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SSRN 2024年

作者： Zhang, Yang Kang, Xi Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China

Guided by predetermined degrees of freedom for different desired tasks, the type synthesis of single-loop metamorphic mechanisms (SLMMs) has long posed a challenge. Owing to the complexity and coupling of their overconstraints and the variability of constraints arising from bifurcation motions, it is difficult to ensure geometric coordination and synchronous motion for a network of multiple SLMMs. Here, we propose an approach to type synthesize SLMMs using the atlas method. A novel family of SLMMs is further synthesized. The mobility analysis of a selected 7R SLMM is carried out via screw theory. The kinematics and bifurcation phenomena are analyzed and verified through numerical simulation using computer-aided design models. To evaluate the performance of the SLMMs, the mapping relationship between key design parameters and performance indicators, such as the grasping angle, folding angle, and mechanical advantage, is studied. A networking method is then proposed by considering the geometric coordination conditions and variation of the overconstraints of SLMMs. Prototypes of an SLMM and manipulator with optimal geometrical parameters are developed to verify the feasibility and correctness of the proposed method and kinematic analysis. © 2024, The Authors. All rights reserved.

关键词： Manipulators

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Viia-hand: a Reach-and-grasp Restoration system Integrating Voice interaction, Computer vision and Auditory feedback for Blind Amputees

arXiv

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arXiv 2023年

作者： Peng, Chunhao Yang, Dapeng Cheng, Ming Dai, Jinghui Zhao, Deyu Jiang, Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150080 China

Visual feedback plays a crucial role in the process of amputation patients completing grasping in the field of prosthesis control. However, for blind and visually impaired (BVI) amputees, the loss of both visual and grasping abilities makes the "easy" reach-and-grasp task a feasible challenge. In this paper, we propose a novel multi-sensory prosthesis system helping BVI amputees with sensing, navigation and grasp operations. It combines modules of voice interaction, environmental perception, grasp guidance, collaborative control, and auditory/tactile feedback. In particular, the voice interaction module receives user instructions and invokes other functional modules according to the instructions. The environmental perception and grasp guidance module obtains environmental information through computer vision, and feedbacks the information to the user through auditory feedback modules (voice prompts and spatial sound sources) and tactile feedback modules (vibration stimulation). The prosthesis collaborative control module obtains the context information of the grasp guidance process and completes the collaborative control of grasp gestures and wrist angles of prosthesis in conjunction with the user's control intention in order to achieve stable grasp of various objects. This paper details a prototyping design (named viia-hand) and presents its preliminary experimental verification on healthy subjects completing specific reach-and-grasp tasks. Our results showed that, with the help of our new design, the subjects were able to achieve a precise reach and reliable grasp of the target objects in a relatively cluttered environment. Additionally, the system is extremely user-friendly, as users can quickly adapt to it with minimal training. Copyright © 2023, The Authors. All rights reserved.

关键词： Computer vision

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios

Research on Multi-sensor Fusion Localization of Wheel-Legged...

引用

Automation, Control and Robots (ICACR), International Conference on

作者： Xu Li Yili Fu Zuolun Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Intelligent Robot Research Center Zhejiang Laboratory Hangzhou 311100 China

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints; as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios.

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A Novel Multi-Fingered Hand for Robotic Grasp 7

A Novel Multi-Fingered Hand for Robotic Grasp

引用

7th Annual International Conference on Network and Information systems for Computers, ICNISC 2021

作者： Zang, Xizhe Wang, Chao Zhang, Pu Heng, Shuai Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhejiang Lab Hangzhou311121 China

ISBN: (纸本)9781665402323

As robots are gradually used in more and more scenarios, the requirements for robots to complete a variety of complex tasks are becoming higher and higher. Robotic hands, as the important tool for robot to complete the task, has attracted more and more attention. However, the robotic grasping tool usually has a single function and few degrees of freedom, which makes it difficult to adapt to more complex application scenarios. This paper presented a novel robotic hand with four fingers, which is designed based on the characteristics of human hands. We introduced the design process of the finger structure, analyzed the kinematics and statics of the designed hand, and further manufactured the prototype. To verify the function of the designed multi-fingered hand, we designed a serial of grasping experiments for different objects. The experimental results show that the designed multi-fingered hand can successfully grasp different experimental objects and meet the grasping requirements of the robot. © 2021 IEEE.

关键词： Degrees of freedom (mechanics)

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Equivalent Dynamic Model of Large-Span Flexible Truss Beam Structure 24th

Equivalent Dynamic Model of Large-Span Flexible Truss Beam S...

