检索结果-内蒙古大学图书馆

Kinematics analysis and gait planning of a three-limb robot

Beijing Youdian Daxue Xuebao/Journal of Beijing University of Posts and Telecommunications 2008年第1期31卷 57-61页

作者： Fan, Ji-Zhuang Zhu, Yan-He Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Aiming at a three-limb robot with integration of its arm and leg mechanism, regarding robot's limb operating pattern as the special work process of its motion pattern, and translating kinematics analysis of the whole robot into the task of a kinematic combination of each limb acting as a standing or a swinging foot, the unification of kinematics model of the robot under circumstances of locomotion and operation is successfully realized. Working patterns of the three-limb robot in the state of both locomotion and operation are planned. A gait simulation of the three-limb robot is performed, it therefore justifies the previous theoretical analysis and lends a solid theoretical basis to the design of the robot controller in the future.

关键词： Robots

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Vision based object tracking under indoor environment

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 149-151页

作者： Li, Ruifeng Zhao, Lijun Fan, Xufeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

By integrating mean shift and particle filter, a new method for robotics visual tracking is proposed based on similarity distance. The method mainly depends on particle filter, and the particle number is proportional to the similarity distance. When the particle number exceeds the threshold, a small number of particles integrated with mean shift replace the traditional particle filter. After the tracking algorithm of each frame is finished, the similarity distance between the target and the model is calculated, which will adjust the number of the particles and determine whether the mean shift algorithm is called for the next frame. Moreover, the correlation coefficient between the particle number and the similarity distance is set through experiments. A frame tracking consumes about 5-10 ms. The experiment shows that our method can achieve accurate and real time tracking.

关键词： Object recognition

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Ground experimental system of space robot arm

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2008年第3期40卷 381-385页

作者： Shi, Shi-Cai Xie, Zong-Wu Zhu, Ying-Yuan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The ground experimental system was developed to verify the functions of the reconfigurable space robot arm. The system is designed based on air bearings. Without changing robot arm, the method can easily realize the 3D motions of the robot arm. Using this system, some functions of the space robot arm can be verified, such as total power consumption, kinematics and inverse kinematics arithmetic, and position and orientation accuracy in 3D space. Based on coordinate measuring machine (CMM), a new method easy to manipulate is put forward to measure the position and orientation accuracy. According to the method, a ground experimental system of 6-DOF space robot arm was developed. Through the system, the performances of the space robot arm are acquired, including total power consumption, position accuracy and orientation accuracy, all of which satisfy the technical requirements.

关键词： Robotic arms

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Indoor mobile robot self-location based on particle filter

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Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2008年第SUPPL. 1期36卷 145-148页

作者： Li, Ruifeng Zhao, Lijun Jin, Xinhui State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Focusing on issues of map-distortion caused by accumulated error in mapping with only odometer and sonar sensors, new infrared location lags as absolute landmarks are introduced and build a topological map. Then a grid map is also built in the topological map and landmark information updates related incremental map on Bayesian theory. As result, the hybrid map reduces the accumulated error of sensors and improves the stability of the built map. Moreover, improved particle filter is used for robot localization, which based on the high weight adaptive algorithm can solve particle degradation of the traditional particle filters, because high weight particles and the surrounding space describe robot pose with high probability. Finally, results of experiments show that the map is effectively build based on grid map guided by absolute landmarks in 250 cm × 500 cm area, and improved particle filter can finish self-localization, error of which is less than 2 cm. Besides, localization test proves that improved particle is effective to solve degradation of particles.

关键词： Mobile robots

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Biological Jumping Mechanism Analysis and Modeling for Frog Robot

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Journal of Bionic Engineering 2008年第3期5卷 181-188页

作者： Meng Wang Xizhe Zang Jizhuang Fan Jie Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150001

This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-off phase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom (DOF) at hip joint and one DOF (passive) at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.

