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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Yili Fu Anzhu Gao Hao Liu Kai Li Zhaoguang Liang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China First Clinical College Harbin Medical University Harbin Heilongjiang China

Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity. Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.

关键词： Surgery X-ray imaging Sensors Hospitals Robots Wheels

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Ping-Chun Xie Yu-Xian Gai Yan-Shen Wang Lian-Zheng Ge Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Provi State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Ha

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.

关键词： robot dynamic simulation RecurDyn gravity balance spring

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Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

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Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key Laboratory of Robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词： parallel manipulator forward kinematics global Newton-Raphson real-time system

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Scheme design of extended configuration for in-pipe robot adapting mechanism

Scheme design of extended configuration for in-pipe robot ad...

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International Conference on Measuring Technology and Mechatronics Automation

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 15001 China

ISBN: (纸本)9780769542966

The configuration design of in-pipe robot adapting mechanism has a significant impact on its motion performance. By analyzing the operation principle and structure composition of adapting mechanism, the four-bar linkage is chosen as basic unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, the configuration schemes that meet the given design constraints are also synthesized, and the application examples of specific mechanisms are given. Which provides a new method for configuration extended design of in-pipe robot adapting mechanism. © 2011 IEEE.

关键词： Topology

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Design method of modular units for articulated in-pipe robot inspecting system

Design method of modular units for articulated in-pipe robot...

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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 IEEE.

关键词： Machine design

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Modeling and analysis of a high acceleration and precision linear motor direct drive motion stage with bond graph approach

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Jiqiren/Robot 2011年第4期33卷 467-474页

作者： Sun, Lining Li, Teng Liu, Yanjie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

According to the characteristics of high acceleration and precision linear motor direct drive motion stage, global coupling dynamic modeling and analysis are performed in a wide bandwidth. The bond graph approach is used to build the global coupling dynamic model of motion stage, in which electrical parts, mechanical parts, flexible connection, and nonlinear friction in the system are considered. Based on the model, the influence of motor mechanical time constant, electrical time constant, friction and bolted connection on the system response performance are analyzed by Matlab/Simulink simulation language. The proposed model and analysis results reflect the basic features of this stage and influencing factors that can be ignored or need to be considered in system analysis and control. It lays a foundation for motor selection, system construction, trajectory planning and control algorithms design.

关键词： Linear motors

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Design optimization of parallel manipulators with required pose resolution

Design optimization of parallel manipulators with required p...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Hao Li Yuru Zhang Jian S. Dai State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing 100191 C Robotics Research Center Department of Mechanical Engineering Kings College London University of

Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example.

关键词： Manipulators Haptic interfaces Joints Optimization Kinematics Jacobian matrices Conferences

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Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

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Chinese Journal of Mechanical Engineering 2010年第1期23卷 80-87页

作者： YAO Yufeng ZHAO Jianwen HUANG Bo State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150081 China

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

关键词： redundant manipulators self-motion motion planning inverse kinematics

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Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

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Journal of Donghua University(English Edition) 2010年第3期27卷 400-406页

作者：姚玉峰赵建文孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as ***,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix *** this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion *** an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion *** the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

关键词： wheeled mobile manipulator self-motion non-holonomic constraint redundancy

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Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum Robot Based on DIT Parameterization

Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum R...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jizhuang Fan HongZhe Jin Jie Zhao JangMyung Lee State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGa School of Electrical Engineering Pusan National Univercity BusanKorea 609735

ISBN: (纸本)9781612843865

This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.

关键词： Single-wheeled pendulum robot Model reduction Parameterization Posture stabilization Gain scheduling

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