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检索条件"机构=State Key Laboratory Robotics and System"

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Flexible Catch Claw-type Space Debris Capture Mechanism Based on Constant Torque Spring Deployment 17

Flexible Catch Claw-type Space Debris Capture Mechanism Base...

引用

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Kui Chen, Kailun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728164151

Space debris cleaning technology can not only save scarce orbit resources, but also protect satellites and space stations in orbit, which has important research significance. Combination of reliability and adaptability is the key for space debris cleaning devices to capture debris. A design scheme of flexible catch claw-type space debris capture mechanism based on constant torque spring deployment is proposed, which has the advantages of light weight, high capture reliability and high adaptability. The new flexible catching mechanism is mainly composed of a multi-finger flexible catching claw, a transmission device, and a locking device. In the multi-finger flexible catching claw, a constant torque spring is used as a passive drive deployment mechanism, and a carbon fiber rod is used as an actuator. The transmission device uses a ball screw to drive the link mechanism to move. The locking device provides a controllable deployment function at a predetermined position. This paper introduces the structure design of the capture mechanism and the research on synchronized deployment of the catch claws. Finally, the kinetic simulation results for evaluating the capture performance are given. © 2020 IEEE.

关键词： Space debris

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Design and Control of a Hydraulic Driven Robotic Gripper

Design and Control of a Hydraulic Driven Robotic Gripper

引用

IEEE International Conference on robotics and Biomimetics

作者： Jiahui Qi Xu Li Zhenguo Tao Haibo Feng Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The robots with robotic grippers can take the place of human to carry objects and use tools efficiently in different situations. This paper presents a novel hydraulic driven robotic gripper named the WLRG-I (the first generation of Wheel-legged robot gripper) which bears large load and has strong robustness. The WLRG-I is installed on the wheel-legged humanoid robot arm to make the WLR-III (the third generation of Wheel-legged robot) have the capability of grasping daily tools and fulfilling special operation tasks in harsh environments. This paper focuses on the design of gripper transmission structure, kinematics and statics. Firstly, the linkage mechanism is proposed according to the design goal. Then, the kinematics and statics of the gripper are studied, and a structural model is established. In addition, PID controller is used to control the position of the gripper with angle feedback. Finally, position tracking and load experiments are completed to verified the accuracy of the control. The gripper can grasp objects of 20kg with 2.15kg dead weight. To the authors’ best knowledge, robot grippers with such a high load-to-weight ratio are very rare.

关键词： Humanoid robots Kinematics Hydraulic systems Manipulators Robustness Mobile robots Grippers

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A Model-Free Synchronous Control of Humanoid Robot Finger

A Model-Free Synchronous Control of Humanoid Robot Finger

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

For a multi-fingered robot hand, the individual control over single joints cannot guarantee their fine collaboration. For achieving a high-precision synchronization, a theory of synchronous control is introduced to multi-fingered robot hands. This paper introduced a new model-free and cross-coupling control strategy. It had been tested on the humanoid robot fingers and showed high positioning performance. For realizing the mutual influence between the control of all joints, we establish the synchronization error by the differential disposal of adjacent actuator errors, then position errors and synchronization errors are incorporated into a unified control frame. Meanwhile, considering the complex dynamic formulations of the dexterous hand and the characteristics of the control system, a model-free, cross-coupled trajectory tracking method is introduced and the explicit dynamic modeling parameters is not necessary. Finally, we tested our method on a multi-fingered hand platform HIT/DLR-II. The results prove that the new method has superior performance over traditional non-synchronous approaches.

关键词： Automation Trajectory tracking Conferences Force Humanoid robots Collaboration Kinematics

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Design and Analysis of a Variable-sweep Morphing Wing for UAV Based on a Parallelogram Mechanism

Design and Analysis of a Variable-sweep Morphing Wing for UA...

引用

IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Hong Xiao Yue Bai Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The variable-sweep wing for unmanned aerial vehicle (UAV) can greatly improve the aerodynamic performance at high-speed and low-speed by changing the sweep angle. In this paper, a shear variable-sweep wing is proposed and studied based on a parallelogram mechanism. The skeleton of morphing wing is a single-degree-of-freedom mechanism composed of parallelogram mechanism unit topology. The skin of morphing wing is applied an innovative Kevlar/carbon fiber hybrid composite skin. The composite skins are stitched to the skeleton and sheared as the sweep-angle changes. The kinematics model of the morphing wing is established, and the wing area, aspect ratio, root-to-tip ratio and relative thickness are analyzed. Moreover, establish the composite skin buckling model and obtain the skin parameters that can be smoothly and continuously deformed within the range of sweep-angle changes. Finally, the variable-sweep morphing wing prototype is developed and scanned to verify the smoothness of the designed morphing skins and the deformation performance of morphing wing.

关键词： Deformable models Prototypes Kinematics Autonomous aerial vehicles Aerodynamics Skin Skeleton

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process

The Application of Acceleration-Level Quaternion Interpolati...

引用

International Conference on Computer and Automation Engineering, ICCAE

作者： Xiaoyu Zhao Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance.

