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Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

Chinese Journal of Mechanical Engineering 2013年第4期26卷 801-812页

作者： ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

关键词： heavy-duty six-legged robot articulated torque MATLAB static simulation analysis ADAMS

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Center of mass and its domain for heavy hexapod robots

Center of mass and its domain for heavy hexapod robots

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International Conference on Mechatronics and Control (ICMC)

作者： Liang Ding Yiqun Liu Haibo Gao Ma Jin Zhen Liu Nan Li Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

Center of mass domain of a hexapod robot must be determined in order to analyze the mobility performance and accomplish the high-fidelity simulation. Hexapod robot is simplified as a system of particles based on the structure characteristics of the developed hydraulically actuated hexapod robot. Position vectors of all mass points are established by coordinate transformation. Center of mass position in any gesture and its domain of a hexapod robot are derived. Simulation platform is established based on Vortex. Position control functions of hydraulic cylinders are solved according to the motion planning and the geometric relationship of robot. Simulation of walking process by using the proposed mass center position is completed. Hexapod robot prototype is developed, and centroid position of the body is measured according to the force sensors installed on the foot of the robot. Correctness of theoretical analysis results is proved. Walking tests of the robot prototype are accomplished, and the results show that simulation curves and experimental curves of foot force are consistent. Rationality and feasibility of the center of mass calculation method is verified, and this method can be applied for other types of robots.

关键词： Legged locomotion Robot kinematics Force Joints Thigh Foot

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Tele-assembly system for final assembly of the fusion ignition target

Tele-assembly System for final assembly of the fusion igniti...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Zou Weibin Rong Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

This paper presents a novel way for final assembly of the fusion ignition target to avoid possible factitious interference during target assembly process and harm from target materials. Tele-assembly is adopted and a target tele-assembly system is developed in this paper. The system not only has local precision positioning unit and vacuum adsorption clamping unit but also has remote force and position monitoring units, augment reality unit and master manipulator. Structure of the target tele-assembly system, augment reality and master-slave method are discussed. Finally, experiments are carried out to verify the feasibility and effectiveness of the target tele-assembly system.

关键词： Assembly Ignition Accuracy Monitoring Solid modeling Master-slave Virtual reality

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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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IEEE International Conference on Progress in Informatics and Computing (PIC)

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

ISBN: (纸本)9781479920327

Virtual Reality (VR) presents a promising future in the field of rehabilitation due to its advantages brought to the 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 to help provide assistance for patients who survive stroke but remain hemiplegic to complete rehabilitation exercise. The method involved utilizes ROS (Robot Operating system) and Gazebo (a multi-robot simulator) to set up an interesting virtual scene of daily life in a 3D world to facilitate the patients to move 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 set in a modern kitchen is presented.

关键词： Joints Training Robot sensing systems Visualization Three-dimensional displays Medical treatment

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Analysis on the Performance of the SLIP Runner with Nonlinear Spring Leg

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 892-899页

作者： YU Haitao LI Mantian CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology

The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and ***,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic *** leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear *** apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed *** basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness *** numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed *** addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness *** perturbation recovery test is implemented to judge the ability of the model resisting large external *** result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular *** research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.

关键词： spring-loaded inverted pendulum legged locomotion apex return map nonlinear spring

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Crashworthiness Analysis on Alternative Square Honeycomb Structure under Axial Loading

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 784-792页

作者： LI Meng DENG Zongquan GUO Hongwei LIU Rongqiang DING Beichen State Key Laboratory of Robotics and System Harbin Institute of Technology

Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.

关键词： crashworthiness alternative square honeycomb energy-absorption characteristic response surface methodology numerical simulation

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Strategies to Optimize Fingertip Force for Impedance Control of Robot Hand Based on Ethercat

Strategies to Optimize Fingertip Force for Impedance Control...

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2014 Asia-Pacific Computer Science and Application Conference(CSAC 2014)

作者： Mingxin Hou Li Jiang Minghe Jin Hong Liu Zhaopeng Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center

This study proposes a method of an optimized fingertip force model based on impedance *** method consists of two models:In the first step,Broyden-Fletcher-Goldfarb-Shanno(BFGS) is unconstrained impedance control for single robot finger that allows the efficiency of the fingertip force ***,the proposed multi-fingers model is based on Karush-Kuhn-Tucker(KKT) optimality conditions that satisfy the Lagrange inequality constraint *** method is particularized for HIT/DLR dexterous hand II with five fingers and the performance of the two controllers are proven in two experiments.

关键词： Strategies to Optimize Fingertip Force for Impedance Control of Robot Hand Based on Ethercat

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Back Cover: Room-Temperature Synthesis of Covalent Organic Frameworks with a Boronic Ester Linkage at the Liquid/Solid Interface (Chem. Eur. J. 51/2016)

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Chemistry – A European Journal 2016年第51期22卷 18632-18632页

作者： Chunhua Liu Yanxia Yu Prof. Dr. Wei Zhang Prof. Dr. Qingdao Zeng Prof. Dr. Shengbin Lei State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150080 P. R. China College of Chemistry Chemical Engineering and Materials Science Soochow University Suzhou 215123 P. R. China CAS Key Laboratory of Standardization and Measurement for Nanotechnology CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology (NCNST) Beijing 100190 P. R. China Department of Chemistry School of Science and Collaborative Innovation Center of Chemical Science and Engineering Tianjin University Tianjin 300072 P. R. China

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Gradient projection method of kinematically redundant manipulator based on improved scale factor

Gradient projection method of kinematically redundant manipu...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Shaotian Lu Jingdong Zhao Li Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper firstly introduces the research status of gradient projection method (GPM) of redundant manipulator, then presents a 7-DOF (degree of freedom) redundant manipulator composes of a 3-DOF shoulder joint, a 1-DOF elbow joint, and a 3-DOF wrist joint. Different from many other 7-DOF redundant manipulators, shoulder and wrist joints of the manipulator presented in paper are not spherical joints. The GPM is provided for inverse kinematics analysis. Scale factor is an important parameter in GPM, if the scale factor is utilized improperly, it can cause the GPM invalid or enable computational efficiency low. In this paper the improved scale factor is proposed in GPM. At last, the simulations of the GPM based on fixed scale factor, balanced scale factor and improved scale factor method are compared, the simulations demonstrated the improved scale factor method can overcome velocity impulses shortcoming of the fixed scale factor method, and rectify deficiency of the balanced scale factor method.

关键词： Joints Manipulators Kinematics Optimization Indexes Angular velocity Algorithm design and analysis

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Research on 3D reconstruction for robot based on SIFT feature

Research on 3D reconstruction for robot based on SIFT featur...

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IEEE Workshop on Advanced Research and Technology in Industry Applications (WARTIA)

作者： Qiubo Zhong Jie Zhao State Key Laboratory Of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN

On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization.

关键词： Robot kinematics Three-dimensional displays Feature extraction Cameras Accuracy Service robots

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