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Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

Journal of Bionic Engineering 2014年第1期11卷 26-35页

作者： Jie Chen Yubin Liu Jie Zhao He Zhang Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

关键词： biomimetic design legged robot optimal control biological movement principle Gauss pseudospectral method

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Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

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Journal of Central South University 2015年第12期22卷 4566-4577页

作者：李坤潘博高文朋封海波付宜利王树国 State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Life Science and Technology Harbin Institute of Technology

In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is *** on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external *** accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic *** and dynamic loading tests for this sensor prototype are carried *** working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational *** also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an *** sensor is compatible with surgical instruments for force feedback in RMIS.

关键词： force feedback force/torque sensor Stewart platform optimal design robot-assisted minimally invasive surgery

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Topological dependence of mechanical responses of solidification microstructures in aluminum brazed joints

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中国有色金属学会会刊：英文版 2003年第6期13卷 1296-1300页

作者：高峰钱乙余 D.P.Sekulic 马鑫 F.Yoshida State Key Laboratory of Advanced Production Technology Center for Robotics and Manufacturing Systems Department of Mechanical System Engineering

The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—load curve method for identifying the dependence. Topological features of a network of solidification microstructures(α phase and eutectic), formed during quench in a brazing process of aluminum alloy, influence significantly dynamic mechanical responses of resulting heterogeneous material. Nano/micro indentation depth vs load characteristics of differing phases suggest a spatially sensitive mechanical response of a re-solidified fillet in the joint zone. Hence, a spatial distribution, pattern formations and other morphological characteristics of microstructures have a direct impact on an ultimate joint integrity. Topology-induced variations of indentation—load curves was presented. A hypothesis involving microstructures’ spatial distribution vs mechanical response was formulated.

关键词：铝铜焊显微结构凝固拓扑相关机械响应焊接铝合金

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3D printing of high-precision and ferromagnetic functional devices

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International Journal of Extreme Manufacturing 2023年第3期5卷 646-656页

作者： Zhiyuan Huang Guangbin Shao Dekai Zhou Xinghong Deng Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001People’s Republic of China

The development of projection-based stereolithography additive manufacturing techniques and magnetic photosensitive resins has provided a powerful approach to fabricate miniaturized magnetic functional devices with complex three-dimensional spatial ***,the present magnetic photosensitive resins face great challenges in the trade-off between high ferromagnetism and excellent printing *** address these challenges,we develop a novel NdFeB-Fe_(3)O_(4) magnetic photosensitive resin comprising 20 wt.%solid loading of magnetic particles,which can be used to fabricate high-precision and ferromagnetic functional devices via micro-continuous liquid interface production *** resin combining ferromagnetic NdFeB microparticles and strongly absorbing Fe_(3)O_(4) nanoparticles is able to provide ferromagnetic capabilities and excellent printing quality simultaneously compared to both existing soft and hard magnetic photosensitive *** established penetration depth model reveals the effect of particle size,solid loading,and absorbance on the curing characteristics of magnetic photosensitive resin.A high-precision forming and ferromagnetic capability of the NdFeB-Fe_(3)O_(4) magnetic photosensitive resin are comprehensively *** is found that the photosensitive resin(NdFeB:Fe_(3)O_(4)=1:1)can print samples with sub-40μm fine features,reduced by 87%compared to existing hard magnetic photosensitive resin,and exhibits significantly enhanced coercivity and remanence in comparison with existing soft magnetic photosensitive resins,showing by an increase of 24 times and 6 times,*** reported NdFeB-Fe_(3)O_(4) magnetic photosensitive resin is anticipated to provide a new functional material for the design and manufacture of next-generation micro-robotics,electromagnetic sensor,and magneto-thermal devices.

关键词： magnetic device magnetic photosensitive resins 3D printing NdFeB Fe_(3)O_(4)

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Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

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Chinese Journal of Mechanical Engineering 2018年第2期31卷 45-53页

作者： Shang-Ling Qiao Rong-Qiang Liu Hong-Wei Guo Yu-Xuan Liu Zong-Quan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology College of International Cooperative Education Harbin Engineering University

Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.

关键词： Under?actuated robotic hand Tendon?pulley transmission Grasping space Configuration design

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Parameter optimization of controllable local degree of freedom for reducing vibration of flexible manipulator

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Chinese Journal of Aeronautics 2013年第2期26卷 487-494页

作者： Bian Yushu Gao Zhihui School of Mechanical Engineering and Automation Beihang University State Key Laboratory for Robotics and System (HIT) Harbin Institute of Technology

Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization （PSO）. Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.

关键词： Degrees of freedom Flexible manipulators Optimization Particle Swarm Optimization Vibration control

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A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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Analysis of period doubling bifurcation and chaos mirror of biped passive dynamic robot gait

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Chinese Science Bulletin 2012年第14期57卷 1743-1750页

作者： ZHAO Jie WU XiaoGuang ZANG XiZhe YAN JiHong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight *** fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model ***é mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking *** addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters ***,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in *** results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the *** a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the *** the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.

关键词：倍周期分岔步态分析机器人系统 Cantor集模型参数混沌动态行走参数配置

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Design and testing of one-dimensional nano-positioning stage with large travel range and high resolution

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Nami Jishu yu Jingmi Gongcheng/Nanotechnology and Precision Engineering 2012年第5期10卷 384-389页

作者： Rong, Wei-Bin Wu, Zhen-Guang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Design and performance testing of a one-dimensional nano-positioning stage with large travel range and high resolution are presented. Driven by dual piezoeletric actuators, the stage is developed based on differential leverage and flexible hinge. Flexible hinge stiffness, input reaction force, and amplification ratio are firstly analyzed based on material mechanics and structural vibration. The finite element analysis is used for validating amplification ratio and admissible stress. Finally, the experimental setup is developed and the performance of the stage is tested. The results show that the stage has a travel range of over 240 μm and a resolution of about 10 nm with the outsize of 80 mm × 60 mm × 20 mm. The proposed stage based on differential leverage can be used for large travel-range nano-positioning with high resolution.

关键词： Piezoelectric actuators

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