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

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Ground micro-gravity verification of free-floating non-cooperative satellite docking

Ground micro-gravity verification of free-floating non-coope...

引用

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

作者： Haitao Yang Minghe Jin Zongwu Xie Yu Zhang Kui Sun Xiaoyu Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781467391085

Ground micro-gravity verification and test for the on-orbit docking operation of non-cooperative target satellites in 3-dimensional space based on two 6-DOF industrial robots is essential and significant owing to the high risk and cost and the influence of the earth gravity. The development of ground micro-gravity verification system mainly adopts the hybrid simulation method, which includes the real contact hardware test experiment and the virtual software simulation. To realize the emulation of ground micro-gravity environment, the gravity compensation algorithm of the non-cooperative target satellites is necessary in the system. The admittance control method is adopted to realize the soft docking function to ensure the success of the docking mission, which mainly simulates the real contact force and the real motion state during the docking process in space. The ground verification experiment results show that servicing satellite can successfully dock or capture the free-floating non-cooperative target satellites in 3-dimensional space.

关键词： Satellites Gravity Service robots Robot sensing systems Torque

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Possible impact of large scale wind energy integration on small signal stability

Possible impact of large scale wind energy integration on sm...

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IEEE PES Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： S. Lamichhane N. Mithulananthan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781467381338

The growing concerns of climate change and depletion of fossil fuels are driving rapid development of wind generations. However, the integration of large scale wind generation may compromise the stability of the power system. Besides, the same source of renewable generation such as wind may deploy various technologies such as Doubly Fed Induction Generator (DFIG), Squirrel Cage Induction Generator (SCIG) and Direct Driven Synchronous Generator (DDSG). The generation mix with these wind generators and existing synchronous generators may dynamically interact within themselves or with each other resulting the weak damping or positive damping on the critical modes of low frequency oscillation. This paper aims to explore the same using the simulation results obtained from the DSA Tools®.

关键词： Power system stability Stability analysis Induction generators Synchronous generators Damping Oscillators

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Operating principle and vibration characteristic of an I-shaped ultrasonic motor

Operating principle and vibration characteristic of an I-sha...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Yingxiang Liu Dongmei Xu Weishan Chen Jipeng Yan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479999750

An I-shaped ultrasonic motor using longitudinal vibrations is proposed, designed, and analyzed. The operating principle is discussed. The resonance frequencies of the three transducers are tuned to be close by modal analysis. Then, the vibration trajectories of the four tip ends of the two horizontal transducers are investigated by transient analysis. Oblique elliptical movements are generated on the four tip ends by the superimposing of the three longitudinal vibrations. The two upper driving feet will produce downward thrust forces while the two lower feet can push the runners upward. Intensive coupling bending vibrations are generated in the horizontal transducers under the horizontal mode of the proposed motor. The study results show that the coupling bending vibration of the horizontal transducer must be weakened for the realization of four feet synchronous driving. At present, the proposed design can be used as a bidirectional linear standing wave ultrasonic motor under the horizontal mode.

关键词： Vibrations Transducers Acoustics Synchronous motors Trajectory Resonant frequency Finite element analysis

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Numerical Analysis on Fishlike Swimming with Immersed Boundary Method

Numerical Analysis on Fishlike Swimming with Immersed Bounda...

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IEEE International Conference on Mechatronics and Automation

作者： Kai Zhou Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479970995

The immersed boundary method is an effective way to handle complex geometries and moving geometries within a flow field. In this paper, two-dimensional numerical simulations of fishlike swimming are conducted based on the immersed boundary method. In the process of calculation, the velocity and pressure coupling is solved using a second-order pressure correction method and the Lagrangian force density is calculated using Physical Virtual Model. In order to verify validity and feasibility of the algorithm, flow around a circular cylinder and moving cylinder in stationary flow are simulated, and then the results are compared with other researches. After that, the modeling and simulation of fish-like swimming are conducted. At each time step, the shape and position of the fish is updated and the Lagrangian force density is calculated. The shape and position of the fish are calculated based on the motion equation and the forces acting on the boundary. Furthermore, the impacts on performance of motion frequency, wavelength and amplitude are studied.

关键词： Fishlike swimming Immersed boundary method Finite-difference method

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Research on design and jumping performance of a new water-jumping robot imitating water striders

Research on design and jumping performance of a new water-ju...

引用

International Conference on Information and Automation (ICIA)

作者： Jihong Yan Kai Yang Tao Wang Jie Zhao State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin Heilongjiang Province China

At present, the research of robots imitating water strider is mainly focusing on imitating the skating movement of the insects. In contrast, the jumping motion of water striders needs a sufficiently large driving force to lift the body detaching from the water surface, which is easy to break the hydrophobic property of the material and result in the sinking of the robot, so there is few research on the water-jumping robots. This paper designed a new water-jumping robot using hydrophobic material as legs and springs as energy storage devices. By establishing the force model of the robot, the forces exerted on supporting legs and the jumping property of the robot were analyzed and simulated separately. Then the robot was fabricated by 3D printing technology, the parameters affected the jumping performance were verified through a series of experiments. Based on the above analysis and experiments, the structure of the robot was optimized. The optimized robot weighed 12.2g and jumped 50mm high.

关键词： Legged locomotion Force Springs Drag Gears Mathematical model

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Experimental study of static and dynamic characteristics of a miniature 6-axis force and torque sensor

Experimental study of static and dynamic characteristics of ...

