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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Wang, Yan Liu, Rong Qiang Yang, Hui Wang, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038352570

The design flow of deployable support structures is proposed based on modal analysis, and the finite element model for DST of satellite SAR is researched. On these bases, the affecting factors of DST attitude fundamental frequency (f1) and mass, such as geometry parameters, the lock position, stiffness of hinges and thickness of truss links, are analyzed and optimized. Lastly, considering of space thermal environment the optimal design of the DST is meted the requirements under different thermal fields. The research results are of great importance to improve the performances of DST. © (2014) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Effects of a passive dynamic walker’s mechanical parameters on foot-ground clearance

Effects of a passive dynamic walker’s mechanical parameters...

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2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014

作者： Liu, Xin Yu Zang, Xi Zhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038353287

Unlike human beings, a robot will fall without a sufficient walking foot-ground clearance, which is essential to a success walking. However, to obtain less calculating time and simpler analysis, foot scuffing is ignored in most studies during numerical simulations of passive dynamic walkers which can walk down a gentle slope and are actuated only by their own gravity. So this paper initials a study on the effects of a passive dynamic walker’s mechanical parameters on foot-ground clearance and the results can be used to make a further parameters optimization based on walking stability analysis. A passive dynamic walking model with a hip joint, knee joints, ankle joints and an upper body and a prototype were built and numerical simulations were implemented to analyze the effects of mechanical parameters on foot-ground clearance. Finally, the results were validated in prototype experiments. © (2014) Trans Tech Publications, Switzerland.

关键词： Dynamics

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Folding and deployment of a new thin-walled tube flexible hinge 4

Folding and deployment of a new thin-walled tube flexible hi...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Yang, Hui Liu, Rong Qiang Guo, Hong Wei Tao, Jian Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038352570

A new thin-walled tube flexible hinge with six slots is proposed. The slot geometry is parameterized in terms of slot width, length and distance between two adjacent slots. The experiment for tension test of the thin-walled tube hinge with six-slots is conducted by INSTRON and the tensile stress-strain curve is measured. Finite element analysis to investigate the quasi-static folding and deployment of the new hinges by ABAQUS/Explicit solver are employed to perform a series of parameter studies for the slots longitude length l0, the slot width w and the distance d between two adjacent slots. © (2014) Trans Tech Publications, Switzerland.

关键词： ABAQUS

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Design and development of simulation system for minimally invasive surgery robot

Design and development of simulation system for minimally in...

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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Yue, Ai Bo, Pan Yili, Fu Shuguo, Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479941001

This paper developed a simulation system for the training minimally invasive surgery (MIS). The simulation system has the capacity of providing the user with the security and real learning environment. The simulation system adopted Omega7 force sensing device as the input equipment offering position and posture information to the virtual robot. On the basis of the actual surgery robot model, we run the kernel simulation algorithm, which makes the surgical robot in the virtual environment imitate the real robot to complete operation action. At the same time, the user can be allowed to interact with the control panel in the interface, which has the same function as the real console, to control the virtual robot.

关键词： Instruments Manipulators Minimally invasive surgery Robot kinematics Solid modeling Minimally invasive surgery robot Simulation Virtual reality

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Working principle and design of a linear ultrasonic motor with ring-type stator

Working principle and design of a linear ultrasonic motor wi...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ji-peng Yan Ying-xiang Liu Sheng-jun Shi Xiu-hua Ni Huai-yin Xiong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Shanghai Radio Equipment Research Institute Shanghai P. R. China

This paper presents a new idea for constructing ring-type linear ultrasonic motor. The stator of proposed motor contains two driving feet, sixteen pieces of piezoelectric ceramic plates and three rings-inner ring, middle ring and outer ring. The proposed ultrasonic motor forms elliptical movements on the driving feet by the superposition of stretching and bending vibration of the metal rings. This paper presents the working principle of proposed motor. By using FEM method, the proposed motor is designed and analyzed. By adjusting the structure parameters, the resonance frequencies of two working modes were tuned to be close. And by transient analysis, the elliptical motion trajectories of nodes on the driving feet are obtained and verify the theoretical feasibility.

关键词： Stators Ceramics Vibrations Trajectory Piezoelectricity Acoustic waves

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Dynamics analysis and experiments of an underactuated cable-truss mechanism

Dynamics analysis and experiments of an underactuated cable-...

