检索结果-内蒙古大学图书馆

Kinematics modeling of a 6-PSS parallel mechanism with wide-range flexure hinges

Journal of Central South University 2012年第9期19卷 2482-2487页

作者：杜志江史若冲董为 State Key Laboratory of Robotics and System(Harb in Institute of Technology)

A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive *** proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspace.A three-layer back-propagation(BP) neural network was utilized to the kinematics analysis,in which learning samples containing 1 280 groups of data based on stiffness-matrix method were used to train the BP *** kinematics performance was accurately calculated by using the constructed BP model with 19 hidden *** with the stiffness model,the simulation and numerical results validate that BP model can achieve millisecond level computation time and micron level calculation *** concept and approach outlined can be extended to a variety of applications.

关键词： flexible parallel manipulator wide-range flexure hinge kinematics model neural network

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Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

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Acta Automatica Sinica 2013年第8期39卷 1238-1245页

作者： Zheng-Cai CAO Long-Jie YIN Yi-Li FU Tian-Long LIU College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China

Visual servo stabilization of nonholonomic mobile robots has gained extensive attention. However, currently, the solution of the problem does not consider both the visibility constraints and the actuator limitations, so the designed controller is difficult to realize satisfactory performance in practical application. In this paper, a predictive controller for the visual servo stabilization of a mobile robot is presented. Firstly, a kinematic predictive stabilization controller utilized to generate the command of velocity is introduced. Then, in order to make the actual velocity of the mobile robot asymptotically approach to the desired one, a dynamic predictive controller is designed. The proposed predictive controller can deal with the constraints easily. Finally, several simulations are performed, and the results illustrate that the proposed control scheme is effective to solve the visual servo stabilization problem.

关键词： Nonholonomic mobile robots visual servo stabilization predictive control constraints

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A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

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Structure topology optimization of two-dimension micro/nano angular-table

Structure topology optimization of two-dimension micro/nano ...

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

作者： Mahmoud Helal Lefeng Wang Lining Sun Production and Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura EGYPT Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin CHINA

Compliant mechanisms have made an enormous contribution in the design process of various fields such as for adaptive structures, hand-held tools, components in transportations, electronics, and surgical tools. The use of compliant mechanisms will help in reducing the number of components, which therefore decrease manufacturing cost and additionally increase the performance. Topology optimization has proven to be a powerful method for the conceptual design of structures and mechanisms. Topology optimization is the technique that finds the optimal layout of the structure within a specified design domain. This paper presents the micro/nano angular-table compliant mechanism. The topology optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The final optimal topology configuration of the micro/nano-angular table is shown and discussed.

关键词： Optimization Topology Finite element analysis Manufacturing processes Micromechanical devices Mathematical model Materials

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4M-model Based Bionic Design of Artificial Skeletal Muscle Actuated by SMA

4M-model Based Bionic Design of Artificial Skeletal Muscle A...

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上海交通大学第16期博士生学术论坛——机械百年·智能制造·智造中国学术论坛

作者： Jianjun Zhang Jianying Zhu State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong Un Mechatronics Research Institute Nanjing University of Aeronautics and Astronautics Nanjing 210016

This paper presents a novel 4M-model based artificial skeletal muscle (AM) actuated by shape memory alloy (SMA) *** from Hill-and Huxley-model, the 4M-model is developed based on the microscopic working mechanism of molecular motor (4M), which is the origin of muscle *** SMA wires and custom made passive composite (CMPC) of the AM were used to mimic biomechanical characteristics of skeletal muscle, which mainly refers to force-length *** results of the AM demonstrate the desired performance.

关键词： Shape memory alloy Artificial skeletal muscle 4M-model Bionic design

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Analysis of period doubling bifurcation and chaos mirror of biped passive dynamic robot gait

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Chinese Science Bulletin 2012年第14期57卷 1743-1750页

作者： ZHAO Jie WU XiaoGuang ZANG XiZhe YAN JiHong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight *** fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model ***é mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking *** addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters ***,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in *** results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the *** a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the *** the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.

关键词：倍周期分岔步态分析机器人系统 Cantor集模型参数混沌动态行走参数配置

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Design and testing of one-dimensional nano-positioning stage with large travel range and high resolution

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Nami Jishu yu Jingmi Gongcheng/Nanotechnology and Precision Engineering 2012年第5期10卷 384-389页

作者： Rong, Wei-Bin Wu, Zhen-Guang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Design and performance testing of a one-dimensional nano-positioning stage with large travel range and high resolution are presented. Driven by dual piezoeletric actuators, the stage is developed based on differential leverage and flexible hinge. Flexible hinge stiffness, input reaction force, and amplification ratio are firstly analyzed based on material mechanics and structural vibration. The finite element analysis is used for validating amplification ratio and admissible stress. Finally, the experimental setup is developed and the performance of the stage is tested. The results show that the stage has a travel range of over 240 μm and a resolution of about 10 nm with the outsize of 80 mm × 60 mm × 20 mm. The proposed stage based on differential leverage can be used for large travel-range nano-positioning with high resolution.

关键词： Piezoelectric actuators

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Sliding mode control with nonlinear disturbance observer for a class of underactuated system

Sliding mode control with nonlinear disturbance observer for...

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Chinese Control Conference (CCC)

作者： Jian Huang Feng Ding Yongji Wang State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of underactuated system which is in cascaded form. By using strict feedback, the underactuated system is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： Observers Sliding mode control Robustness Uncertainty Simulation Joints Friction

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The Registration of 2D/3D Images in Robot-assisted Cervical Disc Replacement Surgery

The Registration of 2D/3D Images in Robot-assisted Cervical ...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Junlin Ma Dongmei Wu Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun Jil State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Prov

ISBN: (纸本)9781467329705

Robot assisting artificial cervical disc replacement surgery is a surgery which is operated widely,however,because the registration of 2D/3D during the operation is the key technology and very difficult,the success rate of this surgery is very *** this paper,a 2D/3D registration method of 2D/3D aiming at this surgery based on grayscale of image is *** this registration method,ray casting method is used to generate DRR,normalized correlation is used as similarity measure and Powell’s optimizer is used as the optimization method.A test of registration using DRR simulation aiming at this registration method is also performed,and the experimental results show that the axial displacement error is below 0.5mm and the axial rotation error is below 0.2°.Because this registration method needs only two C-arm images,it can be applied to minimally invasive surgery.

关键词： Cervical disc replacement surgery 2D/3D registration DRR

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The Global Stability Analysis of Passive Biped Robot Based on Gradual Point Mapping - Cell Mapping Method

The Global Stability Analysis of Passive Biped Robot Based o...

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International Symposium on Instrumentation and Measurement, Sensor Network and Automation

作者： Xizhe Zang Jifeng Bai Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927173

On the basis of Poincare mapping and cell mapping theories, this paper proposes an improved PCM method that is Gradual Point Mapping - Cell Mapping (GPCM) method. Compared with Point Mapping - Cell Mapping Synthesis (PCM) method, GPCM method proposed can better address the calculation excessive, the credibility guarantee and other issues. The global stability of passive biped robot was analyzed by using GPCM method, the global domains of attraction of a variety of physical parameters' combinations were solved, and we optimized the robot's parameters accordingly. The dynamics simulation and robot prototype experiments show that the robot has strong robustness and can converge to a stable gait by a fast convergence rate.

关键词： Passive Biped Robot Global Analysis Poincare Mapping Domain of Attraction Dynamic Simulation

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