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2014 2nd Asian Pacific Conference on Mechatronics and Control Engineering(APCMCE 2014)

作者： Hongwei Guo Zhongjie Li Zongquan Deng Chuang Shi Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel intermittent mechanism and low-impact deployment hinge based on intermittent mechanism are presented in this paper. This application is contemplated to lower the impact dramatically at the end of hinge deployment. The overall deployment process is described and the maximum impact force and angular velocity are derived. The effect of the intermittent motion mechanism on free spring deployable hinges is evaluated by indexes of maximum angular velocity and impact force. Cases are simulated to verify the mechanism design, and results show that the maximum angular velocity and impact force can be decreased by more than 90%.

关键词： Low-impact Hinge Mechanism Intermittent mechanism Impact Simulation

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STUDY ON THE OUTPUT PERFORMANCES OF A T-SHAPE PIEZOELECTRCI MOTOR UNDER DC AND IMPULSE VOLTAGE EXCITATIONS

STUDY ON THE OUTPUT PERFORMANCES OF A T-SHAPE PIEZOELECTRCI ...

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2014年全国压电和声波理论及器件应用研讨会

作者： Ying-xiang LIU Wei-shan CHEN Xiao-hui YANG Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

＜正＞Background,Motivation and Objective Piezoelectric motors have been seen as successor of the electromagnetic ones in areas such as robot joints,high precision machines,micro robots,and *** exhibit merits of simpl... 详细信息

关键词： Piezoelectric motor T-shape Longitudinal vibration Nanometer positioning

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Design and evaluation of a parallel-series elastic actuator for lower limb exoskeletons

Design and evaluation of a parallel-series elastic actuator ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yanhe Zhu Jixing Yang Hongzhe Jin Xizhe Zang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper presented a novel compliant actuator used for lower limb exoskeletons. The compliant joint consists of a series elastic actuator (SEA) and parallel elastic (PE) unit. SEA has various advantages as the actuator of assistive exoskeletons, such as low output impedance, impact absorption, precise force control and high stability. We designed and fabricated a novel SEA as the primary joint actuator which is compact, adjustable and low-cost. Meanwhile an additional elastic unit is installed in parallel with the SEA to improve energy utilization by storing and releasing energy during motion cycles. An adaptive stable controller is designed to realize the joint following motion to a virtual limb. The algorithm can identify and compensate the undetermined contact stiffness between the joint output and the virtual limb. Finally, the performance of the actuator is evaluated through motion tracking and energy-conservation experiments. Preliminary results indicate the validity of the design and imply its potential usage in lower limb exoskeletons.

关键词： Joints Exoskeletons Springs Actuators Force Torque Brushless motors

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On-line Identification of Line Segments using Hypothesis Testing for Robot Mapping

On-line Identification of Line Segments using Hypothesis Tes...

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2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth(METMG 2014)

作者： Guanglei Huo Lijun Zhao Ruifeng Li Ke Wang Mingrui Lv State key laboratory of robotics and system Harbin Institute of Technology

A novel features identification method is proposed for mobile robot indoor environment perception. In this paper, firstly, multi-dimensional data space is building based on laser scanner data, in which corner point is located by hypothesis testing theory. Secondly, line segments are obtained and localized by fitting method, which are previously estimated using probability model. At last, experiments verify the efficiency of proposed algorithm in indoor environment.

关键词： Segment features Hypothesis testing Robot localization Mapping

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A ROS/Gazebo Based Method in Developing Virtual Training Scene for Upper Limb Rehabilitation

A ROS/Gazebo Based Method in Developing Virtual Training Sce...

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2014 IEEE International Conference on Progress in Informatics and Computing

作者： Zhijiang Du Yixuan Sun Yanyu Su Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology

Virtual Reality(VR) presents a promising future in the field of rehabilitation due toits advantages brought tothe training process as is indicated in many articles and researches. In this paper, we describe a novel method in developing a virtual training environment for a 5 degrees of freedom(DOF) upper limb rehabilitation robot which has been designed tohelp provide assistance for patients whosurvive stroke but remain hemiplegic tocomplete rehabilitation exercise. The method involved utilizes ROS(Robot Operating system) and Gazebo(a multi-robot simulator) toset up an interesting virtual scene of daily life in a 3D world tofacilitate the patients tomove their affected arms with synchronous visual feedback and interact with the virtual training task. The control method of human model in the virtual world and the communication mechanism between the host machine which controls movement of the real robot and the master machine which runs the VR will be introduced. Finally, a virtual training environment containing reaching task setin a modern kitchen is presented.

