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检索条件"机构=State Key Laboratory^of Robotics and System"

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Formulations for dynamics of annular deployable truss for mesh antennas 14

Formulations for dynamics of annular deployable truss for me...

引用

14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Shi, Chuang Guo, Hongwei Liu, Rongqiang Deng, Zongquan Tao, Jianguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9789860460988

While many researchers have investigated the dynamics analysis of annular deployable truss for mesh antennas(ADTMA) in recent years, little work has been published on the influence of geometric features to the dynamic characteristics of annular deployable truss for mesh antennas. A design method to improve the stiffness of larger-size deployable truss for mesh antennas was discussed considering the dynamic characteristics of the single-ring deployable truss and the double-ring deployable truss. Considering the relationship between the diameter, height, thickness, number of units and the first three order modal frequency of the annular deployable truss, an empirical formula of fundamental frequency of the single-ring annular deployable truss was given. To prove the correctness of the analysis, the finite element simulation example was presented. The results of the simulation corresponding with the example were shown to verify the correctness of the theoretical analysis.

关键词： Mesh generation

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Design and optimization of spraying robot arm for hull blocks

Design and optimization of spraying robot arm for hull block...

引用

IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Gang-Feng, Liu Ying-Yong, Zhang Chang-Le, Li Ji-Hong, Yan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781467396745

At present, spraying works on the outer surface of hull blocks are mainly performed by workers with the help of climbing scaffolds, which has several disadvantages such as low efficiency, low quality and harmfulness to workers' health. This paper proposed a robot arm which can replace humans to carry out spraying works for large vessel facades. However, the whole spraying system was consisted of a big mobile platform and a lightweight spraying robot arm, possessing a large work space. According to the requirements of load capacity and explosion-proof property, the mechanical configuration and length of the robot arm were carefully designed and optimized to permit the spraying robot arm with light weight, high load capacity and high safety. Finally, simulations were performed on the work space and joint torques to verify the good performances of the new lightweight spraying robot arm. © 2015 IEEE.

关键词： Machine design

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Miniaturization of a longitudinal-bending hybrid linear ultrasonic motor

Miniaturization of a longitudinal-bending hybrid linear ultr...

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作者： Yang, Xiaohui Liu, Yingxiang Chen, Weishan Liu, Junkao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Based on the bonded-type structure, miniaturization of a longitudinal-bending hybrid linear ultrasonic motor is carried out. In this new design, only two pieces of ceramic plates are employed. The outer electrode surface of each ceramic plate is divided into two equal parts, which are excited by two voltages with phase difference separately. Then, the first longitudinal and fourth bending modes are generated in the motor. Finite element method is adopted to realize the modal degeneration and confirm the final structural parameters of the motor. The vibration modes of the prototype are measured by a scanning laser Doppler vibrometer. The no-load speed and the maximum output force of the prototype are tested to be 487 mm/s and 2.3 N, respectively. The weight of the miniaturized ultrasonic motor is about 8.5 g;its power density is about 1.97 times that of the previous bolt-clamped one. © 2015 Elsevier Ltd and Techna Group S.r.l. All rights reserved.

关键词： Piezoelectric motors

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Towards multi-functional light-weight long-term real-time coastal ocean observation system 11

Towards multi-functional light-weight long-term real-time co...

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Jiang, Zhenfeng Ma, Yanming Chen, Jiali Wang, Zigeng Peng, Zheng Liu, Jun Han, Guitao Smart Ocean Industry Research Institute Nantong Jiangsu226000 China Computer Science and Engineering Department University of Connecticut StorrsCT06269 United States Computer Science Deparment City College of New York NY10031 United States Computer Science and Technology Department Jilin University Changchun Jilin130012 China State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

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system development for micro-electrode assembly of cochlear implant

System development for micro-electrode assembly of cochlear ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Shaokui Weng Weibin Rong Zeyang Xia Hao Deng Yangzhou Gan Jing Xiong Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467389600

Cochlear Implant is an implantable medical device for severe deafness patients to restore hearing function. The micro-electrode in cochlear implant is directly contacted with the human cochlea for signals transmission, thus its assembly is an important step of cochlear implant production. However, currently micro-electrode is assembled manually and the assembly precision and efficiency are unable to meet the industrial standard. In this paper, an automatic assembly system of micro-electrode for Cochlear Implant was designed. In this system, several mechanical mechanism specially for the micron level parts transmission and assembly were designed, including a wire feeder, a ring transmission mechanism, and a welding mechanism. And combined with the human-computer interaction interface, the effectiveness of the overall performance of the assembly system was verified by experiments.