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International Conference on Information and Automation (ICIA)

作者： Kun Li Bo Pan Yili Fu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467391054

This paper describes an experimental evaluation of a miniature force and torque sensor in robot-assisted minimally invasive surgery (RMIS). A sensor prototype including the mechanical system and sensing electronics is overviewed. A linear square based static decoupling method is introduced, design and use of a newly invented calibration platform is presented. A dynamic loading mechanism to simulate a heartbeat motion is described. The sensing ranges of the sensor prototype is ±30 N and ±30 N·mm with resolutions of 0.08 N (x, y directions), 0.25 N (z direction), and 2.4 N·mm (rotational directions). It also exhibits a good capability to follow the dynamic loads at a frequency close to a normal heart rate of an adult.

关键词： Robot sensing systems Calibration Force Loading Dynamics Torque

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Vibration characteristic analysis of a piezoelectric transducer using first bending vibration modes

Vibration characteristic analysis of a piezoelectric transdu...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Zhaoyang Yu Yingxiang Liu Dongmei Xu Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479999750

A piezoelectric transducer using first bending vibration modes is proposed in this paper; it can be used as a stator for an ultrasonic motor. The transducer has a symmetrical structure, in which a conical horn is located at one end. On the tip of the horn, a cylindrical driving foot is machined. Bending vibrations are superimposed in the transducer to generate elliptical trajectory movement at the driving foot. The working principle of the proposed transducer is analyzed. The resonant frequencies and the electromechanical coupling factor of the bending modes are analyzed under different structural parameters. An improved structure for the initial model is proposed. The motion trajectory of the driving foot is obtained by transient analysis. The results can be a theoretical guidance for the design of piezoelectric actuator using bending transducer.

关键词： Transducers Resonant frequency Vibrations Couplings Metals Ceramics Acoustics

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A Wheelchair Robot Design with Wheel-Track Coupling Mechanism and Motion Analysis

A Wheelchair Robot Design with Wheel-Track Coupling Mechanis...

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International Conference on Information Science and Control Engineering (ICISCE)

作者： Yang Bai Xueshan Gao Dongxiao Wang Ling Li Yitong Ma Weijie Bo Jingyi Li Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System (HIT) Harbin China

ISBN: (纸本)9781467368513

Combining the advantages of wheeled mobile robot and tracked mobile robot, a barrier-free wheelchair robot with wheel-track coupling mechanism is presented to solve the problem of common wheelchair limitations in obstacle surmounting. Firstly, wheel-track coupling mechanism of the wheelchair mobile platform with lesser space is mainly designed, and motion of this mechanism is analyzed based on rigid-body guidance and analytic geometry synthesis method. For the deformable structure, a new scale-style elastic segment track is developed, and then its motion modes, meshing method, and bionic characteristics are analyzed. At last, simulations and experiments of performance of transformation mechanism and wheelchair robot motion are carried out, and the results show that the designed mechanism is reasonable.

关键词： Information science Control engineering

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DESIGN OF A CROSS-SHAPED PIEZOELECTRIC MOTOR WITH SINGLE DRIVING FOOT

DESIGN OF A CROSS-SHAPED PIEZOELECTRIC MOTOR WITH SINGLE DRI...

引用

2015全国压电和声波理论及器件技术研讨会

作者： Jun-kao LIU Dong-mei XU Ying-xiang LIU Xiu-hua NI Wei-shan CHEN State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Radio Equipment Research Institute

A cross-shaped piezoelectric motor with length of 43mm and diameter of 11 mm was proposed in this *** third bending modes were used to generate ellipse trajectory at the driving foot located at the vibrator's *** pieces of piezoelectric ceramic plates with sizes of 5mmx3mmx lmm were used to excite two third bending *** and cosine voltages with effective value of 100V at the frequency of 54.696 kHz were applied to the piezoelectric ceramic plates in right and left sides of the *** structure of the motor solved the problem of mode frequency *** excitation methods were put forward to excite two third bending *** effectiveness of the two excitation methods was compared by the transient analysis with finite element *** analysis results showed that motion trajectories of nodes on the driving feet were three-dimensional and that ellipse motion in the XOY plane was fit to drive the motor,and the new excitation method improves the vibration amplitude in the OX and OY by 2 times and 4 times,respectively compared with the vibration amplitude excited by the traditional excitation method.

关键词： Cross-shaped beam Piezoelectric motor Third bending Vibrations Vibration characteristic

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DESIGN OF A BENDING VIBRATIONS HYBRID TYPE ULTRASONIC MOTOR WITH A BONDED-TYPE STRUCTURE

DESIGN OF A BENDING VIBRATIONS HYBRID TYPE ULTRASONIC MOTOR ...

引用

2015全国压电和声波理论及器件技术研讨会

作者： Ying-xiang LIU Dong-mei XU Ji-peng YAN Xiu-hua NI Wei-shan CHEN State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Radio Equipment Research Institute

A bending vibrations hybrid type ultrasonic motor with a bonded-type structure is proposed and designed in this *** pieces of PZT plates are bonded on a metal beam to form the proposed *** this design,elliptical movements of the driving feet,the significant motion to realize the actuating of a rotor,is produced by the superimposing of two first bending vibrations orthogonal in *** structural parameters' sensitivities of the bending resonance frequency and the electromechanical coupling factor are calculated and discussed by modal analysis and harmonic analysis *** most sensitive parameters are ***,the vibration characteristic of the proposed motor is mvestigated by transient analysis;another ultrasonic motor with the same length but no horns is also calculated to give a *** with previous motor,the proposed one drive the runner by two transversal displacements of the driving tip;this new actuating mode has merits of higher resonance frequency,larger vibration amplitude and velocity,better movement trajectory uniformity and shorter response *** study results can guide the fabrication of linear or rotary ultrasonic motor with small size.

关键词： Ultrasonic motor Bending vibration Bonded-type Parameter sensitivity Actuating mode

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