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2015 International Conference on Fluid Power and Mechatronics

作者： Lianpeng Zhang Yu Yang Chifu Yang Junwei Han State Key Laboratory of Robotics and System Harbin Institute of Technology

Redundant-drive shaking tables composed of more than one shaking tables are indispensible test equipments for anti-seismic study of long-span structures and are experiencing rapid development recently. However, the control strategy of the shaking tables system is greatly complex and there isn't a common accepted method now. This paper proposed two degree of freedom(DOF) control strategies for the shaking tables system composed of two identical redundant-drive electro-hydraulic servo shaking table: six DOFs control strategy and twelve DOFs control strategy. According to different control principles, build two kinds of coordinates, derive the geometric motion relationship of the platform or load and the hydraulic cylinders, and then use zero-position geometric linearity technique to obtain simplified coordinate transformation matrixes between platform or load motion space and the hydraulic cylinders space. The control system model with DOF control strategy and dynamic model of the shaking tables are built using the Matlab/Simulink and Sim Mechanics software. Simulation experiments are carried out and the test results indicate that both the control strategies can realize the accurate motion of the platform and verify the feasibility and validity of the proposed control strategies. In the end, this paper compared the two DOF control strategies and analyzed the advantages and disadvantages of each control strategy.

关键词： electrohydraulic srevo shaking tables degree of freedom control transformation matrix

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Rail Deployment system of Blanket Remote Handling

Rail Deployment System of Blanket Remote Handling

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2015 World Conference on Control, Electronics and Electrical Engineering(WCEE 2015)

作者： Yanhe Zhu Lanming Guo Hongwei Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

The maintenance operation of blanket module is highly restricted by the complex construction of vacuum vessel,due to the high radiation of vacuum vessel,the most feasible method to repair the blanket module is using manipulator *** the project,a Self-Assemble Rail Based Vehicle Manipulator has been developed to maintain the blanket module by a telescope manipulator which travel along the circular articulated rail to access the damaged blanket *** segments are transferred from port cask of vacuum vessel(VV),and deployed by the rail deployment system to form a ring rail in the *** accurate connection and deployment of rail segments is a basic step of the whole blanket maintenance process and has been the one of the most critical issue of blanket remote handling *** paper introduces the rail deployment system in detail and show the techniques and inspirations during rail connection and rail deployment procedure.

关键词： Remote Handling system,Self-Assemble Rail,Rail Connection,Rai Deployment

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STUDY ON THE EXCITING METHOD FOR PIEZOELECTRIC ACTUATOR USING BENDING HYBRID MODES

STUDY ON THE EXCITING METHOD FOR PIEZOELECTRIC ACTUATOR USIN...

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2015全国压电和声波理论及器件技术研讨会

作者： Ding-wen WANG Ying-xiang LIU Wei-shan CHEN Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

A new bending-hybrid-modes piezoelectric actuator was designed,and *** two operating principles using the whole piece of PZT ceramic plates were discussed,and compared with the traditional operating principle using the half piece of PZT *** effects of the no polarization part on the bending resonance frequencies were studied by modal ***,harmonic analysis was developed to obtain the electromechanical coupling *** effect of the size of no polarization part on the electromechanical coupling factor was *** last,the vibration trajectories of the two tip ends were investigated by transient *** two tip ends generated elliptical movements when the two bending vibrations were *** study gives detail discussion about the exciting methods for bending vibration of a boltclamped *** analysis results can guide the design of the piezoelectric actuator using bending hybrid modes.

关键词： Piezoelectric actuator Bending vibration No polarization part Vibration characteristics

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THE WORKING PRINCIPLE AND EXCITATION METHOD OF A STEP PERISTALSIS PIEZOELECTRIC ACTUATOR

THE WORKING PRINCIPLE AND EXCITATION METHOD OF A STEP PERIST...

