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

作者： T. Lan Y.W. Liu M.H. Jin S.W. Fan H.G. Fang J.J. Xia H. Liu State Key Laboratory of Robotics and System (HIT) Harbin China Institute of Robotics and System Dynamics German Aerospace Center Germany

A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and position measuring. The experimental results of joint impedance control show that proposed strategy not only improves the effectiveness of contact task performance, but also provides compliant interaction of robot hand with a person, thus enables robot hand to work in different environments.

关键词： Impedance Control systems Robot sensing systems Orbital robotics Position control Human robot interaction Communication system control Intelligent robots Fingers Timing

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Micro/nano grip and move compliant mechanism with parallel movement tips

Micro/nano grip and move compliant mechanism with parallel m...

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IEEE Conference on Nanotechnology

作者： Mahmoud Helal Liguo Chen Lining Sun Bing Shao The State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424448326

The development and deployment of micro and nano-electro-mechanical systems (MEMS/NEMS) are critical to the economy of each country and society because these technologies will lead to major breakthroughs in information technology and computers, medicine and health, manufacturing and transportation, power and energy systems, and avionics and national security. The assembly of micro-devices involves handling of parts that are extremely very small. This paper presents the design of compliant grip and move manipulators with parallel movement tips. The integration of both gripping and moving manipulators with parallel movement tips is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. The structural topology optimization approach is applied in order to find the optimal material distribution in the proposed domain for compliant mechanism. A 2-D finite element analysis (FEA) model using ANSYS is constructed for the propose design domain. The optimal configurations of the compliant mechanism, which can realize a micro grip and move with parallel movement tips, is demonstrated.

关键词： Computer aided manufacturing Micromechanical devices Nanoelectromechanical systems Information technology Transportation Aerospace electronics National security Assembly Topology Finite element methods

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2D-Numerical Simulation of Flexible Oscillating Fin Mimetic Bony Fishes Fin

2D-Numerical Simulation of Flexible Oscillating Fin Mimetic ...

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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： Yangwei Wang Guanrong Hang Jian Li Zhenlong Wang State Key Laboratory of Robotics and System (HIT) Harbin Heilongjiang 150001 People's Republic of Ch State Key Laboratory of Robotics and System at Harbin Institute of technology Harbin Heilongjiang 15

ISBN: (纸本)9781424447749

A controllable flexible biomimetic fin actuated by Shape Memory Alloy (SMA) was presented to imitate the flexible bending of fin rays in bony fishes. Based on the bending experiment of the biomimetic fin, the kinematics model was set up. Then a two-dimensional numerical simulation on the oscillatory biomimetic fin was performed by computational fluid dynamic to investigate the interaction with the surrounding fluid and the propulsive force production. By solving the 2D, incompressible, laminar, unsteady Navier–Stokes equations, the computational results show that the biomimetic fin generates a vortex ring after a complete period in still water which can generate a thrust force. The dynamics performance of the vortex ring is achieved and then the average propulsive force is calculated on different oscillatory frequencies and maximum bending angles to find the change character. At last, an important parameter, the Strouhal number was discussed in this paper. Different Wake pattern were observed depending on different velocities of the background flow, which decide the Strouhal number. When the 0.2

关键词： Fins vortex state (superconductivity) Strouhal number bony fish Biomimetics bend tests SEED RECOVERY Standing water Propulsion FLEXIBLE thrust Hydrodynamics

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Heat Affected Zone in the MEMS Wire Bonding

Heat Affected Zone in the MEMS Wire Bonding

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2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

作者： Yuetao Liu Yanjie Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In the wire bonding process of MEMS packaging, Heat Affect Zone (HAZ) is the important factor governing the loop profile of bonding. The height of loop is affected by the length of the HAZ. Factors governing the HAZ are studied. To investigate this relationship, the experiments were done for the various sizes of wire diameter and Free Air Ball (FAB). Electric Flame-Off (EFO) current, EFO time, EFO gap and the recrystallization were also studied. The results showed that as the size of FAB became larger, the length of HAZ increased. With the increase of EFO current and time, the length of HAZ became longer. When FAB was formed at the same parameter, the length of HAZ became shorter with the high temperature of recrystallization.

关键词： heat affected zone meres wire bonding free air ball

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The effects of Parameters on the Stability of Passive Dynamic Walking

The effects of Parameters on the Stability of Passive Dynami...

