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IEEE International Conference on Mechatronics and Automation

作者： Fenglei Ni Yongqiang Li Yunhu Zhou Hong Liu Yuan Tang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

Self-reconfigurable modular robots have shown great potential in carrying out multiple tasks in different conditions. A connection of both flexibility and reliability is critical for realizing the docking and transformation of the modular robots. We propose a new design of connectors based on SMA which has the advantages of high autonomy, small size and high speed. The couples of connectors consist of active and passive connector. In the active connector, a two-way rotary SMA actuator is used as the actuation mechanism. The double-layer cam and claws are used as an executive mechanism. The passive connector can be securely docked in five different facets for 3D reconfigurations. The multisensory system and hardware architecture provide the foundation for control strategies. The design and the prototype of the connector are described in this paper. Finally, experimental results to evaluate the performance of docking are presented.

关键词： Connectors Robots Contacts Wires Actuators Springs Task analysis

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Shape-Memory Polymers: Mechanically Robust and UV-Curable Shape-Memory Polymers for Digital Light Processing Based 4D Printing (Adv. Mater. 27/2021)

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Advanced Materials 2021年第27期33卷

作者： Biao Zhang Honggeng Li Jianxiang Cheng Haitao Ye Amir Hosein Sakhaei Chao Yuan Ping Rao Yuan-Fang Zhang Zhe Chen Rong Wang Xiangnan He Ji Liu Rui Xiao Shaoxing Qu Qi Ge Frontiers Science Center for Flexible Electronics (FSCFE) Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi'an 710072 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen 518055 China School of Engineering and Digital Arts University of Kent Canterbury Kent CT2 7NT UK State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University Xi'an 710049 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen 518055 China Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou 310027 China

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Demagnetization and Permanent-Magnet Minimization Anal-yses of Less-Rare-Earth Interior Permanent-Magnet Synchronous Machines Used for Electric Vehicles.

Demagnetization and Permanent-Magnet Minimization Anal-yses ...

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International Conference on Magnetics (INTERMAG)

作者： W. Wang P. Zheng M. Wang Y. Liu Z. Fu Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Rare-earth permanent magnet synchronous machines (RE-PMSMs) are widely used in electric vehicles (EVs) due to their characteristics of high efficiency, high torque density and high power factor. While the dramatic price fluctuations of the rare-earth permanent magnets (PMs) have been restricted the application of RE-PMSMs. Hence, the less-rare-earth interior permanent magnet synchronous machines (LRE-IPMSMs), which combine the features of high electromagnetic performance as well as low cost, have attracted increasing attention in recent years [1]. The anti-demagnetization ability of the LRE-IPMSMs is crucial to the machine safety [2]. In [3], the tapered flux barriers are adopted to improve the anti-demagnetization ability of the LRE-IPMSMs. In [4], a practical analytical approach is proposed to express the direct link between the PM thickness and the demagnetization limit. In addition, the PM minimization is also a significant issue for the LRE-IPMSMs as it is crucial to decrease the machine cost. In [5], an analytical procedure is proposed to reduce the PM quantity in the LRE-IPMSMs without affecting the torque versus speed performance. In this paper, the demagnetization equivalent magnetic circuit (EMC) model of the investigated LRE-IPMSM is established and the effects of structure parameters on the PM flux density are investigated. The PM minimization design of the LRE-IPMSMs is obtained on the premise of no side effect on the machine output toque and anti-demagnetization ability.

关键词： Magnetics Conferences

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Plantbot: A New ROS-based Robot Platform for Fast Building and Developing

Plantbot: A New ROS-based Robot Platform for Fast Building a...

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IEEE International Conference on Mechatronics and Automation

作者： Liulong Ma Yanjie Liu Yibo Gao Chuanming Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering Tongji University Shanghai China

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot.

关键词： Mobile robots Wheels Hardware Simultaneous localization and mapping

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Reducing the drag of underwater vehicle in the shape of a small boat by using piezoelectric transducers

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Lu Zhang Xiaobiao Shan Yingxiang Liu Gaoliang Peng Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Reducing the flow resistance of moving underwater vehicles can improve their performance and reduce the energy consumption. This paper presents a method to interfere the turbulent boundary layer for achieving the drag reduction by using piezoelectric transducers. The transducer produces ultrasonic traveling waves vibration near the hull surface. The working frequency and the maximum vibration amplitude of the transducers placed in different locations were obtained through the structural dynamic analysis. The fluid-solid coupling simulations were performed to explore the reduction drag performance. The simulation results show that better drag reduction performance can be obtained when the angle between the vibration direction of the piezoelectric transducer and the flow direction is 67.62°. The method of using piezoelectric transducer vibration for drag reduction is proved to be feasible. The present work provides a valuable reference for the study of drag reduction of underwater vehicles.

