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

作者： Zhang, Qi Xie, Zongwu Ni, Fenglei Cai, Hegao Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This work presents studies on application and implementation on the field programmable gate array (FPGA) technology into a robot joint controller in order to improve the tracking performance. The controller can be divided into two parts and designed with software and hardware separately. The first part is developed in Nios II embedded processor which is used to realize the velocity and torque control in C language. The second part is to implement the current vector control which includes coordinate transformation, PI controller, SVPWM (Space Vector Pulse Width Modulation) and some other function modules in Hardware Description Language (HDL). The two parts are integrated in the system-on-a-Programmable-Chip (SoPC) developing environment. Experiments on a PMSM are done and the results demonstrate the effectiveness and correctness of the proposed FPGA-based controller. Joint friction parameters can be estimated by the proposed controller with velocity and current control. Consequently, the controller is applied on a robotic manipulator together with DSP to verify the high performance. © 2012 IEEE.

关键词： Controllers

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Control of a biped walking with dynamic balance

Control of a biped walking with dynamic balance

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

作者： Liu, Guocai Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Human can walk agilely because of their dynamic balance. In this article, we develop a simple algorithm to control bipedal walking with active balance. The robot can reach its expected velocity by controlling stance leg length and can maintain dynamic balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. The tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. This control algorithm can be used to develop bipedal robot or humanoid robot. © 2012 IEEE.

关键词： Anthropomorphic robots

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Simulation of a piezoelectric micro-jet generator for high viscosity

Simulation of a piezoelectric micro-jet generator for high v...

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

作者： Liu, Junkao Leng, Yue Chen, Weishan Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Considering the active-feed lubrication for moving mechanical assemblies in the spacecraft, a kind of piezoelectric micro-droplet ejection generator for high viscosity liquid is proposed. In order to acquire the displacement-time curve of the centre of the metal film, the finite element analysis software ANSYS was used to analyze the driven part of the generator. The curve was fitted using Fourier series and the differentiated equation was obtained as the initial condition for the analysis of gas-liquid two-phase flow. The multi-phase computational fluid dynamics (CFD) software was used to analyze the droplet ejection process in order to obtain the influence of the pulse voltage amplitude, the minimum thickness of the flexible hinge, the dynamic viscosity of the lubricant and the nozzle diameter on the ejection parameters. The numerical simulation results showed that the generator can effectively achieve the controllable ejection of high viscosity liquid. Along with the pulse voltage amplitude increasing, the break up time decreased, but the length and velocity of the droplet increased. As the minimum thickness of the flexible hinge and dynamic viscosity increased, the break up time, the length and velocity of the droplet decreased. The nozzle diameter also had an important effect on the ejection parameters. As the nozzle diameter increased, the break up time increased, but the droplet length and velocity decreased. © 2012 IEEE.

关键词： Two phase flow

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Kinematics analysis and flexible hinge analysis of 3-PPSR precision parallel manipulator

Kinematics analysis and flexible hinge analysis of 3-PPSR pr...

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

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

ISBN: (纸本)9781467312776

According to the working environment of precise micro-operation parallel robot, the designation and analysis on the kinematics model of 3-PPSR parallel mechanism which was based on flexible hinge was obtained. Simultaneously, the influence of flexible hinge on the position accuracy and stiffness of mechanism was analyzed which may promote the application of control terminal. © 2012 IEEE.

关键词： Kinematics

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Study on the vibration couplings of a traveling wave piezoelectric stator excited by a longitudinal and bending hybrid transducer

Study on the vibration couplings of a traveling wave piezoel...

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2012 IEEE 7th International Power Electronics and Motion Control Conference - ECCE Asia, IPEMC 2012

作者： Liu, Yingxiang Chen, Weishan Feng, Peilian Liu, Junkao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer;the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators. © 2012 IEEE.