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

关键词： passive dyanmic walking stability ADAMS

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Force-driven Robotic Drag Control for Freehand 3D Ultrasound-guided Robot-assisted Percutaneous Surgery

Force-driven Robotic Drag Control for Freehand 3D Ultrasound...

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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： Yinshan Sun Dongmei Wu Zhijiang Du Lining Sun Harbin Institute of Technology State Key Laboratory of Robotics and SystemHarbinChina

ISBN: (纸本)9781424447749

Freehand 3D US-guided robot-assisted percutaneous surgery system, presently under development in our laboratory, has the potential to overcome some drawbacks of current conventional clinical interventions. The robot is commanded to insert accurately the needle into the target in patient's body according to planned path in the 3D model reconstructed by freehand 3D US by several separate steps, one of which is to move the needle tip to the selected insertion point on the surface of the skin. In this paper, we present a force-driven robotic drag control algorithm, designed to transform axial drag force signal of the force sensor mounted approximate to the needle propeller into motor pulse signal of the corresponding axis, to allow the surgeon to drag the robot and lead the needle tip to the entry point manually and flexibly. Experiment has been conducted to validate the algorithm performance.

关键词： drag force sensors NEEDLES Insertion Point Robot three-dimensional displays Three Dimensions Surgeons Surgery pulse signal

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Hydrodynamic analysis of fishlike robot swimming in the straight forward way

Hydrodynamic analysis of fishlike robot swimming in the stra...

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IEEE International Conference on Mechatronics and Automation

作者： Dan Xia Junkao Liu Weishan Chen Luhui Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper investigates the three dimensional hydrodynamics of a fishlike robot swimming in the straight forward way under self-propulsion. The unsteady flow fields associated with swimming robot is computed by using Navier-Stokes equation. Both the user defined function and dynamic mesh technique are applied to track the robot motion. The results show that the mean magnitudes of net thrust force and net lift force approach to zero for one cycle. The variation trends of thrust force, swimming power and propulsive efficiency over time are in sine function. The computed flow fields clearly reveal the evolution of two pairs of pressure cores traveling along the robot as it swims. A positive pressure gradient around the tail is in competition with negative pressure gradient in the head; thrust forces is produced when the positive pressure gradient dominate the negative one. The findings help reveal the propulsive mechanism of the fishlike robot propulsion and benefit the fishlike robot design.

关键词： Hydrodynamics Robot kinematics Computational geometry Shape measurement robotics and automation Laboratories Head Propulsion Mechatronics Tracking

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A Comparison between Human Walking and Passive Dynamic Walking

A Comparison between Human Walking and Passive Dynamic Walki...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424427994

Root mean square error is presented as a quantitative measure for the similarity between human walking and passive dynamic walking. Normalized root mean square error of the hip angle and angular velocity between both walkers in a walking cycle is 6.9% and 12.2% on average, respectively. It shows a strong similarity between human walking and passive dynamic walking. A comparison is made between human walking and passive dynamic walking in four phases divided from a gait cycle. The reasons for resulting in the differences are studied.

关键词： Passive dynamic walking Human walking Comparison

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Inverse kinematics algorithm for space robots using the virtual manipulator approach

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2009年第4期37卷 5-8页

作者： Xia, Jinjun Jin, Minghe Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The equivalent model of free floating space robots was developed by using virtual manipulator (VM) approach. A new algorithm for solving the inverse kinematics of free floating space robots was proposed, which is more efficient than the accelerated implicit approximate-linear-programming method (AIALPA). The problem on avoiding dynamic singularities was substituted by an alternate problem on avoiding the kinematic singularities of the virtual manipulator. And an example was presented for verifying the validity of the proposed algorithm. The results show that the same joint motion curves are determined by both algorithms. However, the iterations of the proposed algorithm are approximately half of that of the AIALPA algorithm.

关键词： Jacobian matrices

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Camera calibration based on extended Kalman filter using robot's arm motion

Camera calibration based on extended Kalman filter using rob...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Guodong, Chen Zeyang, Xia Xie, Ming Sun, Lining Junhong, Ji Zhijiang, Du State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore Singapore Nanyang Technological University Singapore Harbin Institute of Technology Nanyang Technological University China

ISBN: (纸本)9781424428533

This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman Filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed. ©2009 IEEE.

关键词： Extended Kalman filters

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