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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ji-peng Yan Ying-xiang Liu Sheng-jun Shi Xiu-hua Ni Huai-yin Xiong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Shanghai Radio Equipment Research Institute Shanghai P. R. China

This paper presents a new idea for constructing ring-type linear ultrasonic motor. The stator of proposed motor contains two driving feet, sixteen pieces of piezoelectric ceramic plates and three rings-inner ring, middle ring and outer ring. The proposed ultrasonic motor forms elliptical movements on the driving feet by the superposition of stretching and bending vibration of the metal rings. This paper presents the working principle of proposed motor. By using FEM method, the proposed motor is designed and analyzed. By adjusting the structure parameters, the resonance frequencies of two working modes were tuned to be close. And by transient analysis, the elliptical motion trajectories of nodes on the driving feet are obtained and verify the theoretical feasibility.

关键词： Stators Ceramics Vibrations Trajectory Piezoelectricity Acoustic waves

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Dynamics analysis and experiments of an underactuated cable-truss mechanism

Dynamics analysis and experiments of an underactuated cable-...

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International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014

作者： Liu, Rong Qiang Shi, Chuang Wu, Nan Guo, Hong Wei State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China

ISBN: (纸本)9783038352464

While many researchers have investigated the dynamics analysis of underactuated mechanisms in recent years, little work has been published on that with underactuated cable-truss mechanism. Dynamics analysis has important significance in the research of trajectory planning, driven project designing and the optimization design of the mechanisms. The mechanism dynamics equations were established based on Lagrange equation and the dynamics equations corresponding to the capture scheme that has been chosen were separately listed. To prove the correctness of the dynamics analysis, the simulation of the capture scheme was presented. Some capture experiments were done in order to verify the adaptive capture function of the underactuated cable-truss mechanism. © (2014) Trans Tech Publications, Switzerland.

关键词： Dynamics

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The calibration for dual-robot system based on the three-point method

The calibration for dual-robot system based on the three-poi...

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2014 International Conference on Applied Sciences, Engineering and Technology, ICASET 2014

作者： Kong, Min Xiu Yu, Guang Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China

ISBN: (纸本)9783038351849

According to the calibration problem of the dual-robot system, a simple and quick calibration method is proposed in this paper. A new frame is established by the three non-collinear points which the robots handshake at. Then the transformation matrix between the first robot base frame and the new frame and the transformation matrix between the second robot base frame and the new frame will be known. After that, the transformation matrix between the two robots' base frames will be calculated by the relationship between them. Then we simulate this algorithm in MATLAB to verify this method. After the simulation, we can find the validity of this calibration method. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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A feedback-based CPG control method for a single-legged hopping robot

A feedback-based CPG control method for a single-legged hopp...

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2014 International Conference on Frontiers of Advanced Materials and Engineering Technology, FAMET 2014

作者： Wang, Ting Ting Zha, Fu Sheng Wang, Peng Fei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9783038350774

Biological CPG (central pattern generator) is responsible for the generation of animals' rhythmic motion such as hopping and running. In this paper, a novel feedback-based CPG control method is proposed, in which output of the CPG network is totally activated and contained by sensory feedbacks. The network responses to environment changes quickly with multi-feedbacks included, and has strong adaption to disturbance and non-flat terrain. This control method is applied to the controlling of a single-legged hopping robot to show the effectiveness of the approach. The simulation results prove that this control mechanism closely couples environment and robot motion, and dynamically stable hopping emerges from feedbacks contained in the neural networks. © (2014) Trans Tech Publications, Switzerland.

关键词： Feedback

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High order longitudinal and bending hybrid ultrasonic motor with new excitation

High order longitudinal and bending hybrid ultrasonic motor ...

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作者： Chen, W. Yang, X. Liu, Y. Liu, J. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A high order longitudinal and bending hybrid ultrasonic motor with new excitation is proposed in this study. In the new type motor, the locations of two sets of piezoelectric ceramics are the loops of bending vibration mode. By applying two alternating voltages to the ceramics, the second longitudinal and the fifth bending vibrations will be superimposed, that make the points of the driving feet to move elliptically. The finite element method is adopted to realise two phase vibration frequency degeneration. The vibration locus of the driving feet is obtained by means of transient analysis;elliptical trajectories are observed, which verify the driving principle of the new type motor. The impedance characteristics, the vibration modes and mechanical ability of the new motor are verified by prototype tests. When the excitation voltage is 450 Vp-p, the maximum noload speed and the maximum output force of the prototype are 439 mm s-1 and 37 N respectively. © W. S. Maney & Son Ltd. 2014.