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2015全国压电和声波理论及器件技术研讨会

作者： Dong-dong SHI Ying-xiang LIU Wei-shan CHEN Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

A step peristalsis actuator using piezoelectric stacks is proposed,designed and *** proposed actuator contains four piezoelectric stacks located in U-shaped:the two horizontal piezoelectric stacks are used to push the runner,while the two vertical piezoelectric stacks are used to change the contact states between the two feet and the *** the working principle for bidirectional-linear-driving is *** to the working principle,the exciting method is developed to obtain the sequence control signals of the piezoelectric *** is found that the step peristalsis piezoelectric actuator can achieve the accuracy of nanometer and be used as a bidirectional *** last,the driving power of the step peristalsis piezoelectric actuator is investigated by theoretical analysis and *** present,the proposed design can be used as a long-stroke,ultra-precision and bidirectional piezoelectric actuator.

关键词： The step peristalsis actuator Piezoelectric stacks Driving power Ultra-precision Long-stroke

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Hydrodynamic Interactions between a Cylinder and an Attached Elastic Plate

Hydrodynamic Interactions between a Cylinder and an Attached...

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2015 International Conference on Fluid Power and Mechatronics

作者： DONG Dibo CHEN Weishan SHI Shengjun HAN Zhenbo HOU Zhenxiu State Key Laboratory of Robotics and System Harbin Institute of Technology

An elastic plate behind a rigid cylinder in viscous flow is modeled numerically by an immersed boundary-lattice Boltzmann method(IB-LBM). The hydrodynamic interactions of a upstream cylinder and a adjacent passively flapping plate are studied by varying the length and bending stiffness of the plate. Two patterns of the plate are found in the simulation results, if the plate is short enough, it would curl up because of the attraction of the suction zone behind the cylinder. With the increase of the plate's length, it will stretch and flap in a stable period. The cylinder has a strong influence on the dynamics of the plate and the plate also changes the vortex shedding of the cylinder and the shape of suction zone. With a downstream adjacent plate, the cylinder can always enjoys a drag reduction, longer the plate is, less drag the cylinder experiences. The vortex shedding frequency of the cylinder is larger than that of the single cylinder and equal to the plate's flapping frequency. This study may help to understand the energy saving of flexible bodies stay in the wake of a rigid structure and the hydrodynamic interactions between them.

关键词： Hydrodynamic interactions Flexible plate Lattice Boltzmann method

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Optimizing the Qusai-static Folding and Deploying of Thin-Walled Tube Flexure Hinges with Double Slots

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Chinese Journal of Mechanical Engineering 2014年第2期27卷 279-286页

作者： YANG Hui DENG Zongquan LIU Rongqiang WANG Yan GUO Hongwei State Key Laboratory of Robotics and System Harbin Institute of Technology

The thin-walled tube flexure（TWTF） hinges have important potential application value in the deployment mechanisms of satellite and solar array, but the optimal design of the TWTF hinges haven＇t been completely solved, which restricts their applications. An optimal design method for the qusai-static folding and deploying of TWTF hinges with double slots is presented based on the response surface theory. Firstly, the full factorial method is employed to design of the experiments. Then, the finite element models of the TWTF hinges with double slots are constructed to simulate the qusai-static folding and deploying non-linear analysis. What＇s more, the mathematical model of the TWTF flexure hinge quasi-static folding and deploying properties are derived by the response surface method. Considering of small mass and high stability, the peak moment of quasi-static folding and deploying as well as the lightless are set as the objectives to get the optimal performances. The relative errors of the objectives between the optimal design results and the FE analysis results are less than 7%, which demonstrates the precision of the surrogate models. Lastly, the parameter study shows that both the slots length and the slots width both have significant effects to the peak moment of quasi-static folding and deploying of TWTF hinges with double slots. However, the maximum Mises stress of quasi-static folding is more sensitive to the slots length than the slots width. The proposed research can be applied to optimize other thin-walled flexure hinges under quasi-static folding and deploying, which is of great importance to design of flexure hinges with high stability and low stress.

