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IEEE International Conference on robotics and Biomimetics

作者： Bangxiang Chen Yanhe Zhu Jie Zhao Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781467396769

Soft robots have shown amazing moving ability through a variety of motion patterns including bending, contraction, extension and twisting, leading to an extraordinary adaptability to complex environments. Pneumatic actuators and SMA are already used to achieve the softness, new materials are still waiting to thrive the field. Ferrofluid is a kind of novel smart material which can be controlled by a gradient magnetic field. In this paper, the concept of a ferrofluid soft robot is introduced for the first time. A prototype called Soft-ball is designed to test the potential of the soft robot. Soft-ball is made by putting ferrofluid into a soft shell so that it provides both characteristics of ferrofluid and softness. It is tested that Soft-ball can alter shapes or change position with the gradient of the magnetic field. To investigate its performance on different environments, Soft-ball passes several obstacles of different shapes in a series of experiments. Eventually we demonstrate that the design has the potential of adaptability to complex environments.

关键词： extension twisting complex environments

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Design and analysis of a linear ultrasonic motor with composite bending and torsional vibration modes

Design and analysis of a linear ultrasonic motor with compos...

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作者： Wang, He Long Chen, Wei Shan Liu, Jun Kao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783038351221

A new type linear ultrasonic motor using the second-order bending and the first-order torsional modes (2B-1T) is proposed. The ultrasonic motor has double driving feet and the continuous linear motions of sliders are realized by the frictional force between stator and sliders. In this new design, bending vibration is excited by d33 mode, which controls the preload pressure, and torsional vibration is excited by d15 mode, which generates the driving force. The elliptical motion trajectories of the double-driving feet are achieved when the phase difference of the two modes is 90° in time and space. The working principle of the ultrasonic motor using 2B-1T is simulated. After the parametric model of the stator is designed using ANSYS APDL, the sensitive analysis of structural parameters are gained with modal analysis and the characteristics and trajectories of driver feet are studied by transient analysis. These results can provide theoretical basis for the development of this new type ultrasonic motor. © (2014) Trans Tech Publications, Switzerland.

关键词： Stators

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Deployed profile synthesis of deployable Bricard mechanism

Deployed profile synthesis of deployable Bricard mechanism

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Hailin Huang Zhiyuan Yan Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong Province P. R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

This paper deals with the geometric design of the deployable mechanisms based on intuitive projective approach. Firstly, the deployed and folded configurations for the spatial single-loop polygon structure is defined. Secondary, two special planes, the deployed plane and the folded plane, are defined based on the deployed and the folded configurations respectively. Then the geometric parameters of the deployable mechanisms can be determined by projecting the joint axes onto the deployed plane and folded plane, following which we can obtain the relative position of the adjacent two joint axes in one link. By employing the Bricard mechanism as an example, we show the detailed design procedures of the proposed design methodology for the geometric design of the single-loop and multi-loop Bricard-based deployable mechanisms.

关键词： Joints Mathematical model Shape Bars Couplings Solid modeling Periodic structures

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Ethercat slave controller via an asynchronous 16 bit μController algorithm based on FPGA

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ICIC Express Letters, Part B: Applications 2014年第2期5卷 421-426页

作者： Jiang, Li Hou, Mingxin Zhang, Yuanfei Chen, Zhaopeng Liu, Hong School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

A novel 16 bit Asynchronous μController based on FPGA state machine algorithm for the EtherCAT Slaved during write and read access is described in this paper. The present study focuses on the Schematic of μController interconnection between FPGA and ESC based on the VHDL state machine algorithm, which includes fifteen states. In addition, the performance of the Asynchronous μController was verified through numerical simulations. Finally, we found the simulations give further evidence that the 16 bits Asynchronous μController signals can satisfy two write access and a read accesses requirements for the EtherCAT Slave Controller. © 2014 ISSN 2185-2766.

关键词： Field programmable gate arrays (FPGA)

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Biomimetic inspiration for PKM torso design in humanoid robots

Biomimetic inspiration for PKM torso design in humanoid robo...

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IEEE International Conference on Mechatronics and Automation

作者： Hulin Huang Ceccarelli Marco Weimin Zhang Qiang Huang Zhangguo Yu Xuechao Chen Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479970995

A new torso design of humanoid robot is proposed as a 3-DOF PKM (Parallel Kinematic Manipulator) structure by using results of a biomimetic analysis of torso in humans and animals. Main characteristics of torso in nature are presented from which design requirements are outlined for a solution in humanoid robot. The PKM torso is consist of two platforms and four UPU mechanisms. The usefulness of such a biomimetic inspiration is proved by a numerical simulation of the proposed PKM torso in its basic movements.

