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

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Development of the hexapod robot HITCR-II for walking on unstructured terrain

Development of the hexapod robot HITCR-II for walking on uns...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhang, He Liu, Yubin Yan, Jihong Zang, Xizhe Zhou, Ziwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The purpose of this paper is to describe the design and development of the hexapod robot HITCR-II for walking on unstructured terrain. The leg and joint with modularized structure have been designed, and an objective function has been made up to further optimize the parameters of structure, thereby enhancing the motion performance of this robot;The 3-D.O.F force sensor in the foot end and joint torque sensors have been designed into the structure of leg, thus the leg has the omnidirectional perception of force, and the robot is also equipped with pose sensor, joint position sensor and binocular vision, so it can apperceive its own state and external environment;A highly integrated electric system has been developed, and finally the shell of the robot has been designed to make the robot more beautiful as well as better wrap-around. © 2012 IEEE.

关键词： Robots

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Multisensor-based autonomous docking for UBot modular reconfigurable robot

Multisensor-based autonomous docking for UBot modular reconf...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Pijun Zhu, Yanhe Cui, Xindan Wang, Xiaolu Yan, Jihong Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Autonomous docking is still a major challenge for self-reconfigurable robots, it is an essential capability for the system to realize reconstruction, self-repairing and even for completing operational tasks in the complex environment. In this paper, we developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel docking method for precise docking between module group with the sensor module and the target module. We describe this automated docking progress as three steps: The visual pre-positioning process;Precise positioning through hall sensors;Crawling and self-locking by the hook-type connecting systems. Finally, this method is proved to be effective by the S-4 module group automatic docking experiment. © 2012 IEEE.

关键词： Modular robots

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The tip interface mechanics modeling of a bevel-tip flexible needle insertion

The tip interface mechanics modeling of a bevel-tip flexible...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Dong, Wei Han, Huimin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

As a bevel-tip flexible needle is inserted through soft tissue, the asymmetry of the needle tip conducts the needle bending naturally. The needle inside the tissue can follow a desired trajectory via controlling the direction of the asymmetrical tip. If the force between the needle and the soft tissue is explicit, the needle can be controlled to escape from obstacles and reach target lesions as accurately as possible, so a mechanics modeling between the flexible needle and the soft tissue is particularly important. In this paper, based on the consideration of friction force, the interaction of needle tip and soft tissue is modeled and analyzed during the needle linear feeding and axial rotating. In the analytical model, the forces applied on the bevel tip are formulated based on the geometry of the bevel edge and material properties of soft medium. Meanwhile, the relationship between the forces generated on the bevel-tip and the major influence factors is obtained, which is described in the several figures and also further discussed in detail. The concept and approach outlined in this paper is generic which can be extended to a variety of flexible needle insertion involved applications. © 2012 IEEE.

关键词： Needles

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A time-optimal trajectory planning approach based on calculation cost consideration

A time-optimal trajectory planning approach based on calcula...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Xiao, Yongqiang Dong, Wei Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China

ISBN: (纸本)9781467312776

A new smooth online near time-optimal trajectory planning approach is proposed to reduce the computation cost compared to traditional dynamics trajectory planning method. The robot path is expressed by a scalar path coordinate s. The joints torque bounds and speed bounds are transformed into the s-s plane, which can generate the limitation curves of pseudo-velocity. The maximum pseudo-velocity curve which meets the limitation of torque and speed is constructed through the feature points and control points in the s-s plane using cubic polynomial fitting method. Control points used for cubic polynomial construction are optimized by the Golden-Section method. The calculation time of this method is shorter than traditional dynamics method. Compared to five-order polynomial trajectory optimization method, the approach proposed in this paper can effectively take advantage of joints maximum speed. © 2012 IEEE.

关键词： Trajectories

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An anthropomorphic design guideline for the thumb of the dexterous hand

An anthropomorphic design guideline for the thumb of the dex...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Hairong Fan, Shaowei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The preeminent manipulation capabilities of the human hand are undoubtedly related to the thumb. In view of this, this paper presents an anthropomorphic design guideline for the thumb of the dexterous hand. Anatomy analysis of the human thumb represents an excellent base from which a robotic design can be inferred. With simplification of human thumb's joint motion model, five configurations of thumb are given for the design of dexterous robotic hand. A new method for determining the position of thumb on the palm is proposed, according to the Euler Theorem about Finite Rotation of Rigid Body. A numeric method for computing the opposability of the thumb is described based on Monte Carlo methods, to evaluate dexterity of the hand in object manipulation. In order to verify the effectiveness of the proposed method, it is applied to the revised design of the HIT/DLR II hand. Performance indexes of both the original and the revised hand are calculated for comparison. The opposability of the thumb on revised dexterous robotic hand is 2.92 times of the original, which indicates the effectiveness of the proposed method. © 2012 IEEE.

