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Wheel slip-sinkage and its prediction model of lunar rover

Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Control of myoelectric prosthetic hand with a novel proximity-tactile sensor

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Science China(Technological Sciences) 2022年第7期65卷 1513-1523页

作者： YANG Bin JIANG Li GE ChuanYang CHENG Ming ZHANG Jia State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Key Laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of TechnologyHarbin 150080China

Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.

关键词： prosthetic hand proximity tactile sensor myoelectric control sensory feedback

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Design and Modeling of Belt Grinding Tool for Industrial Robot Application

Design and Modeling of Belt Grinding Tool for Industrial Rob...

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Mingyang Li Yongzhuo Gao Wei Dong Zhijiang Du the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)

ISBN: (纸本)9781538631089;9781538631072

Manufacturing in aerospace industry has a strong demand for robotic ***,poor trajectory accuracy and rigidity hinder the application for accurate *** this paper,we present a novel approach for modeling and control of an automated grinding process that utilizes a belt grinding *** tool has an active compensating electric cylinder controlled with the information integrating contact force and tool *** design of critical components are presented in details and the coupling method is described based on the static structure of *** within robotic cell has been set up to demonstrate the effectiveness of the presented methods.

关键词： Design and Modeling of Belt Grinding Tool for Industrial Robot Application

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Design of a spherical robot based on novel double ballast masses principle

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高技术通讯（英文版） 2011年第2期17卷 180-185页

作者： Zhao Bo Wang Pengfei Hu Haiyan Sun Lining State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.

关键词： spherical robot double ballast masses dynamic model

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Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

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Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

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Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

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高技术通讯（英文版） 2008年第4期14卷 411-417页

作者： Ren Zongwei Zang Xizhe Zhu Yanhe Zhang Yuhua Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search common topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm (GA). The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

关键词： self-reconfigurable robot genetic algorithm (GA) information acquisition configuration matching graded optimization

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Using spanwise flexibility of caudal fin to improve swimming performance for small fishlike robots

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Journal of Hydrodynamics 2018年第5期30卷 859-871页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper examines the beneficial effects of the spanwise flexibility of the caudal fin for the improvement of the swimming performance for small fishlike robots. A virtual swimmer is adopted for controlled numerical experiments by varying the spanwise flexible trajectories and the spanwise flexible size of the caudal fin while keeping the body kinematics fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the robot. Elliptical, parabolic and hyperbola trajectories are chosen to describe the spanwise flexible profile of the caudal fin. According to the sign（positive or negative） of the phase difference of the swinging motion, the spanwise flexibility can be divided into the fin surface of ＂bow＂ and the fin surface of ＂scoop＂. It is observed that for both the fin surface of ＂bow＂ and the fin surface of ＂scoop＂, the spanwise elliptical trajectory has the optimal swimming velocity, thrust, lateral force, and efficiency. With comparisons, using the flexible caudal fin with the fin surface of ＂bow＂, the lateral force and the power consumption can be reduced effectively and the swimming stability can be increased while reducing little the swimming velocity and thrust. Meanwhile, using the flexible caudal fin with the fin surface of ＂scoop＂ can greatly improve the swimming velocity, thrust, and efficiency while increasing part of the lateral force and the power consumption. Three-dimensional flow structures clearly indicate the evolution process around the swimming robot. It is suggested that the fish, the dolphin, and other aquatic animals may benefit their hydrodynamic performance by the spanwise flexibility of the caudal fin.

关键词： Spanwise flexibility caudal fin fishlike robot swimming performance flow structures

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Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

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Journal of Bionic Engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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2-DOF simultaneous control of dexterous prosthesis based on constrained NMF and hadamard product

2-DOF simultaneous control of dexterous prosthesis based on ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wang, Zixin Yang, Dapeng Li, Jiaming Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China School of Foreign Language State Key Laboratory of Robotics and System Harbin150081 China Artificial Intelligence Laboratory State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

- It is a question of great import for the dexterous prosthesis to realize its continuous, simultaneous and proportional control of multi-DOFs so that its rehabilitation function can be well achieved and its user acceptance rate can be improved. In this paper, we propose a new method, CNMF-HP, which integrates the constrained non-negative matrix factorization (NMF) and the Hadamard product, for estimating 2-DOF wrist movements (DOF-1, flexion/extension;DOF-2, adduction/abduction) from myoelectric signals. Based on this method, the simultaneous control of a multi-fingered prosthesis is verified in this paper. Through establishing the mapping relationship between the wrist movements and the finger movements of the dexterous prosthesis, two grasp control strategies (synchronous and asynchronous) are proposed and successfully applied in operating the dexterous prosthesis to grasp four kinds of objects of different grasping patterns (cylindrical, spherical, tripod and lateral). Then, the performance of different strategies (synchronous/asynchronous control) in the grasping process is compared in terms of the completion time and completion rate of the tasks, in this way the superiority of EMG control proposed in this paper is further verified. © 2019 IEEE.

关键词： Non-negative matrix factorization

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