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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Guo, Chuangqiang Ni, Fenglei Sun, Jingting Liu, Yechao Liu, Hong State Key Laboratory of Robotics System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme of the robot arm, while a fourth-order hybrid controller based on the joint torque feedback is adopted to reduce the influence of joint flexibility, brought by the harmonic drivers and torque sensor, on the control precision. A single-joint control experiment, designed to lift up a load at the tip of a link, about two meters in length, is used to test the ability of trajectory tracking in the gravity field. ©2010 IEEE.

关键词： Controllers

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Real-time hand gesture recognition for service robot

Real-time hand gesture recognition for service robot

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Wang, Ke Wang, Li Li, Ruifeng Zhao, Lijun State Key Laboratory and Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9780769540771

A real-time hand gesture recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for gesture recognition, and the other for the classification of the gesture motion. The system first uses a cascade classifier to locate the potential hand region from video frame. Then, Gabor wavelets transformation is applied to extract the gesture features which are automatically recognized based on a bank of Support Vector Machines (SVMs). For the estimated motion trajectory of each gesture, we make a set of discrete symbols using vector quantization method and, this symbol sequence is fed into the Hidden Markov Model (HMM) in the gesture motion classification subsystem. Experimental results are shown finally. © 2010 IEEE.

关键词： Hidden Markov models

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Design and analysis of a cylindrical traveling wave ultrasonic motor using orthogonal longitudinal composite transducer

Design and analysis of a cylindrical traveling wave ultrason...

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作者： Liu, Ying-Xiang Liu, Jun-Kao Chen, Wei-Shan Shi, Sheng-Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China

A cylindrical type traveling wave ultrasonic motor using orthogonal longitudinal composite transducer is proposed. The composite transducer contains two longitudinal transducers, which are located orthogonal to each other. Each longitudinal transducer includes one exponential horn located on leading end, and the horns insect with each other at tip ends. The composite transducer is attached to the cylinder on its outer surface to excite two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the cylinder. Thus, a flexural traveling wave in the cylinder could be excited. The working principle of proposed motor is analyzed. The stator is designed with FEM. The vibration modals of stator 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 ellipses. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Design and analysis of a 6-DOF parallel robot used in artificial cervical disc replacement surgery

Design and analysis of a 6-DOF parallel robot used in artifi...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Tian, Heqiang Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150080 China

ISBN: (纸本)9781424457021

This paper presents the design of a 6-DOF parallel robot used in the artificial cervical disc replacement surgery, which is used to complete positioning and grinding between prosthesis and bone mating surfaces and whose moving platform is connected to the fixed platform by six UPS (Universal - Prismatic-Spherical) serial chains. In the paper, inverse position, a first-order static influence coefficient matrix, Jacobian matrix, and workspace factors are analyzed for the 6-UPS parallel mechanism and the analysis results of statics, singularity and workspace are given, which is used to guide the robot structure design. What's more, the CAD model of the robot is analyzed by finite element methods, which shows that the robot has adequate stiffness. Finally, a comprehensive analysis shows that the 6-UPS parallel robot is suitable for bone mating surfaces grinding in the artificial cervical disc replacement surgery. ©2010 IEEE.

关键词： Finite element method

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Flying vision system of placement machine for MEMS microphone

Flying vision system of placement machine for MEMS microphon...

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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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Sensing principle and optimization of curvature optical fiber sensor

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2011年第4期22卷 507-511页

作者： Di, Hai-Ting Fu, Yi-Li Liu, Ren-Qiang College of Engineering and Technology Northeast Forestry University Harbin 150040 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200240 China

To better understand the working principle and improve the performance of the curvature optical fiber sensor, the ray tracing simulation was carried out by using the optical analysis software TracePro, which provides the sensing process. The modulation principle of sensitive zone to light intensity was described by using geometric optics analysis method. The mathematic model of relations among light loss, parameters of sensitive zone's configuration and bending curvature was presented. Experiments were performed to validate the effectiveness of the proposed mathematic model. The rays will concentrate to the convex side of the bending fiber. That is, the light intensity will increase at convex side while decrease at concave side, which leads to the changes of light leakage at sensitive zone and realizes the modulation to light intensity.

关键词： Ray tracing

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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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