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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

Space(Science & Technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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Repaired morphology of CO_(2)laser rapid ablation mitigation of fused silica and its influence on downstream light modulation

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Science China(Technological Sciences) 2022年第5期65卷 1116-1126页

作者： TAN Chao ZHAO LinJie CHEN MingJun CHENG Jian ZHANG Yu ZHANG Jiong YANG Hao YIN ZhaoYang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Department of Mechanical Engineering National University of SingaporeSingapore117575Singapore

The threat of cascading damage to downstream components caused by the light modulation intensification of laser repaired morphology on the surface of fused silica optics cannot be ignored in high-power laser *** paper uses the angular spectrum diffraction theory based on the analysis of repaired surface morphology of CO_(2)laser rapid ablation mitigation to study the influence of different repaired morphologies on the downstream 355 nm laser *** show that the arc-shaped laser processing lines on the repaired surface are formed by the residual height superposition of the material after laser scanning of two adjacent layers,and the short-pulse laser can substantially suppress the heat-affected zone of the repaired *** offaxis ring caustic and on-axis hotspot are sequentially generated in the downstream modulated light fields of the conical repaired sites with different diameters.A secondary peak with modulation larger than 3 emerges downstream of the modulation ***,the maximum modulation and the secondary peak increase with the diameter and cone angle of the repaired site,and the position of the secondary peak appears farther away from the rear *** modulations of three repaired sites with cone angles of 15°,20°,and 25°can finally be stabilized below ***,the downstream optics should be installed far away from the positions where the maximum modulation and the secondary peak ***,the maximum value and the secondary peak of the downstream light modulation of double repaired sites are larger than that of the single repaired site,and both rise as the repaired sizes ***,large-scale and large-size repairing of multiple surface damages in the same area should be avoided in the laser repairing of fused silica.

关键词： fused silica laser repairing morphology light modulation secondary peak double repaired sites

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

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Robot Navigation Strategy in Complex Environment Based on Episode Cognition

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Journal of Bionic engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and *** cells can integrate their moment information and external perceptual information and acquire episodic cognitive *** episodic cognition and memory,organisms can achieve autonomous navigation in complex *** paper mainly studies the strategy of robot episode navigation in complex *** exploring the environment,the robot obtains subjective environmental cognition and forms a cognition *** grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced *** synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode *** the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer *** on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering *** paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

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Acoustic black hole effect enhanced micromanipulator

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Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

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Flight control of a large-scale flapping-wing flying robotic bird:system development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Design and Motion Analysis of an Underactuated Finger Based on the Coupled and Self-Adaptive Linkage Mechanism 6

Design and Motion Analysis of an Underactuated Finger Based ...

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6th International Conference on Intelligent robotics and Control engineering, IRCE 2023

作者： Yue, Wenshuo Wang, Wenrui Ma, Baoping Yang, Hao Cui, Guohua Tang, Qirong School of Mechanical and Automotive Engineering Shanghai University of Engineering and Science China Laboratory of Robotics and Multibody System Tongji University Shanghai China

ISBN: (纸本)9798350326338

Underactuated prosthetic hands possess excellent adaptability, yet they often suffer from issues such as complex structure, limited anthropomorphism, and reduced stability. To address these concerns, this paper presents a novel finger with coupled-Adaptive functionality, consisting of three joints and two degrees of freedom (DOFs). It exhibits notable anthropomorphism, heightened stability, strong adaptability, and a simplified structure. This finger utilizes a novel coupled-Adaptive linkage mechanism, enabling coupled motion in free space and self-Adaptive motion while grasping diverse objects. Additionally, a series of simulation analyses have provided evidence that the finger can effectively and stably perform coupled movements and adaptively grasp objects of different shapes and sizes. © 2023 IEEE.

关键词： Motion analysis

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