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检索条件"机构=School of Mechatronics Engineering and State Key Laboratory of Robotics and System"

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Study of thrust lever control loading system in flight simulator

Study of thrust lever control loading system in flight simul...

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Zhao, Jinsong Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called SimMechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque. © 2011 Springer-Verlag.

关键词： Flight simulators

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

引用

2011 IEEE International Conference on mechatronics and Automation, ICMA 2011

作者： Wang, Yan-Shen Ge, Lian-Zheng Xie, Ping-Chun Gai, Yu-Xian Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Province 264209 China State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424481149

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2. © 2011 IEEE.

关键词： Spot welding

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A study on surface EMG generation model and its extraction

A study on surface EMG generation model and its extraction

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2011 4th International Conference on Biomedical engineering and Informatics, BMEI 2011

作者： Zou, Ling Ma, Xiaojuan Zhou, Tiantong Ma, Zhenghua School of Information and Science and Engineering Changzhou University Changzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424493524

A surface electromyography (sEMG) signal model is established and extracted from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train (MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained. Secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms, and the most effective signal decomposition method Informax is chosen. It will lay the foundation for further decomposing the signals into single MUAP. © 2011 IEEE.

关键词： Independent component analysis

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Analysis and experiment of stick-slip motion principle in a legged microrobot

Analysis and experiment of stick-slip motion principle in a ...

引用

6th International Forum on Strategic Technology, IFOST 2011

作者： Li, Weida Li, Juan Hu, Haiyan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

To solve the contradiction between high speed with high resolution for micro robot, a legged micro robot based on dual locomotion principles is presented. The dual locomotion principles include stick-slip principle in non-resonant condition and impact principle in resonant condition, which are respectively for high resolution and high velocity. Stick-slip principle is discussed mainly in this paper. Firstly, its driving process is divided into sticky phase and slip phase, in which static analysis and transient dynamic analysis is preceded respectively. Secondly, the relation between mechanism's vibration with friction force is analyzed by using numerical simulation method. And then the stick-slip principle is revealed based by micro robot. A legged micro robot prototype is developed, whose dimension is 70mm×35mm× 15mm and weight is about 3g. Experimental results show that the locomotion resolution of the prototype reaches 0.896 mm in forward direction when driving voltage is 10V. And the changing trend of resolution with voltage is consistent with theoretic analysis, which approves the validity of the analysis. © 2011 IEEE.

关键词： Stick-slip

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Two-dimension guidance control and simulation of a colonoscopic robot

Two-dimension guidance control and simulation of a colonosco...

引用

6th International Forum on Strategic Technology, IFOST 2011

作者： Hu, Haiyan Li, Weida Li, Juan Li, Mantian Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

Continuum robots feature continuously deformable backbone as opposed to traditional robots featuring rigid links and identifiable rotational joints. Due to their compliance and high dexterity, continuum robots have good potential application in minimally invasive surgery(MIS). In order to develop a colonoscopic robot which can perform inspection of human colon and do MIS but much less discomfort for the patient, a novel continuum robot for colonoscopy is designed. The robot consists of 5 sections, and each section has 2 degrees of freedom(DOF) and is 12mm in diameter and 120mm in length. This paper briefly introduces the mechanical structure and kinematics of colonoscopic robot first. For simplicity but without loss of generality, a 2-D model of human colon is built according to the anatomy of human colon. In order to achieve a semiautomatic guidance, the guidance control algorithm and implemention method for single section and multiple section colonoscopic robot is developed based on the 2-D colon model. Finally, the simulation is carried out to verify the kinematics and guidance control algorithm. This study lays a foundation for the clinic application of robotic colonoscopy. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system

作者： Zang, Xizhe Zhao, Jie Meng, Qingxin State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin 150001 China

ISBN: (纸本)9781424497638

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system. © 2011 IEEE.

关键词： Remote control

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Study on the hydrodynamics and kinematics of a biomimetic fin propulsor actuated by SMA wires

Study on the hydrodynamics and kinematics of a biomimetic fi...

引用

2011 International Conference on Electronic and Mechanical engineering and Information Technology, EMEIT 2011

作者： Yang, Zhengbao Wang, Yukui Gao, Fei Wang, Zhenlong Wang, Yangwei State Key Laboratory of Robotics and System at Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781612840857

A flexible noiseless and high-efficient propulsor plays a prominent role in the performance of underwater vehicles. This paper presents a micro flexible caudal fin propulsor actuated by shape memory alloy (SMA) wires. To improve the responding frequency and fatigue of the SMA wires, a pair of slots is designed. So the SMA wires can be heated in the protection of silica gel layer and cool in the other status, i.e. flowing water. Then the propulsive performance of the biomimetic propulsor is evaluated through thrust measurement experiments. Note that higher undulating frequency does not mean stronger thrust force because the undulating amplitude descends along with the undulating frequency increase for this kind SMA propulsor. Further, the kinematics of the propulsor is analyzed and the corresponding equation of motion is obtained. At last, a three-dimensional numerical simulation on the biomimetic fin was conducted by CFD to investigate the interaction of the propulsor with surrounding water and the thrust production. The CFD results consist with the experimental results well, which verify the kinetic model and the numerical simlation. © 2011 IEEE.

关键词： Kinematics

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Simulation study on the error of the double parallel-joints coordinate measuring machine

Simulation study on the error of the double parallel-joints ...

引用

International Workshop on Intelligent systems and Applications

作者： Yu, Lingtao Shuai, Rongbiao Zhao, Jilang Wu, Guoliang Xia, Guisuo Lai, Zhihua Wu, Haiyan State Key Laboratory of Robotics and System HIT Harbin China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Jiujiang Precision Measuring Technology Research Institute Jiujiang China

ISBN: (纸本)9781424498574

The double parallel-joints CMM is a new coordinate measuring machine that between the tradion coordinate measuring machine and the multi-joint coordinate measuring machine. To further study of the double parallel-joints CMM , it is necessary to study on the error model of the measuring machine. The kinematics model is constructed by the D-H method and the error model for the double parallel-joints CMM is constructed too. The SimMechanics institutions model and the M-function model verifies that the theoretical analysis is ture ,by the simulation. to verify the correctness of the error model, laying the groundwork for further theoretical research. The theoretic foundation is made for the further study of The double parallel-joints CMM. © 2011 IEEE.

关键词： MATLAB

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A pose measurement system for optical precision operation

A pose measurement system for optical precision operation

引用

作者： Ma, Li Rong, Weibin Ouyang, Hangkong He, Zhengfeng Sun, Lining Department of Precise Mechanical Engineering School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A new 3-DOF pose precision measurement system based on linear variable differential transformer (LVDT) is developed, built and tested. The system is mainly composed of four LVDTs of symmetrical distribution, which is used to detect the pose relations between a spherical mirror and a resonantor in an optical assembly process. Motion pose of the spherical mirror controlled by an optical assembly robot is formulated according to their geometrical relationship. A LVDT processing circuit using integrated signal conditioning chip AD598 is designed as the control system of pose measurement. Calibration experiments illustrate that the LVDT possesses well static and dynamic characteristics. A PID algorithm is used to improve the adjusting efficiency. Experimental results show that the pose measurement system with maximum angle error of 10" and maximum distance error of 0.5 μm can complete pose adjustment between the spherical mirror and the resonator in 25 seconds, which demonstrate the effectiveness of the proposed method for pose measurement. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Mirrors

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Servo system of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

引用

2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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