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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective.

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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International Conference on Information and Automation (ICIA)

作者： Fujun He Zhijiang Du Xiaolei Liu Yueyue Ta Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Radar tracking Mobile robots Robot sensing systems Robot kinematics Laser radar robotics and automation Helium Laser modes Particle tracking Nonlinear systems

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A closed-loop intelligent control strategy for precise non-contact liquid dispensing

A closed-loop intelligent control strategy for precise non-c...

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IEEE International Conference on Mechatronics and Automation

作者： Yaxin Liu Yufeng Yao Liguo Chen Lining Sun Instrument Science and Technology Postdoctoral Mobile Station Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In biomedical, chemical and pharmacological areas, thousands of reagents with different viscosities need to be dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiments to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, a precise non-contact closed-loop liquid dispensing system with novel adaptive intelligent control method was developed. First, the non-contact liquid dispensing system construction is introduced. Secondly, a MEMS flow sensor was used for closed-loop control the dispensed volume, and the factors that affect dispensing precision are analyzed. Thirdly, a compound intelligent fuzzy control strategy is proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1μl and approach 4% at 100 nl.

关键词： Valves Viscosity Solenoids Fuzzy control Compounds Fluctuations

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan 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 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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A Novel Approach based on Evolutionary Game Theoretic model for Multi Player Pursuit Evasion

A Novel Approach based on Evolutionary Game Theoretic model ...

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2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

作者： Renping Liu Cai ze-su College of Information Engineering North China University of Technology Beijing 100144 China State Key Laboratory Robotics and System(HIT) Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424479573

In this paper, we consider a novel Three Hierarchical decomposition approach for Multi-Player Pursuit Evaders (MPPE) game. In multi-player pursuit evasion game, hierarchical framework is applied widely in order to decompose the original complicated multiplayer game into multiple small scale games. In this paper, we first study the number of pursuers which necessitates;the capture condition and the time of all evaders have been captured. Then, describe the Distributed Task Assignment Stage Based on dynamic Coalition Formation. Last, a novel multi-agent Qlearning approach based on Evolutionary Game Theoretic model is used for pursue. Experimental results obtained on two different environments of a well-known pursuit domain show the effectiveness and robustness of the proposed Hierarchical architecture and learning approach.

关键词： Pursuit Evasion Q-learning, Evolutionary Game Theory Coalition Formation

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB Information science

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Notice of Modification

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仿生工程学报(英文版) 2010年第1期7卷 112-112页

作者： Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Dear readers,In the paper "An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals", Journal of Bionic Engineering, 2009, 6, 255-263, by Dapeng Yang et al., we adopted an experi-mental method already developed by the DLR (German Aerospace Center). Unfortunately, we did not cite their main works properly at that time. We sincerely apologize for this mistake to Dr. Cas'tellini, Dr. van der Smagt and other coauthors.

关键词： Center works Robot paper Based main Hand van EMG der Cas

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Ontology-Based Product Knowledge Integration in Mobile Environment

Ontology-Based Product Knowledge Integration in Mobile Envir...

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International Conference on Control, Automation, robotics and Vision

作者： Cao.LI Zongwu.XIE Kui.SUN Hong.LIU Yongjun.ZHENG State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R.China School of Architecture Design and the Built Environment Nottingham Trent University Nottingham UK

ISBN: (纸本)9781424478149

This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method named ontology is built up to demonstrate the all related information in order to achieve an efficient and convenient management. According these two achievements, a new data management system is built and tested in the mobile device and compared to the traditional data management system at the end of this paper.

关键词： ontology mobile web

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Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Terramechanics-based high-fidelity dynamics simulation for w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liang Ding Keiji Nagatani Keisuke Sato Andres Mora Kazuya Yoshida Haibo Gao Zongquan Deng Department of Aerospace Engineering University of Tohoku Sendai Japan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Harbin Institute of Technology Harbin Heilongjiang CN

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel-as a result of the deformable soil-are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.

关键词： Deformable models Mobile robots Mathematical model Numerical simulation Motion analysis Motion control Jacobian matrices Wheels Robot kinematics Orbital robotics

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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

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Journal of Harbin Institute of Technology(New Series) 2009年第3期16卷 376-381页

作者：刘伊威赵京东金明河刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

关键词： robotic hand sensors mechatronic integration

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