关键词： frog jump modality kinematic analysis mechanical model jumping robot

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key techniques of micromanipulation devices for MEMS assembling and packaging

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Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering 2008年第11期44卷 13-19页

作者： Sun, Lining Chen, Liguo Rong, Weibin Xie, Hui Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics Institute Harbin Institute of Technology Harbin 150080 China

The characteristics of micro electro mechanical system (MEMS) assembling and packaging process are analyzed, and the development status of machining devices is given. According to the characteristics of MEMS industry development, the key techniques of MEMS assembling and packaging devices are described, including database of technological parameters, fast precision positioning, modular working tools, fast micro-vision, flexible clamping and automatic material handling techniques. The composition structure and working principle of an anodized bonding device for MEMS pressure sensor and a wire bonding device are introduced, and some experimental results are given. At last, the development trend of MEMS assembling and packaging techniques and devices are discussed.

关键词： Mechanics

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Singular perturbation control for flexible-joint manipulator based on flexibility compensation

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Jiqiren/Robot 2008年第5期30卷 460-466页

作者： Liu, Ye-Chao Jin, Ming-He Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

Traditional singular perturbation approach can only be used in robot systems with weak joint flexibility. In order to solve this problem, a joint flexibility compensator is designed, which can greatly increase the equivalent joint stiffness, so the limitation of joint flexibility for singular perturbation approach is eliminated and the approach can be extended to the robot system with normal joint flexibility. Besides, an adaptive controller with projection algorithm as parameter estimation law is designed for the slow subsystem control and its asymptotical stability is proved. The control strategy can be applied conveniently in engineering without any joint flexibility limitation and does not need link acceleration or its differential signal. Finally, an experimental study on the flexible joint manipulator is executed and the results verify the validity and feasibility of the proposed strategy.

关键词： Flexible manipulators

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Research on a New Composite Ultrasonic Energy Transmission Mechanism with Parallel Structure

Research on a New Composite Ultrasonic Energy Transmission M...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Yanjie Liu Lemin Zhang Dongcui Wang Yuetao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A composite two-dimension ultrasonic vibration system with parallel structure is presented in this paper for the wire bonding application. Compared with other conventional structures, this one uses the structure of the clamping beam, weakening the horizontal deflection stiffness, instead of the clamping ring, which weakens the coupling effects existing in most parallel structures. By means of the self-locking wedge, the piezoelectric ceramics are effectively preload. The length of the horn is optimized according to the relationship between the magnification ratio and the ratio of the horn length. Through the vibration characteristic analysis and FEA verification, it is proved that this parallel structure can increase the composite output amplitude of the ultrasonic horn and the density of ultrasonic energy, and can complete the bonding at a larger area range so that it will shorten the bonding time and improve the bonding efficiency.

关键词： Bonding Vibrations Welding Laboratories Clamps Robots Wire Frequency Flanges Optical coupling

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Energy harvesting with piezoelectric cantilever

Energy harvesting with piezoelectric cantilever

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IEEE Symposium (IUS) Ultrasonics

作者： Jiang-bo Yuan Tao Xie Wei-shan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Energy harvesting with the piezoelectric cantilever was studied under vibration environment. A theoretical model of piezoelectric cantilever was developed to determine the magnitude of power. The results predicted by the theoretical model were validated by the experimental data. Compared with the rectangular layer piezoelectric cantilever, the trapezoidal piezoelectric cantilever generated higher power with the same force and the volume of PZT. A maximal output power of about 24.2 mW can be obtained from the trapezoidal piezoelectric cantilever at the operating frequency of 130 Hz across a resistive load of 80kOmega with a cyclic stress of 1N.

关键词： Power generation Batteries Vibrations Power system modeling Stress Wireless sensor networks Capacitive sensors Voltage Equations Robots

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Development of a displacement sensor with a sidewall piezoresistor and its typical application

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors

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Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors 2008年第8期29卷 1589-1594页

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technology is compatible with the other micromachining technology. This sensor can be integrated with other devices easily and fabricated with ion implantation technology combined with deep reactive ion etching technology. This design doubles the sensitivity compared with the conventional design because it puts the piezoresistor on the surface of the vertical sidewall of the detection beam. Besides using vertical sidewall piezoresistor technology, this displacement sensor has been applied to a micro xy-stage to detect the stage motion successfully. The experimental results verify that the sensitivity of the fabricated displacement sensors is better than 0.903 mV/μm, the linearity is better than 0.814%, and the displacement resolution is better than 12.3 nm.

关键词： Ion implantation

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