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检索条件"机构=State Key Laboratory^of Robotics and System"

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Design and primitive study of a cylindrical traveling wave ultrasonic motor using outer excitation

Design and primitive study of a cylindrical traveling wave u...

引用

International Symposium on Optomechatronic Technologies, ISOT

作者： Junkao Liu Shengjun Shi Weishan Chen Huijun Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A cylindrical traveling wave ultrasonic motor using outer excitation of two bending transducers is proposed in this paper. To avoid the drawbacks of conventional traveling wave ultrasonic motors, sandwich structure of PZT elements and d 33 mode of PZT are used here. Working principle and design analysis by means of FEM method are detailed. A prototype motor has been fabricated and tested. Although the tested results of output torque was not ideal as compared with desired, the original configuration idea has great potential to obtain strong out put in our further study on it.

关键词： Stators Transducers Acoustics Vibrations Resonant frequency Materials Shape

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Joint driver and control design for large torque, long arm space remote manipulator

Joint driver and control design for large torque, long arm s...

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International Conference on Information and Automation (ICIA)

作者： Chuangqiang Guo Fenglei Ni Jingting Sun Yechao Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper presents an overview of the structure and requirements of a ground engineering model for a space remote manipulator system, with long arm and large torque driver capacity. The system consists of a 6 DOFs robot arm composed of six identical modular joints, and a large-error tolerated end effector. A FPGA based joint controller hardware structure is built to form a distributed control scheme of the robot arm, while a fourth-order hybrid controller based on the joint torque feedback is adopted to reduce the influence of joint flexibility, brought by the harmonic drivers and torque sensor, on the control precision. A single-joint control experiment, designed to lift up a load at the tip of a link, about two meters in length, is used to test the ability of trajectory tracking in the gravity field.

关键词： Control design Torque control Manipulators Orbital robotics End effectors Field programmable gate arrays Hardware Distributed control Robot sensing systems Feedback

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Automatic localization of AC and PC landmarks in T2-weighted MR volumetric neuroimages

Automatic localization of AC and PC landmarks in T2-weighted...

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International Conference on Information and Automation (ICIA)

作者： Guangcai Zhang Yili Fu Shuguo Wang Wenpeng Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A novel method is presented for automatic identification of the anterior commissure (AC) and posterior commissure (PC) in T2-weighted MR volumetric images (MRI). AC and PC are two critical landmarks of human brain. It is important to accurately identify them for brain segmentation, registration, functional neurosurgery, human brain mapping, and particularly for the Talairach transformation. The algorithm of identifying them consists of four steps: (1) Identify the corpus callosum and select the region of interest; (2) Identify the fornix and locate the initial AC; (3) Segment part of the third ventricle and locate the initial PC; (4) Refine the positions of AC and PC. The algorithm has been validated quantitatively with 20 T2-weighted MRI data sets. The mean errors of the localization of them were 1.50 mm (AC) and 1.60 mm (PC). It took about 15 seconds for identifying them on P4 3.0 GHz. This fully automatic algorithm is potentially useful in clinic and for research.

关键词： Magnetic resonance imaging Humans Neurosurgery Shape robotics and automation Image segmentation Brain mapping Image analysis Anatomy Laboratories

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Design and analysis of a 6-DOF parallel robot used in artificial cervical disc replacement surgery

Design and analysis of a 6-DOF parallel robot used in artifi...

引用

International Conference on Information and Automation (ICIA)

作者： Heqiang Tian Dongmei Wu Zhijiang Du Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424457014;9781424457045

This paper presents the design of a 6-DOF parallel robot used in the artificial cervical disc replacement surgery, which is used to complete positioning and grinding between prosthesis and bone mating surfaces and whose moving platform is connected to the fixed platform by six UPS (Universal-Prismatic-Spherical) serial chains. In the paper, inverse position, a first-order static influence coefficient matrix, Jacobian matrix, and workspace factors are analyzed for the 6-UPS parallel mechanism and the analysis results of statics, singularity and workspace are given, which is used to guide the robot structure design. What's more, the CAD model of the robot is analyzed by finite element methods, which shows that the robot has adequate stiffness. Finally, a comprehensive analysis shows that the 6-UPS parallel robot is suitable for bone mating surfaces grinding in the artificial cervical disc replacement surgery.

关键词： Parallel robots Surgery Bones Prosthetics robotics and automation Design automation Laboratories Jacobian matrices Finite element methods Educational technology

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Research on a central pattern generator bionic coupling control system of robot

Research on a central pattern generator bionic coupling cont...

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International Conference on Information and Automation (ICIA)

作者： Tingting Wang Wei Guo Fusheng Zha Mantian Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424457014

Animal's walking is a complex rhythmic motion that has good celerity, adaptability and stability. Walking is controlled and harmonized by the animal's nerve-muscle control system. The joints are coupling during walking and are regulated by the nerve center. Based on this mechanism, a concept of bionic coupling control system is presented. This system which simulates the integration effect of animal's nerve consists of a central pattern generator (CPG) planner built based on the three local neurons network model of CPG, a forward path of motorneuron and a feedback path. Finally, a simulative experiment is done on a platform of robot leg, and the coupling control of robot leg is realized by a single CPG.

