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Grasping simulation of an underactuated finger mechanism for larm hand

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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Qualitative study of nanoassembly process: 2-D molecular dynamics simulations

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Scientia Iranica 2010年第1 F期17卷 1-11页

作者： Mahboobi, S.H. Meghdari, A. Jalili, N. Amiri, F. Institute for Nanoscience and Nanotechnology Sharif University of Technology P.O. Box: 14588-89694 Tehran Iran Piezoactive Systems Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology P.O. Box 11155-9567 Tehran Iran

Precise positioning of nanoclusters through manipulation in the presence of other clusters is one of the main challenging tasks in nanoclusters assembly. Currently, the size of clusters which are used as building blocks is decreasing to a few nanometers. As a result, the particle nature of the matter has a crucial role in manipulator/cluster/substrate interactions. In order to understand and predict the behavior of nanoclusters during the positioning process, it is, therefore, essential to have a deep insight into the aforementioned nanoscale interactions, in this research, 2-D molecular dynamics simulations are used to investigate such behaviors. Performing the planar simulations can provide a rather satisfactory qualitative instrument for our aim while the computation time is considerably decreased in comparison with 3-D simulations. The system considered here is made up of a tip, two clusters and a substrate. The main focus here is on metallic nanoclusters. In order to study the behavior of the above system which is made up of different transition metals, Nose-Hoover dynamics and Sutton-Chen interatomic potential are used. Furthermore, the effect of the material characteristics, tip form and manipulation scheme on the success of the process are examined. Such qualitative simulation studies can pave the pathway towards certain nanopositioning scenarios when considering different working conditions before consuming largescale computation time or high experimental expenses. © Sharif University of Technology, June 2010.

关键词： Molecular dynamics

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Modeling of a vehicle with continuously variable transmission

Modeling of a vehicle with continuously variable transmissio...

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IEEE International Workshop on robotics in Alpe-Adria-Danube Region (RAAD)

作者： C.-A. Dragos S. Preitl R.-E. Precup D. Pirlea C.-S. Nes E. M. Petriu C. Pozna Department of Automation and Applied Informatics Polytechnic University of Timisoara Timisoara Romania Department of Strength of Materials Polytechnic University of Timisoara Timisoara Romania School of Information Technology and Engineering University of Ottawa Ottawa Canada Faculty of Engineering Széchenyi István University Gyor Hungary Department of Product Design and Robotics Transilvania University of Brasov Brasov Romania

The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results: acceleration, overtaking maneuver, ramp encounter and engine brake.

关键词： Mechanical power transmission Internal combustion engines Mathematical model Torque converters Wheels robotics and automation Power system modeling Acceleration Vehicle driving Aerodynamics

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Design Considerations for an Underactuated Robotic Finger Mechanism

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Chinese Journal of Mechanical engineering 2009年第4期22卷 475-488页

作者： YAO Shuangji CECCARELLI Marco ZHAN Qiang CARBONE Giuseppe LU Zhen School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100191 China Laboratory of Robotics and Mechatronics （LARM） University of Cassino Cassino （Fr）.Italy Robotics Institute Beijing University of Aeronautics and Astronautics Beijing 100191 China

A design approach is presented in this paper for underactuation in robotic finger mechanisms. The characters of underactuated finger mechanisms are introduced as based on linkage and spring systems. The feature of self-adaptive enveloping grasp by underactuated finger mechanisms is discussed with feasible in grasping unknown objects. The design problem of robotic fingers is analyzed by looking at many aspects for an optimal functionality. Design problems and requirements for underactuated mechanisms are formulated as related to human-like robotic fingers. In particular, characteristics of finger mechanisms are analyzed and optimality criteria are summarized with the aim to formulate a general design algorithm. A general multi-objective optimization design approach is applied as based on a suitable optimization problem by using suitable expressions of optimality criteria. An example is illustrated as an improvement of finger mechanism in Laboratory of robotics and Mechatronics （LARM） Hand. Results of design outputs and grasp simulations are reported with the aim to show the practical feasibility of the proposed concepts and computations.

关键词： robotic fingers underactuated mechanisms design algorithms optimality criteria .

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Impact absorption of a dual-crawler-driven robot

Impact absorption of a dual-crawler-driven robot

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Quan, Qiquan Ma, Shugen Liu, Rongqiang Li, Bin Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

ISBN: (纸本)9781424426799

This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator. © 2008 IEEE.

关键词： Actuators

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Crawling gait realization of the mini-modular climbing caterpillar robot

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Progress in Natural Science:Materials International 2009年第12期19卷 1821-1829页

作者： Wei Wang~(a,*),Kun Wang~a,Houxiang Zhang~b a robotics Institute,school of Mechanical engineering and automation,Beihang University,Beijing 100083,China b TAMS,Department of Computer Science,University of Hamburg,Vogt-Koelln-Strasse 30,Hamburg 22527,Germany [a]Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100083 China [b]TAMS Department of Computer Science University of Hamburg Vogt-Koelln-Strasse 30 Hamburg 22527 Germany

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real *** typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco *** to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in *** the open chain periods,an unsymmetrical phase method(UPM) is used to ensure the reliable attachment of the passive suckers to the *** the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed *** combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven *** last,on-site tests confirm the proposed principles and the validity of the climbing gait.

