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Dual-arm kinematic characteristics analysis of humanoid robot based on Matlab

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 343-347页

作者： Li, Ruifeng Ma, Guoqing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

By using D-H method, dual-arm joint coordinate systems of humanoid robot were established and its link parameters were determined, and the robot forward and inverse kinematics model were established. A new method to solve the kinematics was presented, which combined geometric method with inverse transformation method. The workspace of the dual-arm was calculated by the Monte Carlo method in the Matlab. And the constrain relationships of position and orientation between leader and object, leader and follower were discussed. Besides, trajectories of Cartesian space and joint space were planned. The forward and inverse kinematics was simulated by the robotics Toolbox, so as to verify the rationality of the design of the structure. And it lays the necessary foundation for dynamics analysis, dual-arm coordination operation and fast grabbing operation.

关键词： Anthropomorphic robots

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Development of a piezo-actuated high-precision flexible parallel mechanism

Development of a piezo-actuated high-precision flexible para...

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2013 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2013

作者： Wei, Dong Ruochong, Shi Pengfei, Sun Zhijiang, Du Lining, Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing 100094 China

ISBN: (纸本)9781479912131

A flexible parallel manipulator was proposed for high-precision pointing, which employed flexure hinges as passive joints and oriented its moving platform along all six degrees of freedom by means of six independent piezoelectric actuators. A right-circular flexure hinge with high motion accuracy and large displacement was designed based on performance analysis. The parameters of parallel mechanism were optimized by multi-objective optimization on the foundation of inverse kinematics. Moreover, workspace determination and simulation analysis were performed based on the final designed mechanism. Finally, a high-precision pointing system was built up and the performance tests had been implemented, which validated the proposed system satisfied the requirement of design targets. The concept and approach outlined can be extended to a variety of applications. © 2013 IEEE.

关键词： Inverse kinematics

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Multi-channel data acquisition and CAN communication system based on single-chip microcomputer

Multi-channel data acquisition and CAN communication system ...

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2013 2nd International Conference on Manufacturing Engineering and Process, ICMEP 2013

作者： Wang, Jian Ping Jiao, Guo Tai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronic Engineering North University of China Taiyuan 030051 China

ISBN: (纸本)9783037857076

Aimed at the problem that the traditional data acquisition system design with low efficiency and high cost. It is proposed that the C8051F040 microcontroller is based on the integrated A/D converter and CAN controller;utilize dynamic control simulation input quantity into the built-in A/D converter, process and store the data through the micro-processing unit, and use integrated CAN controller to transmit the data. From schematic's design to the board's development, we have achieved the functions that acquisition of multi-channel data combined with CAN network communication through hardware and software debugging. The design of this product is small, powerful and wide used. It has good application and development prospects. © (2013) Trans Tech Publications, Switzerland.

关键词： Data acquisition

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Development of a surface EMG acquisition system with novel electrodes configuration and signal representation

Development of a surface EMG acquisition system with novel e...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Fang, Yinfeng Zhu, Xiangyang Liu, Honghai Group of Intelligent System and Biomedical Robotics School of Creative Technologies University of Portsmouth Portsmouth United Kingdom State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9783642408519

Surface EMG signal is a quite useful tool for both the clinical application and human-machine interface. This paper proposes a multi-channel sEMG acquisition system with a novel sEMG electrodes array using improved bipolar montage. The proposed array employs elastic fabric to fix 18 dry electrodes, which make it own the advantages of reusability, wearability and flexibility. Moreover, a new graphic presentation of forearm sEMG signal is proposed, from which muscular activities can be observed instinctively in the form of round image patterns. At the end of this paper, several groups of hand gestures are studied to show the potential of the proposed system. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Reusability

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Motion planning and coordination control of space robot using methods of calculated momentum

Motion planning and coordination control of space robot usin...

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IEEE International Conference on robotics and Biomimetics

作者： Zhenyu Li Hong Liu Bin Wang the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781479927456

A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional reaction flywheels. From the viewpoint of disturbance momentum calculations, the EGJM matrix is proposed and the motions are controlled without the complex dynamics calculations of disturbance torque which causes larger computation and less efficiency. At last an optimal end-effector path is designed to minimize the disturbance momentum which should be compensated by SGCMGs. The performance of designed strategies is tested in a hardware-in-the-loop simulation environment which involves the space robot dynamics.