关键词： Torso Humanoid robots Joints Thorax Horses Payloads

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SIFT algorithm-based 3D pose estimation of femur

SIFT algorithm-based 3D pose estimation of femur

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作者： Zhang, Xuehe Zhu, Yanhe Li, Changle Zhao, Jie Li, Ge State Key Laboratory of Robotics and System Harbin Institute of Technology 2 Yikuang Street Harbin Heilongjiang China

To address the lack of 3D space information in the digital radiography of a patient femur, a pose estimation method based on 2D-3D rigid registration is proposed in this study. The method uses two digital radiography images to realize the preoperative 3D visualization of a fractured femur. Compared with the pure Digital Radiography or Computed Tomography imaging diagnostic methods, the proposed method has the advantages of low cost, high precision, and minimal harmful radiation. First, stable matching point pairs in the frontal and lateral images of the patient femur and the universal femur are obtained by using the Scale Invariant Feature Transform method. Then, the 3D pose estimation registration parameters of the femur are calculated by using the Iterative Closest Point (ICP) algorithm. Finally, based on the deviation between the six degrees freedom parameter calculated by the proposed method, preset posture parameters are calculated to evaluate registration accuracy. After registration, the rotation error is less than l.5, and the translation error is less than 1.2 mm, which indicate that the proposed method has high precision and robustness. The proposed method provides 3D image information for effective preoperative orthopedic diagnosis and surgery planning. © 2014 - IOS Press and the authors.

关键词： Computerized tomography

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Dynamic analysis and optimization for wafer handling robot

Dynamic analysis and optimization for wafer handling robot

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2014 3rd International Conference on Intelligent system and Applied Material, GSAM 2014

作者： Wu, Ming Yue Liu, Yan Jie Cai, He Gao Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin 150080 China

ISBN: (纸本)9783038350361

Aiming at suppressing the vibration of low-frequency, a procedure of dynamic optimization of wafer handling robot is presented. The dynamic model of wafer handling robot is firstly build, and following that the dynamic characteristics of the robot are analyzed to find the main parameters which will influence the natural frequency. Then, the numerical procedure of the optimization of the natural frequency is introduced, and the constraint functions are obtained by considering the workspace and the structure of the robot. And at the end, as a case study, the procedure is applied to a wafer handling robot. Optimization result shows that the natural frequency is enhanced to 32.56Hz after the optimization. © (2014) Trans Tech Publications, Switzerland.

关键词： Natural frequencies

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Method of discrete type rotational symmetric triangulation and its applications

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2015年第8期26卷 1526-1535页

作者： Zhang, Xu Fei, Kai School of Mechatronic Engineering and Automation Shanghai University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

Traditional laser triangulation measurement has a feature of directional dependence, so the method can lead to the accuracy decrease while measuring the discontinuous surfaces (hole plane, step plane, etc.) or cannot measure them. This paper presents a discrete rotational symmetric triangulation system, where the incident laser is the rotation axis, and the emergent light (lenses and mirrors) and receiving sensor have the characteristic of circular pattern. Firstly, system's constraint model and light point & height mapping model are established with the Scheimpflug condition. Secondly, this paper simulates the imaging feature in the condition of different depths, analyzes the performance of different subjects' surfaces when the surface is tilted or shaded, and verifies the superiority that the method can overcome the directional dependence. Finally, the paper establishes the prototype system and conducts the single-point and step plane experiments. Comparing the contact measurement, the experimental results show that the prototype system can measure the step plane well and has a long measurement range with 0.027 mm accuracy at least. ©, 2015, Board of Optronics Lasers. All right reserved.

关键词： Triangulation

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Self-Propulsion: Superfast Near-Infrared Light-Driven Polymer Multilayer Rockets (Small 5/2016)

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Small 2016年第5期12卷

作者： Zhiguang Wu Tieyan Si Wei Gao Xiankun Lin Joseph Wang Qiang He State Key Laboratory of Robotics and System (HIT) Micro/Nanotechnology Research Center Harbin Institute of Technology Harbin 150080 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA

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Study on linear vibration model of shield TBM cutterhead driving system

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International Journal of Acoustics and Vibrations 2014年第2期19卷 89-106页

作者： Li, Xianhong Yu, Haibin Zeng, Peng Yuan, Mingzhe Han, Jianda Sun, Lanxiang Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China

In this paper, a general linear time-varying multiple-axis (LTVMA) vibration model of shield tunnel boring machine (TBM) cutterhead driving system is established. The corresponding multiple inputs and multiple outputs (MIMO) state-space model is also presented. The linear vibration model is analysed, and the vibration-torque transfer function matrix and the vibration-torque static gain matrix are obtained. The linear vibration model is simulated, and the physical parameters' effects on the vibration response are investigated. A preliminary approach is proposed to reduce vibration by increasing motor rotor inertia and viscous damped. The LTVMA vibration model provides a solid foundation for fault detection and diagnosis (FDD), as long as the health monitoring of cutterhead driving system.

关键词： Fault detection

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