关键词： design optimization quasi-static folding and deploying flexure hinges thin-walled tube response surface method,numerical simulation

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Path Planning Based on Bi-RRT Algorithm for Redundant Manipulator

Path Planning Based on Bi-RRT Algorithm for Redundant Manipu...

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2015 International Conference on Electrical, Automation and Mechanical Engineering(EAME 2015)

作者： X.Z.Zang W.T.Yu L.Zhang Sajid Iqbal State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781510806528

For the manipulator which is used to execute maintenance tasks in the Tokamak reactor,solving the problem of collision-free path planning is the *** paper introduced the Single-RRT and Bi-RRT algorithms then used BiRRT algorithm to make the path planning for the motion of a redundant manipulator in the vacuum chamber,finally made a Matlab simulation *** result shows that RRT algorithm can effectively achieve the purpose of collision-free path planning,and using Bi-RRT can reduce the number of searches and invalid search points compared with *** better path can be obtained and used in the actual control by means of multiple searches and replacements.

关键词： redundant manipulator path planning RRT algorithm Tokamak

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Command Assignment Method of a Serial-Parallel Hybrid Flight Simulator

Command Assignment Method of a Serial-Parallel Hybrid Flight...

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第27届中国控制与决策会议

作者： Xiaochen Wang Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781479970186

To avoid the kinematics singularity and thus to implement high dynamic and large-angle maneuvering flight simulation,a kind of serial-parallel hybrid flight simulator are proposed featuring redundant manipulator *** the command assignment problem of the serial-parallel hybrid flight simulator,pseudo-inverse and gradient projection methods are used to obtain optimal velocity ***,a velocities compensation unit is *** some of the joint velocities are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains *** proposed command assignment algorithm can fully utilize the drive ability of the each joint,achieve desired positions and attitudes,as well as can avoid kinematics *** results also illustrate the advantages of using such a method proposed in this paper.

关键词： flight simulator serial-parallel hybrid manipulator velocities compensation command assignment

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Application of Cycle Variable Pitch Propeller to Morphing Unmanned Aerial Vehicles

Application of Cycle Variable Pitch Propeller to Morphing Un...

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IEEE International Conference on Information and Automation

作者： Liang Gao Jie Zhao Yanhe Zhu Hongzhe Jin Hongwei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

Most of morphing aircrafts control the flight attitude by the deformation of aircraft wing, however morphing UAV is not limited to the deformation of the wing. This paper studies cyclic variable pitch propeller system which can generate control torque. According to mathematical model of cyclic variable pitch propeller based on propeller blade element theory, the study analyzes the principle and researches the way of attitude control. Simulation based on model of flight dynamics shows control torque produced by the system is effective on maneuverability of the morphing UAV. And experimental measurement has been done with six-axis force/torque transducer, results show the force and moment generated by CVPP system as the change of pitch angle conforms with the mathematical model and CVPP system have the ability to replace conventional control surfaces.

关键词： Variable Pitch Morphing Aircraft Attitude Control Propeller

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Turning Gait Planning and Simulation Validation of a Hydraulic Hexapod Robot

Turning Gait Planning and Simulation Validation of a Hydraul...

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2015 International Conference on Fluid Power and Mechatronics

作者： Haibo Gao Ma Jin Yiqun Liu Liang Ding Haitao Yu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology

Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based on cycloid during swing phase is planned, and the foot trajectory of support phase is also planned. A turning gait can be divided into the first half cycle and the second half cycle, and the turning gait based on tripod gait of the hexapod robot is planned. A virtual simulation platform for the hexapod robot is developed based on Vortex software. The platform consists of robot model module, manipulator and control module, terrain model module and footterrain interaction module. The simulation process is presented, and the turning gait is realized on the simulation platform. Finally, the simulation results show that the foot trajectory curves and the joint angle curves are smooth, and there is no conflict between the curves of six legs. The rationality and feasibility of the proposed method has been verified.

关键词： hexapod robot turning gait foot trajectory simulation validation hydraulic drive

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