关键词： Manipulators Aerospace electronics Joints Robot kinematics Planning Satellites

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Surface Sample Acquisition and Caching Device for Chinese lunar sample return plan

Surface Sample Acquisition and Caching Device for Chinese lu...

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IEEE International Conference on robotics and Biomimetics

作者： Cao Li Zongwu Xie Hong Liu State Key laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781479927456

Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly which has advantages of high reliability and low power lost. A percussion mechanism is introduced to guarantee the lunar sample could be transferred easily in low gravity. Some parts of SSACD are designed with triggered passive mechanism for lowering the power consumption. The prototype of SSACD has been built up to demonstrate the practical effect and some primary experiments are delivered to validate the mechanism design. And a future prospect of SSACD applications is discussed at the end of this paper.

关键词： Moon Containers Force Soil Immune system Robots Shape

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Biomimetic design and biomechanical simulation of a 15-DOF lower extremity exoskeleton

Biomimetic design and biomechanical simulation of a 15-DOF l...

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IEEE International Conference on robotics and Biomimetics

作者： Yanhe Zhu Jinxiang Cui Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781479927456

Lower extremity exoskeletons can improve human strength and endurance with a pair of wearable robotic legs that support a payload. This paper summarizes the biomimetic design and biomechanical analysis of a novel 15-DOF (degree of freedom) lower extremity exoskeleton. The selection of the DOF, critical parameter design, and initial performance simulation are discussed. To provide a basis and guidance for the biomimetic design of the exoskeleton, the human skeleton and the walking gait were comprehensively analyzed. A detailed 3D model of the wearer was generated using BRG. LifeMod software. The structure of the exoskeleton was designed according to the results of the analysis of human walking gait, making sure that each rotation axis of exoskeletons passes through the relevant joint of human body. Both exoskeleton and the human lower limb were imported into ADAMS to simulate and evaluate the performance of the exoskeleton. We also study the effect of the impact to exoskeleton at the moment the swinging feet touching the ground, which lay the foundation for the design of energy-saving and high-performance driving system in the future work.

关键词： Joints Exoskeletons Legged locomotion Hip Knee Biological system modeling Torque

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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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12th IUMRS International Conference on Advanced Materials(IUMRS-ICAM2013)

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

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.

关键词： Ultrasonic motor High order Bending PZT elements Vibration characteristics

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Distributed control in waterflow-like locomotion for UBot modular robot over uneven terrain

Distributed control in waterflow-like locomotion for UBot mo...

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2nd International Conference on Advances in Mechanics Engineering, ICAME 2013

作者： Zhu, Yan He Bie, Dong Yang Wang, Xiao Lu Yin, Jing Chun Zhao, Jie State Key Laboratory of Robotics and System Harbin institute of technology Harbin Heilongjiang Province China Dipartimento di Automatica e Informatica Politecnico di Torino Torino Piemente Italy

ISBN: (纸本)9783037858288

Distributed control, represented by Cellular Automata (CA), has advantage over centralized control for Modular Self-Reconfigurable Robot (MSRR) in capability of extension, efficiency and robustness. But due to the fact that the modular constraints, e.g., the number of DOF and the physical geometry, etc., the ideal CA rules cannot be implemented on the real robot system easily. The goal of the research is on design and implementation of distributed control based on integrated module design and CA rules arrangement. 2-DOF cubic-shaped modular model is first proposed, that is the Ubot module. Cellular rules are arranged according to the locomotion property of UBot module, and distributed control algorithm is designed for the robot to cross the uneven terrain. In simulation and on physical robotic hardware platform, experiments are carried out for UBot to verify the validity of CA theory applied on reconfiguration locomotion of UBot MSRR systems in complex environment. © (2013) Trans Tech Publications, Switzerland.

关键词： Modular robots

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A Gecko-inspired Robot for Wind Power Tower Inspection

A Gecko-inspired Robot for Wind Power Tower Inspection

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第四届国际仿生工程学术会议

作者： Xueshan Gao Jie Shao Fuquan Dai Chengguo Zong Wenzeng Guo Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System (HIT)

In order to accomplish the task of wind power tower inspection, a heavy-loaded climbing robot inspired by geckos is presented in this paper. The robot not only imitates body's functions of geckos but also shows a design method. Wind power tower is a conical wall surface and its smallest radius is less than 2m. There will be a great gap when a robot climbing on such wall with small radius. The extraordinary climbing ability of geckos is considered as a remarkable design of nature that

关键词： Wind power tower inspection. Climbing robot. Gecko-inspired structure. Robot design method.

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