检索结果-内蒙古大学图书馆

A Prototype of a Biomimetic Mantle Jet Propeller Inspired by Cuttlefish Actuated by SMA Wires and a Theoretical Model for Its Jet Thrust

引用

Journal of Bionic Engineering 2014年第3期11卷 412-422页

作者： Fei Gao Zhenlong Wang Yukui Wang Yangwei Wang Jian Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang P. R. China

The cuttlefish have higher swimming speed and more maneuverability than most of the fish mainly benefiting from their unique jet propulsion mechanism, which is realized by the contraction and expansion of their flexible mantle. However it is difficult to mimic this jet propulsion mechanism using conventional electro-mechanical structures. In this paper, the musculature of the cuttlefish mantle and how the mantle flexibly contracts and expands were analyzed first. Then the Shape Memory Alloy（SMA） wires were chosen as the actuators and the soft silica gel was chosen as the body materials to develop a biomimetic mantle jet propeller. The SMA wires were embedded within the soft silica gel formed with cuttlefish mantle shape along the annular direction to mimic the circular muscles of cuttlefish mantle. The water was squeezed out the mantle cavity to form rear jets when the biomimetic mantle was contracted by SMA wires. A mechanical model and a thermal model were established to analyze the jet thrust and the jetting frequency. Theoretical analysis shows that the jet thrust is proportional to the square of the rate of change of SMA strain. Increasing the driving voltage can improve the rate of change of SMA strain, thus can improve both the jet thrust and the jetting frequency. However the j etting frequency is mainly restricted by the cooling of SMA wires. To maximize the jetting frequency, the optimal driving parameters for different driving voltage were calculated. The propulsion performance was tested and the results show that the jet thrust can increase with the driving voltage as predicted and the maximum average jet thrust is 0.14 N when the driving voltage is 25 V. The swimming test was carried out to verify the feasibility of the novel design. It is shown that the biomimetic jet propeller can swim with higher speed as the jet thrust and jetting frequency increase and the maximum speed can reach 8.76 cm·s^-1 （0.35 BL·s^-1） at a jetting frequency of 0.83 Hz.

关键词： cuttlefish biomimetic jet thrust shape memory alloy

来源：评论

学校读者我要写书评

暂无评论

Study on the exciting method for piezoelectric actuator using bending hybrid modes

Study on the exciting method for piezoelectric actuator usin...

引用

SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

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 Harbin Heilongjiang Province P. R. China

A new bending-hybrid-modes piezoelectric actuator was designed, and analyzed. The 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 ceramics. The effects of the no polarization part on the bending resonance frequencies were studied by modal analysis. Then, harmonic analysis was developed to obtain the electromechanical coupling factor. The effect of the size of no polarization part on the electromechanical coupling factor was obtained. As last, the vibration trajectories of the two tip ends were investigated by transient analysis. The two tip ends generated elliptical movements when the two bending vibrations were superimposed. The study gives detail discussion about the exciting methods for bending vibration of a bolt-clamped transducer. The analysis results can guide the design of the piezoelectric actuator using bending hybrid modes.

关键词： Ceramics Vibrations Resonant frequency Piezoelectric actuators Couplings Acoustics

来源：评论

学校读者我要写书评

暂无评论

Performance of walking leg of a hydraulically actuated hexapod robot

引用

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) 2015年第5期45卷 1512-1518页

作者： Liu, Yi-Qun Deng, Zong-Quan Zhao, Liang Ding, Liang Tong, Zhi-Zhong Gao, Hai-Bo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Institute of Scientific Research Inner Mongolia First Machinery Group Co. Ltd. Baotou014030 China

A kinematic model of the leg is established and the workspace of the foot is analyzed based on the walking leg designed for a hydraulically actuated hexapod robot. The performance testing system of the leg is established, the hardware of the controller of the testing system is designed, and the software for motion testing is developed. Experimental results show that the movement tracking error of single joint and the coordinate motion tracking error of joints are less than one degree. Dynamic characteristics of the joint meet that amplitude attenuation is less than -3 dB when the frequency is 0.5 Hz. It is verified that the performance of the waling leg meets the motion requirements of the hexapod robot. ©, 2015, Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition). All right reserved.