关键词： Monte Carlo methods

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An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist

An analytical solution for inverse kinematic of 7-DOF redund...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Chao Jin, Minghe Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A valid analytical inverse kinematics computation for seven-degree-of- freedom (7-DOF) redundant manipulators with offset-wrist is proposed. The method uses a virtual joint to replace the join offset from the wrist, and forms a virtual manipulator with a sphere-wrist. Assuming that the virtual manipulator and the real manipulator's joint angles keep the same all the time, the virtual manipulator seems to be driven by the real manipulator;meanwhile, the real manipulator seems to be driven by the virtual manipulator. There is an interesting relationship between these two manipulators: the pose of the virtual manipulator can be calculated if the pose and the 7th joint's angle of the real manipulator are given. It means that the virtual manipulator is driven to the calculated pose when the real manipulator moves to the given pose with the given 7th joint angle, meanwhile, the real manipulator will be driven to the to the given pose when the virtual manipulator moves to the calculated pose with the given 7th joint angle. Then the inverse kinematic solutions of real manipulator can be obtained through solving the inverse kinematic problems of virtual manipulator with a known 7th joint angle. They share the same solutions. In this paper, the manipulators' configuration is analyzed and the virtual joint method and its detailed solution processes were given. Lastly the method is verified by kinematic simulations. The results show that the virtual joint method behaves high precision in solving the inverse kinematic of 7-DOF redundant manipulator with offset-wrist. © 2012 IEEE.

关键词： Inverse kinematics

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A simulation method of soft tissue cutting with haptics

A simulation method of soft tissue cutting with haptics

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Zhiyuan Wu, Dongmei Huang, Yingying Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Simulation of soft tissue cutting is a problem. For proposing an effective simulation method, a surgery simulation system is put forward, and a double thread software system which contains graphics thread and equipment thread is built in the research. And ball-spring model is used as the internal physical model of the surgery object to realize the force feedback and the deformation. And then a surface model associated with the physical model is built. Based on the physical model and the surface mesh, an effective cutting algorithm is put forward. The simulation results proved that the proposed calculation model can effectively achieve the real-time cutting interaction and deformation of soft tissue, and real-time force feedback can be acquired. In conclusion, the model proposed can realize the simulation of the soft tissue cutting process. © 2012 IEEE.

关键词： Deformation

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Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Stiffness analysis and modal analysis of precision parallel ...

引用

2012 2nd International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2012

作者： Rong, Weibin Luan, Yuliang Qi, Limin Xie, Hui Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467345897

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was obtained the inherent frequency and vibration mode, which can effectively avoid the occurrence of resonance. © 2012 IEEE.

关键词： Modal analysis

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Design of a coordinated control strategy for multi-mobile-manipulator cooperative teleoperation system

Design of a coordinated control strategy for multi-mobile-ma...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yan, Jihong Zhao, Jie Yang, Chen Zhu, Yanhe Ma, Liang Chen, Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The Multi-operator multi-mobile-manipulator (MOM3) teleoperation system is built and several operators located in different places can control the multiple manipulators to collaborate with each other via network. It takes advantage of mobility, cooperation, distribution, which enhance the ability of the system to fit into more complex task. Time delay and dynamic interaction between multi-operator and multi-robot deteriorates its performance. Considering these influence, the human-robot intelligence shared control strategy is proposed to improve performance of the system, which combines the humanrobot intelligence from the master side and slave side respectively. At the master side, the virtual guide can guide or restrict the operators' action, which realizes efficient collaboration and improves the operation accuracy. At the slave side, the coordinated controller fuses operators' commands with force/torque information obtained from corresponding sensors, and achieves expected coordinated control by adjusting coordinated factor. A cooperative task experiment to simulate the dangerous environment is carried out by three operators and mobile-manipulator. Results demonstrate the validity of the strategy proposed. © 2012 IEEE.

关键词： Remote control

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Design and optimization of a haptic manipulator using series-parallel mechanism

Design and optimization of a haptic manipulator using series...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Yong Yan, Zhiyuan Wang, Hongmin Du, Zhijiang Zhang, Yuchun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

This paper presents design and optimization of an 8-DOF haptic manipulator using series-parallel mechanism. Parallel mechanism is designed to control 3-DOF translation input parameters and transfer the feedback force to the operator. Series mechanism is a 4-DOF quadruple-axial concurrent redundant mechanism, controlling three orientation angles. Forward and inverse kinematic analyses have been performed and the jacobian matrix is derived. Operating performance indexes such as global conditioning index, global kinematic performance fluctuant index and workspaces are evaluated to find optimal parameters in design stage. © 2012 IEEE.

关键词： Manipulators

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