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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Xudong Fang Libo Zhao Chen Wu Yulong Zhao Xin Guo Zhuangde Jiang State Key Laboratory of Robotics and System (HIT) State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Xi’an Jiaotong University 710049 Xi’an China State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University 710049 Xi’an China

A piezoresistive pressure sensor based on 4H-SiC was developed for working over 500℃. The designed pressure range is 0-7MPa for special aviation applications. As demonstrated with experimental results, in this pressure range, the sensor shows excellent accuracy and repeatability from 30℃ to 500℃. Compared with previous studies, in MEMS processing of the sensor chip, a suitable alloy system was determined to form a stable high-temperature ohmic contact. Besides, the chip was packaged with mechanical structure and ceramic glue of similar thermal expansion coefficient to avoid thermal stress induced when increasing temperature. With the above measures taken, the sensor performance can be significantly improved. The design, fabrication, and package of this sensor provide support for high-temperature use. Additionally, this work can be a reference for future research in this field.

关键词： Pressure sensors Temperature sensors Piezoresistance Micromechanical devices Silicon carbide Conferences Thermal stresses

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Corrigendum to ‘Design and experimental study of an origami-inspired constant-force mechanism’ [Mechanism and Machine Theory 179 (2023) 105117]

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Mechanism and Machine Theory 2023年 182卷

作者： Shiwei Liu Gaoliang Peng Zhixiong Li Weihua Li Kang Jin Hongzhao Lin State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 Xidazhi Street Harbin 150001 Heilongjiang Province PR China Yonsei Frontier Lab Yonsei University 50 Yonsei-ro Seodaemun-gu Seoul 03722 Republic of Korea Faculty of Mechanical Engineering Opole University of Technology Opole 45758 Poland School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong Wollongong NSW 2522 Australia

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Cover Feature: Phototaxis Motion Behavior of a Self‐propelled Submarine‐like Water Droplet Robot in Oil Solvent (ChemNanoMat 11/2020)

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ChemNanoMat 2020年第11期6卷

作者： Daxing Sun Dekai Zhou Yuan Gao Honger Yue Wuyi Wang Xing Ma Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China) E-mail: and

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Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator

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Journal of Bionic Engineering 2017年第2期14卷 348-355页

作者： Shupeng Wang Weibin Rong Lefeng Wang Zhichao Pei Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.

关键词： bionic foot piezoelectric rotary actuator centipede foot stick-slip

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Hybrid task priority-based motion control of a redundant free-floating space robot

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Chinese Journal of Aeronautics 2017年第6期30卷 2024-2033页

作者： Cheng ZHOU Minghe JIN Yechao LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.

关键词： Base attitude control Hybrid task-priority Motion planning Multiple constraints Redundant space robot

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A Parallel Actuated Pantograph Leg for High-speed Locomotion

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Journal of Bionic Engineering 2017年第2期14卷 202-217页

作者： Wei Guo Changrong Cai Mantian Li Fusheng Zha Pengfei Wang Kenan Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

High-speed running is one of the most important topics in the field of legged robots which requires strict constraints on structural design and control. To solve the problems of high acceleration, high energy consumption, high pace frequency and ground impact during high-speed movement, this paper presents a parallel actuated pantograph leg with an approximately decoupled configuration. The articulated leg features in light weight, high load capacity, high mechanical efficiency and structural stability. The similarity features of force and position between the control point and the foot are analyzed. The key design parameters, K1 and K2, which concern the dynamic performances, are carefully optimized by comprehensive evaluation of the leg inertia and mass within the maximum foot trajectory, A control strategy that incorporates virtual Spring Loaded Inverted Pendulum （SLIP） model and active force is also proposed to test the design. The strategy can implement highly flexible impedance without mechanical springs, which substantially simplifies the design and satisfies the variable stiffness requirements during high-speed running. The rationality of the structure and the effectiveness of the control law are validated by simulation and experiments.

关键词： high-speed parallel actuated pantograph leg optimization virtual SLIP model active force

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Design and Characterization of Magnetically Actuated Helical Swimmers at Submillimeter-scale

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Journal of Bionic Engineering 2017年第1期14卷 26-33页

作者： Lefeng Wang Huichao Xu Wenhe Zhai Bensong Huang Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

Bacteria with helical flagella show an ideal mechanism to swim at low Reynolds number. For application of artificial mi- croswimmers, it is desirable to identify effects of structural and geometrical parameters on the swimming performance. In this study, a double-end helical swimmer is proposed based on the usual single-end helical one to improve the forward-backward motion symmetry, The propulsion model of the artificial helical microswimmer is described. Influences of each helix parameter on the swimming velocity and propulsion efficiency are further analyzed. The optimal design for achieving a maximum propulsion velocity of submillimeter scale swimmers is performed based on some constraints. An experimental setup consisting of three-pair of Helmholtz coils is built for the helical microswimmers. Experiments of microswimmers with several groups of parameters were performed, and the results show the validity of the analysis and design.

关键词： double-end helical microswimmers magnetic actuation swimming velocity optimal design

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Multi-optimizationofasphericalmechanismforminimallyinvasivesurgery

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Journal of Central South University 2017年第6期24卷 1406-1417页

作者： NIU Guo-jun PAN Bo ZHANG Fu-hai FENG Hai-bo FU Yi-li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In order to obtain the remote center motion(RCM) mechanism with better performance indexes and avoid the collision of multi-manipulators in minimally invasive surgery(MIS), a novel multi-objective optimization model was presented. There were two optimization objectives: a global kinematic performance index and a comprehensive stiffness index. Other indexes to characterize the design requirements such as collision probability, workspace, mechanism parameter, mass, and wall thickness were considered as constraints. Angles between two adjacent joints and cross-section dimensions of links were chosen as the design variables. The non-dominated sorting genetic algorithm II(NSGA-II) was adopted to solve the complex multi-objective optimization problem. Then, a 3-degree of freedom(DoF) MIS robotic prototype based on optimization results has been built up. The experiments to test the spatial position change of the remote center point and to test the absolute position accuracy and repetitive position accuracy of the MIS robot were achieved, and the experimental results meet the requirements of MIS.

关键词： minimally invasive surgery medical robot multi-objective optimization remote centre motion

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Analysis of reaction torque-based control of a redundant free-floating space robot

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Chinese Journal of Aeronautics 2017年第5期30卷 1765-1776页

作者： Minghe JIN Cheng ZHOU Yechao LIU Hong LIU State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator＇s motion. The reaction torque acted on the satellite base＇s centroid is an important index to measure the satellite base＇s disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator＇s joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible.

关键词： Attitude control Base disturbance Dynamics modeling Reaction torque Real time simulator Space robot

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Simulation and Experiments on the Capillary Force between a Circular Disk and a Parallel Substrate

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Chinese Physics Letters 2017年第5期34卷 92-95页

作者：王乐锋黄本松何元哲荣伟彬孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

The capillary force of a liquid bridge with a pinned contact line between a small disk and a parallel plate is investigated by simulation and experiments. The numerical minimization simulation method is utilized to calculate the capillary force. The results show excellent agreement with the Young-Laplace equation method. An experimental setup is built to measure the capillary force. The experimental results indicate that the simulation results agree well with the measured forces at large separation distances, while some deviation may occur due to the transition from the advancing contact angle to the receding one at small distances. It is also found that the measured rupture distance is slightly larger than the simulation value due to the effect of the viscous interaction inside the liquid bridge.

关键词： Simulation and Experiments on the Capillary Force between a Circular Disk and a Parallel Substrate

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