关键词： virtual reality(VR) ROS/Gazebo upper limb rehabilitation robot

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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A vacuum microgripping tool with integrated vibration releasing capability

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Review of Scientific Instruments 2014年第8期85卷 085002-085002页

作者： Rong, Weibin Fan, Zenghua Wang, Lefeng Xie, Hui Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Pick-and-place of micro-objects is a basic task in various micromanipulation demands. Reliable releasing of micro-objects is usually disturbed due to strong scale effects. This paper focuses on a vacuum micro-gripper with vibration releasing functionality, which was designed and assembled for reliable micromanipulation tasks. Accordingly, a vibration releasing strategy of implementing a piezoelectric actuator on the vacuum microgripping tool is presented to address the releasing problem. The releasing mechanism was illustrated using a dynamic micro contact model. This model was developed via theoretical analysis, simulations and pull-off force measurement using atomic force microscopy. Micromanipulation experiments were conducted to verify the performance of the vacuum micro-gripper. The results show that, with the assistance of the vibration releasing, the vacuum microgripping tool can achieve reliable release of micro-objects. A releasing location accuracy of 4.5±0.5 μm and a successful releasing rate of around 100% (which is based on 110 trials) were achieved for manipulating polystyrene microspheres with radius of 35-100 μm. © 2014 AIP Publishing LLC.

关键词： Piezoelectric actuators

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Design and analysis of a piezostack driven jetting dispenser for high viscosity adhesives

Design and analysis of a piezostack driven jetting dispenser...

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

作者： Shizhou Lu Yaxin Liu Yufeng Yao Bo Huang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology(Weihai) Weihai China

The paper presents a new type of piezostack driven jetting dispenser, which can be applied to dispense high viscosity adhesives in microelectronic packaging process. According to the bond graph technique, a dynamic model and governing equations are derived from integrating the sub-models of the electromechanical part and the fluid part of the dispenser. Based on the proposed model, the jetting dispenser is manufactured, and its performance is then evaluated through both computer simulation and experimental investigation. The results verify the dispenser's jetting ability and the model's validity, and provide support for the design and control studies of the proposed dispenser.

关键词： Needles Mathematical model Computational modeling Viscosity Force Springs

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Optimization design for complex pipelines inside electromechanical products based on flow resistance loss

Optimization design for complex pipelines inside electromech...

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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Haibo, Feng Yili, Fu Lyi, L. School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479941001

Optimization design for complex pipelines inside electromechanical products is a very difficult task within complex products such as cars, planes, ships and rockets. Thus, an optimization design for complex pipelines is proposed based on the flow resistance loss in this paper. The basic framework of the design includes three parts like pre-processing, evalution model and optimization search algorithm. Firstly, Monte Carlo pre-processing model is established to effectively reduce the complexity of the optimizaton design. Also, flow resistance loss model of complex pipelines with branches is constructed to evaluate design. Moreover, a novel particle swarm optimization (PSO) algorithm is presented to find an approximate optimal design. Finally, the comparison experiments and examples demonstrate that the optimization design is effective and practical.

关键词： Algorithm design and analysis Equations Mathematical model Monte Carlo methods Optimization Pipelines Resistance Flow resistance loss Monte Carlo Optimization design Preprocessing mode

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Study of bifurcation and chaos in DC-DC boost converter using discrete-time map

Study of bifurcation and chaos in DC-DC boost converter usin...

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International Conference on Mechatronics and Control (ICMC)

作者： Sajid Iqbal Xizhe Zang Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781479925391

This paper aims to present an investigation of bifurcation and chaos in a DC-DC boost converter using a discrete-time map. For a discrete-time (iterative) map of the converter, the time series plot and the bifurcation diagram were drawn. Both these nonlinear analysis tools confirmed that this power electronics circuit exhibits bifurcation patterns and chaotic dynamics. It is also demonstrated that discrete-time modeling approach is valuable in analyzing chaotic behavior. A brief literature review is also reported.

关键词： Chaos Bifurcation Power electronics Time series analysis Switches Orbits Mathematical model

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