关键词： Kinematics

来源：评论

学校读者我要写书评

暂无评论

Analysis of a novel longitudinal-bending hybrid ultrasonic motor using vibration coupling

Analysis of a novel longitudinal-bending hybrid ultrasonic m...

引用

SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ying-xiang Liu Chun-hong Li Wei-shan Chen Xiu-hua Ni Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN Shanghai Radio Equipment Research Institute China

A novel longitudinal-bending (L-B) hybrid ultrasonic motor using vibration coupling is proposed. Different with the previous L-B ultrasonic motors, only longitudinal PZT plates are used; and the longitudinal-bending hybrid vibrations of the motor are excited synchronously. Fixed boundary condition is applied on one side surface of the flange, which locates at the wave node of a longitudinal transducer. The working principle of the motor is analyzed. By using finite element method, comparison between the proposed ultrasonic motor with fixed boundary condition and a transducer with free boundary condition are developed by modal analysis, harmonic analysis and transient analysis. It is found that the longitudinal-bending hybrid vibrations can be produced by the longitudinal piezoelectric elements under a fixed boundary condition of the flange. It should be noted that the bending vibration is not generated by the bending piezoelectric elements, but excited by a vibration coupling effect under an unsymmetrical boundary condition. The change of the boundary condition also shows minute effects on the resonance frequency and the electromechanical coupling factor. Oblique elliptical movements are formed on the two end tips of the transducer. These motions can push the runners linearly by frictional forces if preloads are applied.

关键词： Vibrations Boundary conditions Transducers Acoustics Resonant frequency Couplings Flanges

来源：评论

学校读者我要写书评

暂无评论

Automatic generating controller expressions and locomotion for UBot modular self-reconfigurable robot

Automatic generating controller expressions and locomotion f...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jie Zhao Xiaolu Wang Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Science Garden of HIT Harbin P.R. China

ISBN: (纸本)9781467396769

Chain-type self-reconfigurable robot (SRR), as a category of modular robots, is more suitable to implement whole body locomotion task, e.g. snake-like configuration squeezing through a narrow hole, legged-robot crossing over a rugged terrain. As SRR could construct diverse configurations and they are mostly super-redundant, it is challenging to plan these configurations' controller, especially for non-typical configurations. To resolve this problem, evolutionary computing paradigm is frequently used. However, the controller structure or expressions should be designed before evolving the parameters. Some researchers use fully connected CPG network as the default controller, but the parameter space is too large. Few scholars try to automatic generate reduced controller by topology and symmetry analysis, but their method is only applicable for limb-type configurations. In this paper, we propose a framework for automatic generating both controller expressions and locomotion, which combines topology analysis, functional substructure mapping, and isomorphic substructures constraints. This method can fit a large amount of configurations with different type of substructures. Taking UBot SRR as the instance, we realize and integrate the framework to the self-develop UBotSim software. The effectiveness is validated by extensive simulations/off-line optimizations of typical and non-typical configurations.

关键词： Robot kinematics Topology Software Optimization Libraries Network topology

来源：评论

学校读者我要写书评

暂无评论

The research of microscopic vision and force sensing signal feedback hybrid position control on cochlear microelectrode testing system

The research of microscopic vision and force sensing signal ...

引用

International Conference on Electronic Measurement and Instruments, ICEMI

作者： Wu Zhenzhi Rong Weibin Qu Dongsheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Ministry of Education Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479970728

For cochlear microelectrode array the current way of testing is manual operation and it exist technical problems such as difficult to precision positioning, easy to damage electrode surface. The microelectrode automated testing system is developed with the visual image deflection and force feedback hybrid position control. The experimental results show that the use of image information to achieve the positioning error within 20 µm; using force feedback for the position fine-tuning of the probe detecting, keep testing force in 80–150 mN and the error is within 10 mN. Meet the requirement of testing for precise positioning and flexible contact.

