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

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Differentiated time-frequency characteristics based real-time motion decoding for lower extremity rehabilitation exoskeleton robot

Differentiated time-frequency characteristics based real-tim...

引用

5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Fan, Yuanjie Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Dongchuan Rd. 800 200240 Shanghai China

ISBN: (纸本)9783642335143

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity exoskeleton. In this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio). Corresponding experiments on knee joint are conducted by prototype exoskeleton robot. EMGBFT (EMG Biofeedback therapy) based on force and haptic is applied as information feedback. Results show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Signal to noise ratio

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

引用

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

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 IEEE.

关键词： Reels

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

引用

2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

引用

2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Wireless Control system of Reconfigurable Flexible Process-equipment

引用

10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Fang, Yan Tao Cao, Gang Zhu, Bo State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The reconfigurable flexible process-equipment developed for machining complex shape and size changes in the scope of large thin-walled parts usually consists of dozens or even hundreds of positioning/support units. During the control process, each unit communicates with the host computer to get control commands and simultaneously feedback internal state information. For large complex system composed of many subsystems, the traditional cable connection based on field bus technology is high control costs and the complexity of the control circuit is hard to build and manage. To solve this problem, this paper puts forward a new way of wireless communication with the cable network technology and drive positioning/support unit in order. This paper focuses on the overall structure of the proposed system, host computer control system, lower computer control system and wireless communication module as well as the implementation hardware circuits and software algorithm. In addition, some solutions of related issues are discussed. The research shows that the proposed system has high stability and reliability, and it provides an effective way to the control and communication of complex system which fully meets the requirements of reconfigurable flexible process-equipment.

关键词： Reconfigurable Flexible Process-equipment Wireless Control ZigBee

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Research on USB Communication in the Compiled-typed NC system

引用

10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Ren, Yan Hai Cao, Gang Liao, Zhi Rong State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The compiled-typed NC system compiles NC program into object codes and sends them to slave computers. The object codes generated is a large amount of data. To ensure the data transmission fast and real-time, USB communication is adopted and researched in this paper. The design of USB driver program and communication program in the upper computer and slave computers is mainly introduced.

关键词： USB driver program communication mode NC system

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A method for unpowered space robot safety rendezvous, with non-cooperative spacecraft

A method for unpowered space robot safety rendezvous, with n...

引用

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

作者： Zhang, Fuhai Chen, Hongwei Hua, Lei Fu, Yili Wang, Shuguo Guo, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Postdoctoral Flow Station of Materials Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467312776

Aiming at rendezvous path planning of free floating space robot(the chaser satellite) in outer space, the path planning method to ensure safe approaching the non-cooperative space target based on the orbit mechanical equation is proposed. The whole rendezvous path planning strategy and safety principle of rendezvous path planning in ultimate approaching stage of free floating space robot are researched;Based on orbit mechanical equation, the moving ellipse locus of free floating space robot is generated using the safety principle to approach the non-cooperative space target in ultimate approaching stage. The method realizes that the space robot system approaches the spinning non-cooperative space target in free floating work mode, and the robot can escape safely when the subsequent work could not be normally completed. © 2012 IEEE.

关键词： Motion planning

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Development of high integrated 2-DOF joint module for space application

Development of high integrated 2-DOF joint module for space ...

引用

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

作者： Shi, Shicai Li, Rong Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Automobile Heilongjiang Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This paper presents a high integrated 2-DOF joint module for space application which consists of two modular joints and a control box. The axes of the two joints are orthogonal and intersectant. Based on the TDJM, some new version manipulators with different configuration could be developed with only a little modification in short time, such as four-DOF manipulator or six-DOF manipulator. The TDJM have high reliability with full redundant drive, sensors, power, communication and control system. A big central hole in the modular joint was designed for the placement of the cables in the TDJM, which prevents them from the damage of high temperature, radiation in the space environment and the motion of the joints. A test table was developed to measure the performances of the TDJM. © 2012 IEEE.

关键词： Manipulators

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Laser cutting ZrO2 ceramic with controlled fracture technique

Laser cutting ZrO2 ceramic with controlled fracture techniqu...

引用

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

作者： Yang, Lijun Wang, Yang Tian, Zhongguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The research about laser cutting technology based on controlled fracture method has great potential to cutting ceramics. The paper investigate the controlled fracture technology to ZrO2 ceramic irradiated with Nd:YAG laser. In the experiment, laser energy produces a thermal stress that cause ceramic to separate along the moving path of laser beam. Graphite coated ceramic surface to improve the absorption rate for laser radiation. Optical microscope photographs and SEM of the separation surface are obtained to examine the surface quality. The surface qualities of ceramic obtained by laser and mechanical cutting are compared. Fracture propagation mechanism is studied by examining the temperature and stress fields using finite element software ANSYS12.1. The results show that good cutting quality of ceramic can be acquired by continuous Nd:YAG laser cutting with controlled fracture. © 2012 IEEE.

关键词： Fracture

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THEORY ANALYSIS OF A NEW ABSOLUTE POSITION SENSOR BASED ON ELECTROMAGNETISM

THEORY ANALYSIS OF A NEW ABSOLUTE POSITION SENSOR BASED ON E...

引用

International Conference on Automatic Control and Artificial Intelligence

作者： Zijian Zhang Fenglei Ni Hong Liu Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781627481205

Rotating angle of joint is an important factor in control field of robot arm. In the paper, a new sensor to test the absolute rotating angle of robot arm joints is designed. Firstly, structure of the magnetic field emitter is presented. Secondly, the generating process of signals sine and cosine is introduced. Then, working principle of the senor is described. At last, a new encoder is designed. The emitter working together with the encoder can test the absolute rotating angle and the calculation process is given in the paper. At the end of the paper, advantages of the sensor are listed.

关键词： Absolute position sensor Magnetic sensor Diamagnetic material Robot control

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