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

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

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Study on the application of thermal interface materials for integration of HP-LEDs

Study on the application of thermal interface materials for ...

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2010 IEEE CPMT Symposium Japan, ICSJ10

作者： Wu, Jun Zhuang, Meilin Li, Shuzhi Yang, Weiqiao Zhang, Jianhua School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Key Laboratory of Advanced Display and System Applications Ministry of Education Shanghai University Shanghai 200072 China Shanghai Research Center of Solid-state Lighting Engineering and Technology Shanghai 201203 China

ISBN: (纸本)9781424475940

Contact thermal resistance existed in the contact face between light emitting diode(LED) substrate and heat sink, which could hinder thermal conducting from PN junction to heat sinks, when mounting high power LEDs(HP-LEDs) devices on the heat sinks. Thermal interface materials(TIMs) were filled in the contact face to reduce contact thermal resistance. This paper studied the application of TIMs used in cooling LEDs, and three types of TIMs were studied by thermal test and optical-electro test. The experiment results presented that when select TIMs for LED mounting, thermal conductivity, thickness, and the volume of fillers should be considered. ©2010 IEEE.

关键词： Junction temperature

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

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

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期1卷 212-216页

作者：焦国太王峰秦栋泽 . State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan 030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： nndti-hop wireless communication underground search and rescue robot

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Local shape patch based object detection

Local shape patch based object detection

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International Conference on Information and Automation (ICIA)

作者： Zhijiang Du Chen Guodong Lining Sun Junhong Ji Ming Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method.

关键词： Shape Object detection Image segmentation Context modeling Histograms Biological system modeling robotics and automation Image edge detection Feature extraction Sun

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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

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2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB Information science

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Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

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IEEE International Conference on robotics and Biomimetics

作者： Qiang Zhao Fang Gao State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China Traffic College Northeast Forestry University Harbin Heilongjiang China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424493197

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method.

关键词： Joints Animation Kinematics Jacobian matrices Springs Robot kinematics

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A CAD model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： Computer aided design

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