关键词： Zirconium Image resolution Visual systems Probes Image segmentation Logic gates Biographies

来源：评论

学校读者我要写书评

暂无评论

Study of Individual Characteristic Abdominal Wall Thickness Based on Magnetic Anchored Surgical Instruments

引用

Chinese Medical Journal 2015年第15期128卷 2040-2044页

作者： Ding-Hui Dong Wen-Yan Liu Hai-Bo Feng Yi-Li FU Shi Huang Jun-Xi Xiang Yi Lyu Department of Hepatobiliary Surgery First Affiliated Hospital Xi'an Jiaotong University Xi'an Shaanxi 710061 China School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Background：Magnetic anchored surgical instruments （MASI）,relying on magnetic force,can break through the limitations of the single port approach in *** characteristic abdominal wall thickness （ICAWT） deeply influences magnetic force that determines the safety of *** purpose of this study was to research the abdominal wall characteristics in MASI applied environment to find ICAWT,and then construct an artful method to predict ICAWT,resulting in better safety and feasibility for ***：For MASI,ICAWT is referred to the thickness of thickest point in the applied *** determined ICAWT through finding the thickest point in computed tomography *** also investigated the traits of abdominal wall thickness to discover the factor that can be used to predict ***：Abdominal wall at C point in the middle third lumbar vertebra plane （L3） is the thickest during chosen *** layer thickness plays a more important role in abdominal wall thickness than muscle layer thickness.＂BMI-ICAWT＂ curve was obtained based on abdominal wall thickness of C point in L3 plane,and the expression was as follow：f（x） =P1 × x^2 ＋ P2 x x ＋ P3,where P1 =0.03916 （0.01776,0.06056）,P2 =1.098 （0.03197,2.164）,P3 =-18.52 （-31.64,-5.412）,R-square：***：Abdominal wall thickness of C point at L3 could be regarded as *** could be a reliable predictor of *** the light of ＂BMI-ICAWT＂ curve,we may conveniently predict ICAWT by BMI,resulting a better safety and feasibility for MASI.

关键词： Individual Characteristic Abdominal Wall Thickness Magnetic Anchored Surgical Instruments Minimally Invasive Surgery

来源：评论

学校读者我要写书评

暂无评论

Controlling force in polarization-maintaining fiber fused biconical tapering

引用

Mathematical Problems in Engineering 2015年第1期2015卷

作者： Zhang, Wei Rong, Weibin Wang, Lefeng Zheng, Qing Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China AVIC Xi'An Flight Automatic Control Research Institute Xi'an710065 China

Fused biconical tapering (FBT) is an important method of manufacturing polarization-maintaining fiber (PMF) couplers. However, the tension on the ends of the fibers can affect the performance of the coupler. In this paper, a computer-based method of controlling the drawing force was presented. The system includes a drawing mechanism, rotary position encoders, and a control circuit. A three-dimensional model of a permanent magnet and a coil is constructed, and the relationship among the coil current, rotation angle of the clamp, and electromagnetic force is determined using finite element simulations. Electromagnetic force control based on these simulations can be realized. The method is verified experimentally, and it is shown that a drawing force of 0-1.8 gf can be achieved with an error of within 3.04%. This result can be used in the FBT-based manufacture of fiber components such as fiber couplers and gratings. © 2015 Wei Zhang et al.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Nanorobots: Magnetically Propelled Fish-Like Nanoswimmers (Small 44/2016)

引用

Small 2016年第44期12卷

作者： Tianlong Li Jinxing Li Hongtao Zhang Xiaocong Chang Wenping Song Yanan Hu Guangbin Shao Elodie Sandraz Guangyu Zhang Longqiu Li Joseph Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA

来源：评论

学校读者我要写书评

暂无评论

Nanotubes: Nanoconfined Atomic Layer Deposition of TiO2/Pt Nanotubes: Toward Ultrasmall Highly Efficient Catalytic Nanorockets (Adv. Funct. Mater. 24/2017)

引用

Advanced Functional Materials 2017年第24期27卷

作者： Jinxing Li Wenjuan Liu Jiyuan Wang Isaac Rozen Sha He Chuanrui Chen Hyun Gu Kim Ha‐Jin Lee Han‐Bo‐Ram Lee Se‐Hun Kwon Tianlong Li Longqiu Li Joseph Wang Yongfeng Mei Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 P. R. China Department of Materials Science and Engineering Incheon National University Incheon 22012 Republic of Korea School of Materials Science and Engineering Pusan National University Busan 46241 Republic of Korea Department of Materials Science Fudan University Shanghai 200433 P. R. China

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：