi Hui Xie Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was o... 详细信息

关键词： Manipulators Vibrations Modal analysis Shape Finite element methods Analytical models

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Study on the vibration couplings of a traveling wave piezoelectric stator excited by a longitudinal and bending hybrid transducer

Study on the vibration couplings of a traveling wave piezoel...

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yingxiang Liu Weishan Chen Peilian Feng Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer; the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators.

关键词： Transducers Couplings Stators Vibrations Resonant frequency Acoustics Impedance

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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On the role of motion element on the thrust contribution for fishlike swimming

On the role of motion element on the thrust contribution for...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Xia, Dan Chen, Weishan Liu, Junkao School of Mechanical Engineering Southeast University Jiangning Jiangning Nanjing 211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781467312776

The swimming performance is numerical simulated for three dimensional fishlike robot. To study the thrust contribution, this work considers the robot divided into seven motion elements along the fish axis from head to tail, executing the heave and pitch motion respectively. The results show that each motion element is found to yield thrust and the thrust takes on sinusoidal periodic variation. During a motion cycle, the value increases with the motion elements close to the tail, while a phase delay of thrust generation is found. Due to the thrust contribution by each motion element accompany with the phase difference existence, the total thrust may be adjusted to a reasonable value. © 2012 IEEE.

关键词： Robots Kinematics Force Drag Hydrodynamics Mathematical model Marine animals

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Designing and dynamic modeling of 1D nanopositioner based on stick-slip motion principle

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2012年第19期48卷 29-34页

作者： Zhang, Shizhong Rong, Weibin Tai, Guoan Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Nanoscience Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Two stick-slip inertial stages respectively for horizontal and vertical positioning are designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). The flexible hinges of drive mechanism and rubber ring for finely adjusting friction are applied to assure the entire structure compact. Due to linear dynamics of piezoelectric transducer and nonlinear friction in the stick-slip stage, a dynamical model representation based on LuGre model is presented and verified by being compared with experimental results. With largest sizes of 24 mm×24 mm×17 mm and 24 mm×24 mm×34 mm, both of horizontal and vertical stages have resolutions of 8 nm and strokes of 50 mm, while their abilities to lift up to 66g are also be demonstrated. A two-tip manipulation of nanowires is performed in assistant of the nanopositioners developed, and the excellent performance of the nanopositioner in SEM is demonstrated. © 2012 Journal of Mechanical Engineering.

关键词： Stick-slip

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