关键词： Interpolation Visualization Automation Quaternions Computational modeling Robot control Process control

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Multi-Slip Conditions Acquisition of Planetary Rovers with Application to Terrain Parameter Identification*

Multi-Slip Conditions Acquisition of Planetary Rovers with A...

引用

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ye Yuan Huaiguang Yang Chaojie Yang Liang Ding Haibo Gao Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Planetary rovers, integrated with the state-of-the-art technologies in different fields, are required to explore extraterrestrial surfaces to achieve their scientific goals. The perception of the extraterrestrial environment, especially the terrain, greatly affects the mobility of rovers. The estimation of terrain parameters often requires wheel-terrain interaction data under various slip ratios. The data of multi-slip conditions can be obtained by adjusting the slope angles of the terrain or rover load in experiments. However, these methods are neither safe nor practical for planetary rovers that are exploring extraterrestrial planets. In this study, the required wheel slip conditions can be obtained based on the Monte Carlo method and terramechanics theory, by actively adjusting rotation speeds of the rover’s wheels. Simulations in the Vortex physics engine environment verified that the proposed method could generate the multi-slip conditions in a flat terrain without requiring the rover to go up/down high slopes. Furthermore, by measuring the wheel-terrain interaction data, normal force, drawbar pull, driving torque, sinkage under various slip ratios the terrain parameters can be estimated.

关键词： Space vehicles Torque Parameter estimation Monte Carlo methods Mechatronics Planets Machine vision

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Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness

Adaptive Step Puncture Strategy Based on Online Identificati...

引用

IEEE International Conference on robotics and Biomimetics

作者： Changle Li Chuanyou Yu Leifeng Zhang Guang Ban Yilun Fan Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665405362

The accuracy of puncture has a significant impact on hr achy therapy. However, when the puncture needle enters the diseased tissue, there are complex forces between the needle body and soft tissue, resulting in the deflection of the puncture needle, which affects the puncture accuracy. In order to improve the positioning accuracy and ensure better treatment effect, an adaptive step puncture strategy based on force feedback was proposed in this paper. Firstly, according to the process of brachytherapy, the mechanism design and control system design of puncture end tool were carried out. Secondly, combined with the end tool, the data acquisition platform was designed, the data acquisition and analysis were completed, and an adaptive step puncture strategy was proposed according to the experimental data. Finally, the experimental verification was carried out by using layered silica gel in the built data acquisition platform. Experiments showed that the adaptive step puncture strategy proposed in this paper significantly improves the puncture accuracy compared with direct puncture.

关键词： Silicon compounds Data acquisition Force feedback Surgery Process control Needles Control systems

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A Bistable Jumping Robot with Pure Soft Body Actuated by Twisted Artificial Muscle

A Bistable Jumping Robot with Pure Soft Body Actuated by Twi...

引用

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Dong Zhou Yuan Fu Jie Deng Jin Sun Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Soft robots made from soft materials can safely interact with humans and environments compared with the traditional rigid robots. However, the inherent compliance of the soft robots makes them difficult to realize the jumping motion. Although many soft robots can jump through the design of bistable structure. However, the existing soft robots need rigid spine to be embedded in the soft body. Therefore, it is still hard for the jumping of a soft robot with pure soft body. This paper offers the design method for the pure soft bistable robot with jumping ability. The critical buckling force and total elastic potential energy of the robot can be increased by designing the soft body with different thickness. We use the twisted artificial muscle (TAM) to realize the jumping motion of the soft bistable robot. The proposed robot can jump at a height nearly two times its body height. We envision that the design method will promote the application of the soft robot with pure soft body to realize more types of motion strategy.

关键词： Potential energy Fabrication Mechatronics Design methodology Machine vision Force Soft robotics

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Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control

Configuration Transformation of the Wheel-Legged Robot Using...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links, is derived. The Partial Feedback Linearization (PFL) combined with a Sliding Mode Control (SMC) is used to design the inverse dynamics controller of AWIP, while considering full dynamics terms. The well-known WLR model is used as a simple example of AWIP to accomplish the configuration transformation task. An optimization based configuration transformation algorithm is proposed to realize a comprehensive optimization of the shortest path in joint space and the minimum location drift of WLR on the floor. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation to implement the configuration transformation task.

关键词： Heuristic algorithms Dynamics Wheels Mathematical models Trajectory Mobile robots Task analysis

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Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipulator with Link Offset based on Semi-analytical Solution

Joint Limit Optimal Inverse Kinematics of the 7-DoF Manipula...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Baoshi Cao Yang Liu Boyu Ma Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The 7-DoF redundant manipulator with offset links and symmetrical structure is applied in the space station. The analytical solution of the inverse kinematics(IK) is difficult when considering the joint limits. This study proposes a joint limit optimal IK solution based on the optimization of the fixed joint angle parameters. The analytical method of fixed joint inverse solution is combined with the numerical method of joint limit optimization. This semi-analytical method converges to a definite solution with a closed form and have symmetry to avoid the non-conservative of the pseudo-inverse solution. Simulation results verify the effectiveness of the IK algorithm.

关键词： Jacobian matrices Simulation Conferences Kinematics Manipulators Search problems Orbits

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