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International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014

作者： Liu, Rong Qiang Shi, Chuang Wu, Nan Guo, Hong Wei State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China

ISBN: (纸本)9783038352464

While many researchers have investigated the dynamics analysis of underactuated mechanisms in recent years, little work has been published on that with underactuated cable-truss mechanism. Dynamics analysis has important significance in the research of trajectory planning, driven project designing and the optimization design of the mechanisms. The mechanism dynamics equations were established based on Lagrange equation and the dynamics equations corresponding to the capture scheme that has been chosen were separately listed. To prove the correctness of the dynamics analysis, the simulation of the capture scheme was presented. Some capture experiments were done in order to verify the adaptive capture function of the underactuated cable-truss mechanism. © (2014) Trans Tech Publications, Switzerland.

关键词： Dynamics

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The calibration for dual-robot system based on the three-point method

The calibration for dual-robot system based on the three-poi...

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2014 International Conference on Applied Sciences, Engineering and Technology, ICASET 2014

作者： Kong, Min Xiu Yu, Guang Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China

ISBN: (纸本)9783038351849

According to the calibration problem of the dual-robot system, a simple and quick calibration method is proposed in this paper. A new frame is established by the three non-collinear points which the robots handshake at. Then the transformation matrix between the first robot base frame and the new frame and the transformation matrix between the second robot base frame and the new frame will be known. After that, the transformation matrix between the two robots' base frames will be calculated by the relationship between them. Then we simulate this algorithm in MATLAB to verify this method. After the simulation, we can find the validity of this calibration method. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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A feedback-based CPG control method for a single-legged hopping robot

A feedback-based CPG control method for a single-legged hopp...

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2014 International Conference on Frontiers of Advanced Materials and Engineering Technology, FAMET 2014

作者： Wang, Ting Ting Zha, Fu Sheng Wang, Peng Fei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9783038350774

Biological CPG (central pattern generator) is responsible for the generation of animals' rhythmic motion such as hopping and running. In this paper, a novel feedback-based CPG control method is proposed, in which output of the CPG network is totally activated and contained by sensory feedbacks. The network responses to environment changes quickly with multi-feedbacks included, and has strong adaption to disturbance and non-flat terrain. This control method is applied to the controlling of a single-legged hopping robot to show the effectiveness of the approach. The simulation results prove that this control mechanism closely couples environment and robot motion, and dynamically stable hopping emerges from feedbacks contained in the neural networks. © (2014) Trans Tech Publications, Switzerland.

关键词： Feedback

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High order longitudinal and bending hybrid ultrasonic motor with new excitation

High order longitudinal and bending hybrid ultrasonic motor ...

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作者： Chen, W. Yang, X. Liu, Y. Liu, J. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A high order longitudinal and bending hybrid ultrasonic motor with new excitation is proposed in this study. In the new type motor, the locations of two sets of piezoelectric ceramics are the loops of bending vibration mode. By applying two alternating voltages to the ceramics, the second longitudinal and the fifth bending vibrations will be superimposed, that make the points of the driving feet to move elliptically. The finite element method is adopted to realise two phase vibration frequency degeneration. The vibration locus of the driving feet is obtained by means of transient analysis;elliptical trajectories are observed, which verify the driving principle of the new type motor. The impedance characteristics, the vibration modes and mechanical ability of the new motor are verified by prototype tests. When the excitation voltage is 450 Vp-p, the maximum noload speed and the maximum output force of the prototype are 439 mm s-1 and 37 N respectively. © W. S. Maney & Son Ltd. 2014.

关键词： Piezoelectric ceramics

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A sEMG recording system

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key Engineering Materials 2014年 620卷 465-470页

作者： Gao, Yongsheng Bai, Jie Wang, Shengxin Zhao, Jie Li, Xiaoyan State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China Electrical Engineering and Automation Tianjin University 300072 Tianjin China

ISBN: (纸本)9783038351856

The sEMG (surface electromyographic) plays a significant role in the rehabilitation medicine, particularly in exoskeleton robotic treatment. A sEMG recording system using STM32F407 DISCOVERY development board and Labview software, combined with multiple signal acquisition sensors was proposed in this paper. The UC/OS-II operating system was embedded in the STM32F407 micro controller so that multiple channels can be picked up from different sensors at the same time. Due to the characteristics of STM32F407 microcontroller;the largest acquisition channels can be up to 16, and multiple signals can be collected such as the sEMG, angle trajectory, acceleration, torque etc. The use of DISCOVERY development board and Labview has reduced development cycle to a greater extent and resulted large improvement in work efficiency. © (2014) Trans Tech Publications, Switzerland.

关键词： Microcontrollers

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