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Integrated guidance and control with input saturation 36

Integrated guidance and control with input saturation

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第36届中国控制会议

作者： Wangkui Liu Yiyin Wei Guangren Duan State Key Laboratory of Robotics and System Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

Based on backstepping control technique,a novel adaptive integrated guidance and control(IGC) law is presented for missile intercepting maneuvering target with input *** deal with the uncertainties in the IGC system,adaptive control technique is utilized to estimate the upper bounds of the ***,an auxiliary system is designed to cope with the input *** state of the auxiliary system is used in the IGC law design and stability *** detailed stability analysis of the closed-loop IGC system is carried out based on the Lyapunov ***,the effectiveness of the proposed adaptive IGC law is verified by the nonlinear numerical simulation results.

关键词： Backstepping control Adaptive Integrated guidance and control(IGC) Input saturation

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Research on Flexible Joint Friction Identification of Space Lab Manipulator

Research on Flexible Joint Friction Identification of Space ...

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IEEE International Conference on Mechatronics and Automation

作者： Dongyu Liu Hong Liu Yu He Bainan Zhang Yechao Liu Zhiqi Li Chao Luo China Academy of Space Technology Institute of Manned Spacecraft System Engineering Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In order to verify the flexible joint friction model with harmonic drive, the method of on orbit identification and the effect of joint friction on joint control, Chinese Space laboratory Tiangong - 2 equipped with a Space Manipulator and Dexterous Hand system (SMDHS). Manipulator joint friction identification experiment was carried out on orbit. In this paper, a flexible joint model of manipulator is established. By using the experimental data obtained on orbit, the friction model of viscous friction plus coulomb friction, the cubic polynomial friction model and the Stribeck friction model are compared and analyzed. At the same time, the effect of gravity difference on joint friction is also analyzed. The on orbit experiment prove that the quasi-linear model of viscous friction plus coulomb friction can be used to predict the friction of unrecognized velocity range, the accuracy of joint position control can also tolerate the error of this quasi-linear friction model in engineering applications. The flexible joint model and on orbit identification method established in this paper are helpful to develop the follow up large scale space manipulator and recognize the joint friction characteristics more clearly in the orbital application, so as to further improve the fine operating performance of the manipulator.

关键词： Friction Manipulators Orbits Fitting Torque AC motors Permanent magnet motors

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Human-Machine Interaction Control system of a Remote Maintenance Manipulator for Tokamak*

Human-Machine Interaction Control System of a Remote Mainten...

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Chinese Automation Congress (CAC)

作者： Iian Li Yixiang Liu Xizhe Zang First Research Institute of the Ministry of Public Security of PRC Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents the development of human-machine interaction control system of a remote maintenance manipulator for tokamak utilizing virtual reality. The human-machine interaction control system aims to achieve three major functions as virtual simulation, human-machine interaction, and collision detection. The graphical user interface of the control system is developed with the aid of the software Unity3D. In order to simplify system operations and improve user experience, 3D mouse and somatosensory controllers are adopted to realize scene exploration in the virtual environment and master-slave interaction control of the manipulators. A typical maintenance task is simulated using the human-machine interaction control system. The results indicate that the developed control system can help improve the safety and efficiency of remote maintenance operations significantly.

关键词： Manipulators Maintenance engineering Man-machine systems Control systems Solid modeling Cameras Tokamak devices

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Design and Experiments of a Compliant Adaptive Grasper Based on Fish Fin Structure

Design and Experiments of a Compliant Adaptive Grasper Based...

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IEEE International Conference on robotics and Biomimetics

作者： Wenfu Xu Heng Zhang Ningjing Zheng Han Yuan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (纸本)9781728103785;9781728103778

Most existing graspers are composed of rigid structures and usually have poor adaptability in capturing objects with irregular shapes. To solve this problem, a compliant two-finger grasper based on bionic fins is proposed, which has extremely simple control but very strong adaptability. In this paper, structure design is firstly detailed, and then contact forces and structure deformations are analyzed by finite element method. Moreover, preliminary tests are made to validate the design. Pressure sensors are used to obtain the capture forces during the whole capturing process. Results show that the proposed compliant grasper could achieve reliable capture for different objects with various shapes and sizes.

关键词： Grasping Strain Force Pressure sensors Resistance Thumb

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Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

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Journal of Donghua University(English Edition) 2017年第3期34卷 415-423页

作者：周辉陈海秦友蕾葛姝翌曹毅 School of Mechanical Engineering Jiangnan University Wuxi 214122 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi 214122 China State Key Laboratory of Robotics and System Harbin 150080 China State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China

To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel ***,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were ***,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.

关键词： desired kinematic decoupling inverse translational matrices topology Jacobian reciprocal rotation

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