关键词： Stators

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A bilateral control method for surgical robots

A bilateral control method for surgical robots

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

作者： Du, Zhijiang Liu, Ziwen Wang, Hongmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

This paper discusses the bilateral control method for surgical robots. By analyzing the features of surgical operations, independence relationship of all the variables involved in a surgical robot system is determined. Considering the intelligence and motion coordination of human neural system, a causality diagram of the integrated system including the operator and environment is presented. Moreover, a control scheme of F-P structure based on disturbance observer is proposed according to the features of surgical robots, i.e. using velocity as the input signal, demanding high transparency and low frequency property. Finally, the stability and transparency of the proposed scheme are discussed, which is also compared with another low frequency transparency method by numerical simulation. The simulation results show the effectiveness of the proposed control scheme. © 2012 IEEE.

关键词： Robotic surgery

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A water walking robot inspired by water strider

A water walking robot inspired by water strider

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

作者： Zhao, Jie Zhang, Xinbin Pan, Qinmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Recent studies on water striders have revealed the mechanism of their floating and walking on water. By fast swinging their middle legs backward and striking the water, water striders get the driving force to move forward. This paper introduces a new water walking robot mimicking the rowing locomotion of water strider. The robot weighs 10 g and utilizes superhydrophobic nickel foam sheets as supporting legs and a spring-based actuating mechanism. Motion and force analysis for the supporting legs and the spring-based actuating mechanism were made and corresponding mechanics analysis models were built, based on which the simulation analysis of the robot was carried out. The robot can move over a distance of 30 cm per stroke with an average speed of 30 cm/s. This robot not only can help us better understand the mechanism of water strider rowing on water, but also can be developed for many applications in water quality monitoring, aquatic exploration, search and rescue on water, etc. in the future. © 2012 IEEE.

关键词： Water quality

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A dynamic model of skeletal muscle based on collective behavior of myosin motors-Biomechanics of skeletal muscle based on working mechanism of myosin motors(I)

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Science China(Technological Sciences) 2012年第6期55卷 1589-1595页

作者： GUO Zhao YIN YueHong State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. According to the structure of sar- comeres arranged in series and in parallel, the mechanical properties of skeletal muscle are studied. This model reveals the re- lations between action potential and muscle characteristics. It is shown that calcium concentration in sarcoplasmic （SP） in- creases linearly with the increasing stimulation frequency and gradually reaches saturation. Active force and contraction veloc- ity follow the trend of calcium concentration and reach a peak value at the maximum stimulation frequency. Contraction ve- locity is inversely proportional to the load while the contraction power increases to maximum and then reduces to zero with the increasing load. These properties are consistent with published physiological experimental results of skeletal muscle.

关键词： skeletal muscle sacromere molecular motor collective behavior dynamic model

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Research on grinding system of robot-assisted artificial cervical disc replacement surgery

Research on grinding system of robot-assisted artificial cer...

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

作者： Wu, Dongmei Zhang, Litao Hao, Guangxin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

Artificial cervical disc replacement surgery is not widely accepted mainly because many problems such as inadequate precision, excessive radiation and other issues need to be solved. A medical robot has been designed to complete positioning and grinding bone mating surfaces with prosthesis in artificial cervical disc replacement surgery. Firstly, the mechanical design of the 6-DOF (Degree of Freedom) parallel robot and the control system design are presented. Then kinematic analysis and grinding trajectory planning for the medical robot are described. Finally, the experiment of the robotassisted cervical disc replacement surgery was carried out with a sheep cervical spine as experimental subject. The experiment on this platform verified rationality and feasibility for the robotassisted cervical disc replacement surgery. © 2012 IEEE.

关键词： Kinematics

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Virtual Force Feedback-based 3D Master/Slave Tele-nanomanipulation in SEM

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Journal of Nano Research 2012年 20卷 109-116页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electromechanical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyn's stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper. © (2012) Trans Tech Publications, Switzerland.

关键词： Stability criteria

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