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Hybrid task priority-based motion control of a redundant free-floating space robot

Chinese Journal of Aeronautics 2017年第6期30卷 2024-2033页

作者： Cheng ZHOU Minghe JIN Yechao LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.

关键词： Base attitude control Hybrid task-priority Motion planning Multiple constraints Redundant space robot

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Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： Fu Zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles

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Fabrication of a biomimetic controllable adhesive surface by ultraprecision multistep and layered scribing and casting molding

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Science China(Technological Sciences) 2021年第8期64卷 1814-1826页

作者： WANG Wei XIE ZongWu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.

关键词： continuous and tilted wedge-shaped microstructures biomimetic controllable adhesive surface ultraprecision multistep and layered scribing controllable adhesion dynamic adhesion

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A Parallel Actuated Pantograph Leg for High-speed Locomotion

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Journal of Bionic Engineering 2017年第2期14卷 202-217页

作者： Wei Guo Changrong Cai Mantian Li Fusheng Zha Pengfei Wang Kenan Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory, A control strategy that incorporates virtual Spring Loaded Inverted Pendulum （SLIP） model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.

关键词： high-speed parallel actuated pantograph leg optimization virtual SLIP model active force

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A noncontact robot demonstration method with human supervision

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Science China(Technological Sciences) 2021年第11期64卷 2360-2372页

作者： ZHANG Qi XIE ZongWu LIU Yang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The widely used kinesthetic demonstration method of dragging robotic manipulators cannot obtain reliable information for autonomous robot manipulation because an additional external force rather than pure contact force will be reflected on the force sensor in end-constrained manipulation tasks. Therefore, a noncontact robot demonstration method with human supervision is proposed to avoid external influence. A human demonstrator sends motion commands by mouse and observes force data reflected in a monitor to protect the robotic manipulator. Simultaneously, the human demonstrator supervises the positionorientation relationship between the end-effector and the manipulated object. The wrench insertion task is adopted to illustrate the advantage of the proposed method. A contact model is established according to demonstration data acquired from the proposed demonstration method, and an orientation adjustment strategy is verified. The strategy verification experiment illustrates not only the effectiveness of the simplified contact model and corresponding strategy but also the advantage of the proposed demonstration method.

关键词： Robot demonstration contact model orientation adjustment

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Simulation and analysis of asteroid force closure anchoring performance based on discrete element method

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Chinese Journal of Aeronautics 2023年第8期36卷 381-394页

作者： Tingzhang WANG Qiquan QUAN Hongshuai GAO Mengxue LI Dewei TANG Zongquan DENG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Asteroid exploration is significant for studying the origin of the solar system,establishing planetary defenses,and alleviating the resource crisis of the *** anchoring is the basis of in-situ exploration and resource development and ***,the performance of asteroid force-closure anchoring is investigated using the discrete element *** micro parameters of the simulated materials are calibrated with angle of repose and uniaxial compression experiments,based on which the regional modeling method is adopted to establish the anchoring discrete element *** anchoring experiments are conducted on a self-developed microgravity simulation platform to verify the accuracy of the simulation *** asteroid anchoring simulations are performed to investigate the influence of external force on the anchoring *** analysis of anchoring force varying with time and the interaction between the anchor and regolith particles reveals the influence mechanism of external force direction on the anchoring *** external force direction affects the critical anchoring force by influencing the failure of the force-closure *** comprehensive analysis of simulation results clarifies the variation of the critical anchoring force with the external ***,a stable anchoring region is established,beneficial for asteroid anchoring device design.

关键词： Anchoringforce Asteroid exploration Discrete element method Force closureanchoring Simulationverification

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Driving mechanism of the morphology evolution involved in the micro-defect healing process of fused silica optics under the non-evaporative CO2 laser irradiation

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Optics and Laser Technology 2025年 188卷

作者： Yang, Zican Xu, Hongguang Zhao, Linjie Cheng, Jian Chen, Mingjun Liu, Zhichao Wang, Shengfei Geng, Feng Xu, Qiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Mechanical Engineering Pohang University of Science and Technology Pohang37673 Korea Republic of Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450041 China Research Center of Laser Fusion China Academy of Engineering Physics Chengdu610041 China

Currently, the machining of hard and brittle fused silica material still relies on material removal by contact-based machining tools. Due to the inherent unevenness of grinding wheels and abrasives, surface defects inevitably persist on precision fused silica optics. Recently, the non-contact, non-destructive CO2 laser processing of fused silica begins to attract research attentions. Through the spontaneous micro-flow of the molten materials, the fused silica surface can be smoothed and the defects can be healed without mass loss. However, the micro-flow and material rearrangement in the defect area under laser irradiation involves complex physical interactions such as laser energy deposition, heat transfer, fluid dynamics, and volumetric strain. The contribution mechanisms to the morphological evolution remain unclear, preventing precise control of defects and the achievement of high-quality surfaces. In this work, a new numerical model coupling volume strain with the traditional heat transfer and micro-flow models is established. The computational model shows a high degree of consistency with the experimental results, with a deviation of less than 5%. The contribution of various thermo-mechanical effects, including surface tension, Marangoni force and thermal modification, to the evolution of surface morphology during the defect healing process was revealed. It is found that, the surface tension and thermal strain are the primary factors dominating the surface deformation. Both calculated and experimental results demonstrated that, surface tension is the dominant contributor to the defect healing behavior, with the contribution of the other forces to the defect morphology being less than 1% of that of surface tension. This work can provide guidance for the regulation of the defect healing and other laser processing procedures of fused silica optics. © 2025 Elsevier Ltd

关键词： Irradiation

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Design and Characterization of Magnetically Actuated Helical Swimmers at Submillimeter-scale

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Journal of Bionic Engineering 2017年第1期14卷 26-33页

作者： Lefeng Wang Huichao Xu Wenhe Zhai Bensong Huang Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

Bacteria with helical flagella show an ideal mechanism to swim at low Reynolds number. For application of artificial mi- croswimmers, it is desirable to identify effects of structural and geometrical parameters on the swimming performance. In this study, a double-end helical swimmer is proposed based on the usual single-end helical one to improve the forward-backward motion symmetry, The propulsion model of the artificial helical microswimmer is described. Influences of each helix parameter on the swimming velocity and propulsion efficiency are further analyzed. The optimal design for achieving a maximum propulsion velocity of submillimeter scale swimmers is performed based on some constraints. An experimental setup consisting of three-pair of Helmholtz coils is built for the helical microswimmers. Experiments of microswimmers with several groups of parameters were performed, and the results show the validity of the analysis and design.

关键词： double-end helical microswimmers magnetic actuation swimming velocity optimal design

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