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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

Chinese Journal of Mechanical Engineering 2018年第4期31卷 58-72页

作者： Zhen Liu Hong-Chao Zhuang Hai-Bo Gao Zong-Quan Deng Liang Ding State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Tianjin University of Technology and Education

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

关键词： Electrically driven Heavy-duty six-legged robot Tripod gait Force of foot Walking mode

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A visual calibration method of monocular camera and pan-tilt for mobile robots

A visual calibration method of monocular camera and pan-tilt...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Sun, Jingwen Zhao, Lijun Wang, Ke Zhao, Yujia Meng, Xiangbo Mao, Chuwei Wang, Jiancheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728137261

In the competition of 'RoboMaster', the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition. © 2019 IEEE.

关键词： Calibration

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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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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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Grip Force Perception Based on dAENN for Minimally Invasive Surgery Robot

Grip Force Perception Based on dAENN for Minimally Invasive ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Guo, Yongchen Pan, Bo Fu, Yili Meng, Max Q.-H. Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China Chinese University of Hong Kong Department of Electronic Engineering Hong Kong

ISBN: (纸本)9781728163215

Although robot assisted minimally invasive surgery brings the gospel to patients, force perception is gone. Among all the contact forces during surgery, the instrument grip force plays the most important role. In this paper, a grip force perception method based on denoising AutoEncoder Neural Network (dAENN) is proposed. The method utilizes sensor data including encoder readings and motor current over a time window as the input of dAENN for sufficient information. An Artificial Neural Network (ANN) is then introduced as a machine learning tool to learn the nonlinear mapping between the compact features and grip force labels. Feature extraction is first introduced into grip force perception problem in this paper. Experiment results shows adequate expressive capability of the extracted coding as well as the superior grip force perception performance over several popular data-based methods under the same dataset. © 2019 IEEE.

关键词： Neural networks

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Robust Mechanically Interlocked Network Ionogels

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Angewandte Chemie 2025年

作者： Mengling Yang Jinhao Li Dr. Chunyu Wang Dr. Li Yang Dr. Zhiwei Fan Wenbin Wang Guoquan Liu Dr. Lin Cheng Shaolei Qu Prof. Zhaoming Zhang Prof. Jiang Zou Prof. Wei Yu Prof. Guoying Gu Prof. Xuzhou Yan School of Chemistry and Chemical Engineering Frontiers Science Center for Transformative Molecules Shanghai Key Laboratory of Electrical Insulation and Thermal Aging Shanghai Jiao Tong University Shanghai 200240 P. R. China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 P. R. China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 P. R. China

Ionogels have attracted considerable attention as versatile materials due to their unique ionic conductivity and thermal stability. However, relatively weak mechanical performance of many existing ionogels has hindered their broader application. Herein, we develop robust, tough, and impact-resistant mechanically interlocked network ionogels ( IG MINs) by incorporating ion liquids with mechanical bonds that can dissipate energy while maintain structural stability. Profiting from the dynamic yet stable nature of the mechanically interlocked networks, IG MINs exhibit high tensile strength (9.6 MPa), fracture energy (39 kJ/m 2 ), and toughness (25.9 MJ/m 3 ), along with a high elongation rate (473 %) and excellent impact resistance and shape memory, resulting in overall performance that surpasses most reported ionogels. Furthermore, in the application of strain sensors for monitoring the gait of crawling robots, the toughness and robustness of IG MINs ensure their ability to consistently output stable electrical signals during the stretching and contraction processes, thereby highlighting their practical application potential. Our work provides a new research strategy for toughening ionogels and promotes the development of mechanically interlocked materials.

关键词： ionogels mechanical bonds toughening mechanism tear resistance shape-memory

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Design and analysis of a cable-driven multistage orderly deployable/retractable space telescopic boom

Design and analysis of a cable-driven multistage orderly dep...

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作者： Zhao, Chong Guo, Hongwei Liu, Rongqiang Deng, Zongquan Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China

In order to meet the requirement of spacecraft instrument’s repeated deployment, this paper presents a novel cable-driven space telescopic boom (STB) which can be orderly deployable/retractable. First, a novel metamorphic mechanism cell (MMC) which can realize locking, unlocking and interlocking with other cells is proposed, and the metamorphic principle, degree of freedom and motion condition of this type of cells are analyzed. Second, the novel 9-tube cable-driven STB is proposed based on MMCs. Modal analysis of the STB is performed using ANSYS WROKBENCH to verify that the STB has good rigidity. And the kinematics simulation of the STB is conducted using ADAMS software to verify that the deploying and locking functions. © 2019, Springer Nature Switzerland AG.