关键词： Wires Welding Cochlear implants Assembly systems Tungsten Needles Electrodes

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Mobility Analysis of A Family of One-dimensional Deployable Mechanisms based on Sarrus Mechanism

Mobility Analysis of A Family of One-dimensional Deployable ...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoke Song Hongwei Guo Zongquan Deng Rongqiang Liu Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong Province China

ISBN: (纸本)9781509023974

Sarrus mechanism and its modified configurations are widely used in space missions as one-dimensional deployable mechanisms. The degree of freedom (DOF) of the classic Sarrus mechanism is analyzed using the modified Kutzbach-Grübler criterion, which is based on screw theory. Inspired by the modified configurations, which has three branches used in high stiffness extendible and retractable mast and four branches used in fold articulated square truss mast, the general form of Sarrus mechanism is obtained. Two novel Sarrus mechanisms are synthesized based on the general form, which expands the configurations of one-dimensional deployable mechanism.

关键词： Sarrus mechanism Deployable mechanism Mobility General form Screw theory

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Teleoperation Control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

引用

IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation Control Baxter Robot Human Motion Capture

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Design and characteristic analysis of a piezoelectric micro-jet generator 5

Design and characteristic analysis of a piezoelectric micro-...

引用

5th Asia International Symposium on Mechatronics, AISM 2015

作者： Ye, L. Chen, W.S. Li, K. State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150001 China

ISBN: (纸本)9781785610363

Considering the lubrication failure of spacecraft, an original piezoelectric micro-jet device which takes the control moment gyro (CMG) as specific application object is proposed. The working principle of the micro-jet device was analyzed. The structure designs were illustrated detailedly. In order to choose a suitable working mode, modal analysis under the action of fluid-structure interaction was conducted, it showed that the first mode of piezoelectric vibrator is more desirable compared to other modes. Also the dynamics analysis of the piezoelectric vibrator was studied, the results revealed that the effect of the fluid should not be neglected when researching the characteristics (resonance frequency, vibration amplitude, etc.) of the micro-jet device;as the increase of the thickness of the piezoelectric ceramic piece or the metal diaphragm, the resonance frequency of piezoelectric vibrator increased, but the maximum vibration amplitude of piezoelectric vibrator decreased;as the increase of the liquid density, both the resonance frequency and the maximum vibration amplitude decreased obviously;as the increase of the liquid depth when the liquid viscosity is low or can be ignored, either the resonance frequency or the maximum vibration amplitude did not have much change. © 2015, Institution of Engineering and Technology. All rights reserved.

关键词： Piezoelectric ceramics

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Foot trajectory planning of frog swimming based on propulsion mechanism

Foot trajectory planning of frog swimming based on propulsio...

引用

IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Wei, Zhang Gangfeng, Liu Jizhuang, Fan Hegao, Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467396745

To provide reasonable reference trajectories for frog inspired robot, the bionic trajectory generation was studied in this paper. Though joint trajectories vary with different motion modes, joint speeds are too fast and tuned with the musculoskeletal system. However, mechanical structures of bionic robot are simplified and diver abilities limit the speed, so the method to generate joint trajectories which not only reflect the characteristics of real frog swimming but also are within the limitation of drivers were proposed in this paper. Firstly, swimming mechanism of frog was briefly introduced to analyze motion patterns of hind limbs and webbed feet. Secondly, trajectory (relative to body) planning was divided into hind limb planning and webbed foot planning. Hind limb trajectory planning was conducted via end track planning and acceleration planning, while acceleration planning was operated for webbed foot planning. Then, trajectories could be operated from fast to slow by adjusting duration time of the planned trajectories. Finally, the trajectories were used as input of hydrodynamic simulation to validate the trajectory planning method. © 2015 IEEE.

关键词： Trajectories

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The application of immersed boundary-lattice Boltzmann method in vortex-induced vibration 5

The application of immersed boundary-lattice Boltzmann metho...

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5th Asia International Symposium on Mechatronics, AISM 2015

作者： Zhou, K. Liu, J.K. Chen, W.S. State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150001 China

ISBN: (纸本)9781785610363

Aiming at vortex-induced vibration problem, immersed boundary-lattice Boltzmann method (IB-LBM) is adopted in the paper. In order to establish a baseline for comparison and verify the precision of the algorithm, a uniform flow past a rigid cylinder at Re=200 is simulated first and the numerical results are compared with the results of other documents. The motion of the elastic-supported cylinder is modelled by a spring-damper-mass system and the motion equation is solved using the Runge-Kutta method. The cylinder is only allowed to vibrate in transverse direction and the Reynolds number is kept at 200. Besides, the lift and drag coefficients of the cylinder, the displacement of the cylinder and the vortex pattern in the wake are extracted at different natural frequencies, and on this basis the dynamic response characteristic of the cylinder is studied. As the natural frequency reduces, the time history of fluctuating hydrodynamic coefficients characterized by 'beating' is presented, and the phase between lift force and the cross-flow displacement undergoes a change from the 'in-phase'mode to the 'out-of-phase' mode. The results further show that the cylinder oscillations could be as large as 0.53 diameter under certain natural frequency. © 2015, Institution of Engineering and Technology. All rights reserved.

关键词： Fluid structure interaction

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