关键词： Centralized control Robot control Control systems Legged locomotion Motion control Neurons Neurofeedback Robot kinematics Couplings robotics and automation

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Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhao, Qiang Gao, Fang Northeast Forestry University State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Heilongjiang 150000 China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424493173

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method. © 2010 IEEE.

关键词： Machine design

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Real-time Facial Expressions Recognition system for Service Robot based-on ASM and SVMs

Real-time Facial Expressions Recognition System for Service ...

引用

The 8th World Congress on Intelligent Control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Ke Wang Ruifeng Li Lijun Zhao State Key Laboratory and Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

A real-time facial expressions recognition system is developed for human-robot interaction of service robot. The proposed system is mainly composed of two subsystems: one for Active shape model(ASM) motion extraction, and one for the classification of the estimated motion. The system first uses a cascade classifier to locate the potential face regions from video frame. Then, ASM is automatically initialized in the candidate regions. Based on the statistical property of deformable ASM, some facial features are extracted by using real-time pyramid ASM fitting method. The geometrical displacement between the estimated ASM feature node coordinates and mean shape of ASM is fed into the recognition subsystem in which, a Support Vector Machines (SVMs) is proposed to classify the calculated landmarks’ relative motion. Experimental results show the potential performance of our facial expressions recognition system.

关键词： Shape Face recognition Face Real time systems Service robots Facial features

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Active control of adhesion force for pick-and-place of micro objects with compound vibration in micromanipulation

Active control of adhesion force for pick-and-place of micro...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Liguo Chen Tao Chen Lining Sun Weibin Rong Bing Shao Qing Yang State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China Robotics and Microsystems Center Soochow University Suzhou China

ISBN: (纸本)9781424454471

Due to scale effects, the reliable pick-and-place manipulation of micro objects has been still a long-standing challenge in scientific and technological field. This paper presents an active method to manipulate microobjects, which employs inertia force and compound vibration to overcome adhesion forces. The compound vibration comes from electrostatic actuator and piezoelectrically driven microactuator. A micromanipulation system is set up to test and verify the proposed method. The system consists of a microgripper and a piezoelectric ceramics module. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Theoretical analyses were conducted to understand the release principle. Experiments were carried out through the manipulation of 30-80μm polystyrene spheres under an optical microscope. Experimental results show that this method can achieve a repeatability of 100% with releasing accuracy of 4μm, and is substrate independent. Based on this preliminary study, the system prove to be an effective solution for the active pick-and-place manipulation of microobjects.

关键词： Vibrations Grippers Substrates Adhesives Force Compounds Acceleration

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Micro manipulation based on adhesion control with compound vibration

Micro manipulation based on adhesion control with compound v...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Tao Chen Liguo Chen Lining Sun Weibin Rong Qing Yang Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Due to scale effects, the releasing of micro objects has been a long-standing challenge in micromanipulation applications. In this paper a micromanipulation system is presented based on the adhesion control with compound vibration. This adhesion control technique employs inertia force to overcome adhesion force achieving 100% repeatability with releasing accuracy of 4±0.5μm, which was experimentally quantified through the manipulation of 20-100μm polystyrene spheres under an optical microscope. The micromanipulation system consists of a microgripper and a piezoelectric ceramics module. The compound vibration comes from the electrostatic actuator and the piezoelectrically driven actuator. Surface and bulk micromachining technology is employed to fabricate the microgripper used in the system from a single crystal silicon wafer. Experimental results confirmed that this adhesion control technique is independent of substrate. Theoretical analyses were conducted to understand the releasing mechanism. Based on this preliminary study, the micromanipulation system proves to be an effective solution for active releasing of micromanipulation.

关键词： Grippers Vibrations Adhesives Acceleration Substrates Force Compounds

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Flying Vision system of Placement Machine for MEMS Microphone

Flying Vision System of Placement Machine for MEMS Microphon...

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International Conference on Control, Automation, robotics and Vision

作者： Liguo CHEN Jifeng ZHU Weibin RONG Lining SUN Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang China

ISBN: (纸本)9781424478149

In the die bonding process of MEMS microphone chip, the exact center and rotate angle of MEMS microphone chip is corrected after the vacuum nozzle has adsorbed it. In order to achieve high speed and precision placement function, the flying vision system based on rotating mirror is proposed, the mirror is driven to rotate by the power drawn from the nozzle rise and fall movement through a rack and pinion mechanism, the nozzle pick and place functions is not interfered by mirror through designing the rack and pinion mechanism parameters. The vision system can capture an static clear MEMS chip image when the mirror rotated to a 45 degrees position referenced with horizontal position, the center position and rotating angle of MEMS chip is fast calculated by the fine and coarse Hough Transform Algorithm, the center location and angle will be corrected by the control system during the mounted head is flying to placement position. The experimental results show that the system can obtain high-quality MEMS microphone chip image, the chip's center position and rotating angle correction algorithm takes no more than 0.1s, so it can meet the high-speed placement requirements. In this proposed flying vision system, mechanical structure is simple and compact, MEMS chip's image is clear without distortion, and there is no restriction on the mounted head movement trajectory. The flying vision system significantly enhances the quality and efficiency of SMD Chip;it can be widely used in the surface mounted system.

关键词： flying vision Hough transform MEMS microphone reflection mirror placement machine

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