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

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

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 o... 详细信息

关键词： Manipulators Vibrations Modal analysis Shape Finite element methods Analytical models

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Optimal design of robotic manipulators based on simultaneously considering links and joints flexibility

Optimal design of robotic manipulators based on simultaneous...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

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

In this paper, a geometrical optimization and reducers selection method is proposed for robotic manipulators design, which considers the flexibility of links and joints simultaneously. The Lagrangian approach is employed in deriving the dynamic model of a two-DOF manipulator. Timoshenko model is used to discretize the dynamic model. Two criteria, i.e. maximization of fundamental frequency and minimization of self-weight/load ratio, are utilized to optimize the manipulators. The NSGA-II (Fast Elitist Nondominated Sorting Genetic Algorithms) is employed to solve the multi-objective optimization problem. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations are provided and the effectiveness of the optimization is proved.

关键词： Optimization Joints Mathematical model Manipulator dynamics Equations Vectors

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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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International Conference on Power Electronics and Motion Control (IPEMC)

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

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.

关键词： Transducers Couplings Stators Vibrations Resonant frequency Acoustics Impedance

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

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

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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On the role of motion element on the thrust contribution for fishlike swimming

On the role of motion element on the thrust contribution for...

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

作者： Xia, Dan Chen, Weishan Liu, Junkao School of Mechanical Engineering Southeast University Jiangning Jiangning Nanjing 211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781467312776

The swimming performance is numerical simulated for three dimensional fishlike robot. To study the thrust contribution, this work considers the robot divided into seven motion elements along the fish axis from head to tail, executing the heave and pitch motion respectively. The results show that each motion element is found to yield thrust and the thrust takes on sinusoidal periodic variation. During a motion cycle, the value increases with the motion elements close to the tail, while a phase delay of thrust generation is found. Due to the thrust contribution by each motion element accompany with the phase difference existence, the total thrust may be adjusted to a reasonable value. © 2012 IEEE.

关键词： Robots Kinematics Force Drag Hydrodynamics Mathematical model Marine animals

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Designing and dynamic modeling of 1D nanopositioner based on stick-slip motion principle

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2012年第19期48卷 29-34页

作者： Zhang, Shizhong Rong, Weibin Tai, Guoan Yu, Miao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Institute of Nanoscience Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

Two stick-slip inertial stages respectively for horizontal and vertical positioning are designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). The flexible hinges of drive mechanism and rubber ring for finely adjusting friction are applied to assure the entire structure compact. Due to linear dynamics of piezoelectric transducer and nonlinear friction in the stick-slip stage, a dynamical model representation based on LuGre model is presented and verified by being compared with experimental results. With largest sizes of 24 mm×24 mm×17 mm and 24 mm×24 mm×34 mm, both of horizontal and vertical stages have resolutions of 8 nm and strokes of 50 mm, while their abilities to lift up to 66g are also be demonstrated. A two-tip manipulation of nanowires is performed in assistant of the nanopositioners developed, and the excellent performance of the nanopositioner in SEM is demonstrated. © 2012 Journal of Mechanical Engineering.

关键词： Stick-slip

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Study on the landing mechanism employed in asteroid exploration

Study on the landing mechanism employed in asteroid explorat...

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

作者： Zhao, Zhijun Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Different landing exploration modes of small bodies are discussed. A landing mechanism employed in the asteroid landing exploration is designed. It contains landing foot, landing gear, cardan, buffer mechanism, equipment base, anchor system, and so on. The landing mechanism could fold up to reduce space occupation in the spacecraft. It could fix itself on the landing slope under microgravity via the anchor system. The anchor system's penetrating and anchoring capability is examined in the frozen earth. The landing performance under microgravity is tested on the air-floating platform. Experiments show that the landing mechanism could perform landing under microgravity and anchoring itself firmly on the landing slope. © 2012 IEEE.

关键词： Microgravity

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Stability analysis of a tracked mobile robot in climbing stairs process

Stability analysis of a tracked mobile robot in climbing sta...

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

作者： Wang, Weidong Wu, Dongmei Wang, Qibin Deng, Zongquan Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

Obstacle negotiation stability is essential to unmanned ground vehicle. The stability criterion which is proposed in this paper can provide the basis for analysing robot's stability. With analysing the interaction between the stairs and the tracked robot which is used in harsh environment, this paper presents two methods to judge the stability of the robot in climbing stairs process. Here the kinematic model is established with the D-H method. Using this model, the robot's ability of climbing stairs is analysed. With the model and the ability analysis method, a geometry stability analysis method which using the stability pyramid and a force stability analysis method which using the force between robot and stairs are proposed. At last, a simulation case and experiments illustrate the effectiveness of the proposed method for climbing stairs. © 2012 IEEE.

关键词： Kinematics

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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2012 IEEE 7th Sensor Array and Multichannel Signal Processing Workshop, SAM 2012

作者： Tao, Hao Xin, Jingmin Jiasong Wang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467310710

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors. © 2012 IEEE.

关键词： Additive noise

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STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LONGITUDINAL TRANSDUCERS

STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LO...

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2012全国压电和声波理论及器件技术研讨会

作者： Ying-xiang LIU Wei-shan CHEN Di LU Xiao-hui YANG Yu YAO State Key Laboratory of Robotics and System Harbin Institute of Technology School of Astronautics Harbin Institute of Technology

A linear ultrasonic motor using longitudinal vibration transducers with single foot was proposed,designed,fabricated and tested in a previous *** longitudinal vibrations of two orthogonal bolt-clamped transducers are superimposed to produce eUiptical movements on the driving ***,the operating principle of the proposed motor is *** longitudinal and bending vibrations of the transducers are gained by modal ***,the resonance frequencies and input impendence characteristics of the individual transducers and the motor are calculated respectively to gain the effect from the vibration *** study results state that the vibration coupling between the transducers make thenlongitudinal resonance frequencies have small increases and the electromechanical coupling factor of the vertical transducer has an obvious decrease after it is linked with the horizontal *** last,the coupling bending vibrations of the transducers are tested by using a scanning laser Doppler vibrometer.

关键词： Ultrasonic motor Longitudinal transducer Vibration coupling Input impendence

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