关键词： Climbing robot Modular Biologically inspired Gait

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The kinematics modeling based on Spinor theory for CT-guided hybrid robot

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High Technology Letters 2009年第1期15卷 20-25页

作者：唐粲 Robotics Institute School of Mechanical Engineering and AutomationBeijing University of Aeronautics and Astronautics

This paper focused on a simplified method for solving the hybrid robot kinematics in CT-guided （computerized tomography, CT） surgery. By position constraint introduced, the hybrid robot can be transformed as a redundant serial 7-DOF robot. The forward displacement calculation was developed based on the product-of-exponential formula （POE）. Because of the kinematics complexity of the hybrid and redundant robot, the combination technique of Ulrich two-step iteration method and paul variables detachment method （UTI-PVD） was introduced to fulfill the inverse kinematics of redundant robot, the novelty of which lay in the flexibility of various robots structures and in high calculation efficiency for realtime control. The process of solving the inverse displacement was analyzed. The UTI-PVD method can be applicable to kinematics of many robots, especially for redundant robots with more than 6DOF. The kinematics simulation was provided, and robot dexterity analysis was presented. The results indicated that the hybrid robot could implement the minimally invasive CT-guided surgery.

关键词： CT-guided surgery hybrid robot kinematics product-of-exponential formula UTIPVD method

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Compromise control tactic for intelligent mobile welding robot

Compromise control tactic for intelligent mobile welding rob...

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9th International Conference on Electronic Measurement and Instruments, ICEMI 2009

作者： Ting, Zhang Kai, Li Jing, Yang Research Institute of Robotics and Automation Hebei University of Technology TianJin 300130 China School of Chemical Engineering Hebei University of Technology TianJin 300130 China

ISBN: (纸本)9781424438624

To solve the seam tracking problem of the welding mobile robot, a prototype of mobile welding robot with welding torch positioned at one side of welding robot is developed. Adaptive fuzzy controller and fuzzy-gaussian neural network (FGNN) controller are designed to complete coordinately controlling of cross-slider and wheels. A specialized learning architecture was used so that membership function would be tuned in real time by applying the FGNN controller. The simulation results on MATLAB show that the proposed controller has excellent tracing accuracy (within ± 0.5mm) and can satisfy the requirement of practical welding project. ©2009 IEEE.

关键词： Membership functions

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Research on the topology description and modeling method for reconfigurable modular robots

Research on the topology description and modeling method for...

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2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009

作者： Hanwei, Liu Hongguang, Wang Shujun, Li Libo, He State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning110016 China School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning110004 China

This paper focuses on the topology description and modeling method for reconfigurable modular serial robots. Based on the module division, one kind of n x 4 topology characteristic matrix is established to describe robots configuration. A modeling method for kinematic analysis on the basis of coordinate systems of modules is put forward. Since the joint modules have several interfaces, many configurations can be constructed. The topology characteristic matrix contains such information as the type of module, the orientation relationship of the joint modules axes, the form and connection of interfaces and the type of link. From the topology characteristic matrix, we can get the connection form and relationship between each module in the robot. A set of rule for describing a joint module-based coordinate system and transform relationship between the adjacent modules are offered and a kinematics model of the modular serial robot is derived. Hence, the modularization and reconfiguration of analysis software can be implemented. The example analyses show that the topology description and modeling method is correct and valid.

关键词： Topology

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Corotational nonlinear finite element formulation and modeling of electrostatically actuated microbeams

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JVC/Journal of Vibration and Control 2009年第4期15卷 617-640页

作者： Ahmadian, M.T. Borhan, H. Esmailzadeh, E. Centre of Excellence for Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology PO Box 11365-9567 Tehran Iran Faculty of Engineering and Applied Science University of Ontario Institute of Technology Oshawa ON L1H 7K4 Canada

A complete nonlinear finite element model for coupled-domain microelectromechanical system devices with electrostatic actuation and squeeze film effect was developed. for this purpose, a corotational finite element formulation for the dynamic analysis of planer Euler-Bernoulli microbeams considering geometrical nonlinearities due to both large structural deformation and electrostatic actuation is developed. In this method, the internal forces due to deformation and residual stresses, the elemental inertias, and the damping effect of the squeeze-film are systematically derived by consistent linearization of the fully geometrically nonlinear beam theory using d'Alembert and the virtual work principles. An incremental-iterative method based on the Newmark direct integration procedure and the Newton-Raphson algorithm is used to solve the nonlinear dynamic equilibrium equations. Several numerical examples are presented and their results are compared with those found experimentally, which indicate a very close agreement. © 2009 SAGE Publications.

关键词： Newton-Raphson method

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