引用

24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Feng, Jian Li, Bo Yang, Hui Tao, Jianguo Deng, Zongquan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Laboratory of Test and Measurement Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin 300301 China

ISBN: (纸本)9789819614660

The complex structural dynamics model of large-span truss beam structures and the flexibility issues brought about by large spans make the analysis of system dynamics and vibration control relatively challenging. The establishment of an equivalent dynamic model is a key technology for conducting semi-physical simulation experiment platform system dynamic model analysis. A large-span flexible truss beam structure is designed from three aspects: the cross-sectional shape, cross-sectional uniformity, and cross-sectional connecting rods. For the large-span flexible truss girder structure, based on the principle of energy equivalence, the relationship between the kinetic energy and strain energy of periodic structures and the kinetic energy and strain energy of the equivalent continuous beam is established. The equivalent mass and stiffness matrices are solved based on the principle of equivalence between strain energy and kinetic energy and the theory of continuum mechanics to establish the equivalent dynamic model. The correctness of the theoretical model was verified through theoretical analysis of natural vibration frequencies and modes, and compared with finite element simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Dynamic model Equivalent beam Vibration analysis

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Passive Suspension Design and Dynamics Analysis of Manned Lunar Rover

Passive Suspension Design and Dynamics Analysis of Manned Lu...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Junyang Zhang Zhen Liu Zhonghao Qin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Special Robot Equipment Group Harbin Institute of Technology Zhengzhou Research Institute Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

The lunar surface environment differs significantly from that of Earth, thus necessitating the specialized design of suspension systems for lunar rovers. Within this study, a double wishbone independent suspension system is specifically designed for a manned lunar rover, with its dynamics attributes investigated through theoretical analyses and simulations. Firstly, the structural parameters of the double wishbone suspension are designed. Secondly, the theoretical dynamics model of the suspension is established, the dynamics equations are deduced, and an exploration into the impact of diverse system parameters on the suspension’s dynamics performance is conducted. Finally, the suspension underwent multi-body dynamics analysis using ADAMS to verify compliance with specified requirements for obstacle-crossing performance.

关键词： Space vehicles Suspensions (mechanical systems) Analytical models Mechatronics Moon Mathematical models Shock absorbers

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Boyu Ma Baoshi Cao Yang Liu Yuteng Xie Xiaohang Yang Wei Wang Handong Hu Xiaokai Zhou Yiming Ji Zhengpu Wang Mengfei Li Haoran Sun Wandong Sun Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Resources and Environment Northeast Agricultural University Harbin China

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert–Johnson–Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article.

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Research on Low-Force Cutting Load Characteristics for Lunar Rock Simulant

Research on Low-Force Cutting Load Characteristics for Lunar...

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2021 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2021

作者： Wang, Yizhuo Li, Peng Xu, Bo Liu, Junwei Mechanical Engineering College Beihua University Jilin132022 China Mechanical Engineering College Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510652170

ISBN: (纸本)9781510652163

In the whole lunar regolith drilling and sampling task, It is critical to make the operation of the drilling and sampling system efficient and reliable. In view of the high efficiency drilling requirements of lunar rock under low-force conditions, it is necessary to study the mechanical properties of an elemental blade and lunar rock. Firstly, a test platform is developed to test the low-force cutting load characteristics for the lunar rock simulant according to the requirements of the cutting load characteristics test function. Then, the linear cutting load and impact crushing load characteristics for the lunar rock simulant are tested and verified respectively. It is finally found that the cutting load of the lunar rock simulant can be reduced by increasing the cutting edge rake angle and side rake angle and improving the percussive frequency. This provides a certain reference for setting the operating parameters of lunar rock core drilling tools to achieve high performance drilling under low-force conditions. © 2022 SPIE.

关键词： Rocks

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope

Obstacle Identification Based on Deep Learning for Inspectio...

引用

Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

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DeepMatcher: A Deep Transformer-based Network for Robust and Accurate Local Feature Matching

arXiv

引用

arXiv 2023年

作者： Xie, Tao Dai, Kun Wang, Ke Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching between images remains a challenging task, especially in the presence of significant appearance variations, e.g., extreme viewpoint changes. In this work, we propose DeepMatcher, a deep Transformer-based network built upon our investigation of local feature matching in detector-free methods. The key insight is that local feature matcher with deep layers can capture more human-intuitive and simpler-to-match features. Based on this, we propose a Slimming Transformer (SlimFormer) dedicated for DeepMatcher, which leverages vector-based attention to model relevance among all keypoints and achieves long-range context aggregation in an efficient and effective manner. A relative position encoding is applied to each SlimFormer so as to explicitly disclose relative distance information, further improving the representation of keypoints. A layer-scale strategy is also employed in each SlimFormer to enable the network to assimilate message exchange from the residual block adaptively, thus allowing it to simulate the human behaviour that humans can acquire different matching cues each time they scan an image pair. To facilitate a better adaption of the SlimFormer, we introduce a Feature Transition Module (FTM) to ensure a smooth transition in feature scopes with different receptive fields. By interleaving the self- and cross-SlimFormer multiple times, DeepMatcher can easily establish pixel-wise dense matches at coarse level. Finally, we perceive the match refinement as a combination of classification and regression problems and design Fine Matches Module to predict confidence and offset concurrently, thereby generating robust and accurate matches. Experimentally, we show that DeepMatcher significantly outperforms the state-of-the-art methods on several benchmarks, demonstrating the superior matching capability of DeepMatcher. The code is available at https://***/XT1997/DeepMatcher. © 2023, CC BY.

关键词： Behavioral research

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