关键词： Piezoelectric ceramics

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A sEMG recording system

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key Engineering Materials 2014年第1期620卷 465-470页

作者： Gao, Yongsheng Bai, Jie Wang, Shengxin Zhao, Jie Li, Xiaoyan State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China Electrical Engineering and Automation Tianjin University 300072 Tianjin China

ISBN: (纸本)9783038351856

The sEMG (surface electromyographic) plays a significant role in the rehabilitation medicine, particularly in exoskeleton robotic treatment. A sEMG recording system using STM32F407 DISCOVERY development board and Labview software, combined with multiple signal acquisition sensors was proposed in this paper. The UC/OS-II operating system was embedded in the STM32F407 micro controller so that multiple channels can be picked up from different sensors at the same time. Due to the characteristics of STM32F407 microcontroller;the largest acquisition channels can be up to 16, and multiple signals can be collected such as the sEMG, angle trajectory, acceleration, torque etc. The use of DISCOVERY development board and Labview has reduced development cycle to a greater extent and resulted large improvement in work efficiency. © (2014) Trans Tech Publications, Switzerland.

关键词： Microcontrollers

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Design of a bending vibrations hybrid type ultrasonic motor with a bonded-type structure

Design of a bending vibrations hybrid type ultrasonic motor ...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ying-xiang Liu Dong-mei Xu Ji-peng Yan Xiu-hua Ni Wei-shan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Shanghai Radio Equipment Research Institute Shanghai P. R. China

A bending vibrations hybrid type ultrasonic motor with a bonded-type structure is proposed and designed in this work. Four pieces of PZT plates are bonded on a metal beam to form the proposed motor. In this design, elliptical movements of the driving feet, the significant motion to realize the actuating of a rotor, is produced by the superimposing of two first bending vibrations orthogonal in space. The structural parameters' sensitivities of the bending resonance frequency and the electromechanical coupling factor are calculated and discussed by modal analysis and harmonic analysis respectively. The most sensitive parameters are obtained. Then, the vibration characteristic of the proposed motor is investigated by transient analysis; another ultrasonic motor with the same length but no horns is also calculated to give a comparison. Different with previous motor, the proposed one drive the runner by two transversal displacements of the driving tip; this new actuating mode has merits of higher resonance frequency, larger vibration amplitude and velocity, better movement trajectory uniformity and shorter response time. The study results can guide the fabrication of linear or rotary ultrasonic motor with small size.

关键词： Resonant frequency Vibrations Acoustics Acoustic beams Trajectory Couplings Structural engineering

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Design of underwater welding robot used in nuclear plant

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key Engineering Materials 2014年第1期620卷 484-489页

作者： Lv, Ximin Liu, Yufei Gao, Haibo Ding, Liang Tao, Jianguo Xia, Kerui Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China School of Automation Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783038351856

Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot. © (2014) Trans Tech Publications, Switzerland.

关键词： Nuclear power plants

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The study of bone cutting force with FEM

The study of bone cutting force with FEM

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5th International Conference on Material and Manufacturing Technology, ICMMT 2014

作者： Liu, Sen Wu, Dong Mei Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9783038351498

In orthopedic surgery, it is easy to do harm to surrounding tissues, so the study of bone cutting is necessary. In this article, a finite element model (FEM) of orthogonal bone cutting is developed. Cutting force intra-operatively can provide the surgeon with additional on-line information to support him to control quality of cutting surface. The obtained cutting force decreased little with cutting speed increasing, but ascended evidently with cutting depth increasing. The results of finite element simulations are aimed at providing optimization of cutting parameters and the basic information for hybrid force-velocity control of a robot-assisted bone milling system. © (2014) Trans Tech Publications, Switzerland.

关键词： Bone

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