关键词： Modal analysis

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Bionic Knee Joint Structure and Motion Analysis of a Lower Extremity Exoskeleton

Bionic Knee Joint Structure and Motion Analysis of a Lower E...

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International Conference on robotics and Automation Sciences (ICRAS)

作者： Yongfei Xiao Xiangjing Ji Hao Wu Xinpeng Zhai Xiaochun Fu Jie Zhao Institute of Automation Qilu University of Technology (Shandong Academic of Science) Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728198576

ISBN: (纸本)9781728198583

In order to solve the problem of poor human-machine compliance of wearable lower extremity exoskeleton robots, a modified lower extremity exoskeleton with a four-bar mechanism in the knee joint is proposed and analyzed. The advantages of the four-bar mechanism relative to the traditional two-bar hinge structure are explained by analyzing the physiological characteristics of the human knee joint. In addition, the kinematics of traditional and modified lower extremity exoskeletons are compared. The constraint relationship and motion equations of instantaneous rotating center of the four-bar linkage knee joint are derived. Finally, gait simulations are performed on the two lower extremity exoskeleton models to obtain the position and angle information of the joints. The influence of the four-bar mechanism of bionic knee joint on the lower extremity exoskeleton is described. The simulation results show that the modified lower extremity exoskeleton not only improves the biomimetic performance of knee joint, but also conforms to the characteristics of human gait.

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A Local Dynamic Path Planning Approach for WMRs Based on Fuzzy Dual CHOMP 9

A Local Dynamic Path Planning Approach for WMRs Based on Fuz...

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9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Li, Zhi Ding, Liang You, Bo Gao, Haibo Mechanical Power Engineering College Harbin University of Science and Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

Wheeled mobile robots (WMRs) are widely utilized in exploration tasks on different planets. The path planning technique is required to guide a WMR to a target point or region. A new path planning method in a dynamic environment is proposed. The method improves the original dual Covariant Hamiltonian Optimization for Motion Planning (CHOMP) method by a fuzzy reasoning module and Nonmonotone Gradient Projection Algorithm (NGPA). Thus, this method can achieve low cost paths while maintaining the accessibility of each path nodes. The method to establish local dynamic cost map based on a new velocity-based artificial potential field (VAPF) is proposed as the environment for path planning. Thus, the low cost paths can guide a WMR away from obstacles. Results of the simulations show that the path planning method can dynamically generate a smooth path for a WMR to avoid obstacles. © 2019 IEEE.

关键词： Mobile robots

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Overcoming Van der Waals Forces in reconfigurable nanostructures

arXiv

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arXiv 2022年

作者： Zhang, Wang Wang, Hao Tan, Alvin T.L. Ranganath, Anupama Sargur Zhang, Biao Wang, Hongtao Chan, John You En Ruan, Qifeng Liu, Hailong Ha, Son Tung Wang, Dong Ravikumar, Venkat K. Low, Hong Yee Yang, Joel K.W. Engineering Product Development Singapore University of Technology and Design Singapore487372 Singapore Northwestern Polytechnical University 127 West Youyi Road Xi'An710072 China Institute of Materials Research and Engineering Singapore138634 Singapore Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Advanced Micro Devices Singapore Pte Ltd Singapore Singapore

Reconfigurable metamaterials1-3 require constituent nanostructures to demonstrate switching of shapes with external stimuli. For generality, such nanostructures would touch and stick to other surfaces in one of its configurations. Yet, a longstanding challenge is in overcoming this stiction caused by Van der Waals forces, which impedes shape recovery. Here, we introduce a stiff yet self-recovering material system based on acrylic acid, and tested it in high-aspect ratio structures, where recovery is weak. This designer material has a storage modulus of ~5.2 GPa at room temperature and ~90 MPa in the rubbery state at 150 ℃, an order of magnitude higher than previous reports. A high-resolution resin for two-photon lithography was developed based on this polymer system, enabling 3D printing of nanopillars with diameters of ~400 nm and aspect ratio as high as ~10. Experimentally, we observed self-recovery as collapsed and touching structures overcome stiction to stand back up. We developed a theoretical model to explain the recoverability of these sub-micron structures. Reconfigurable structural colour prints and holograms were demonstrated, indicating potential applications of the material system as a shape memory polymer suitable for sub-micron reconfigurable metamaterials. Copyright © 2022, The Authors. All rights reserved.

关键词： Van der Waals forces

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