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The International Conference on Recent Trends in Materials and Mechanical Engineering（ICRTMME 2011）

作者： Junkao Liu Weishan Chen Xiaoyu Lv State Key Laboratory of Robotics and System Harbin Institute of Technology

A new type ultrasonic materiel transmission system is proposed in this *** this new design,bending vibration traveling wave is generated in an elastic pipe by using two uniform sandwich type longitudinal vibration ***,elliptical trajectory motions can be formed at particles on the pipe wall,which can drive the materiel by frictional *** adopting of sandwich transducer in this device can gain large vibration amplitude and improve the electromechanical coupling *** structure and working principle of the proposed design are *** transducer and the pipe are designed and analyzed by using FEM *** longitudinal vibration mode of the transducer and the bending vibration mode of the pipe are analyzed,and the resonant frequencies of these two modes are tuned to be close.A prototype system is fabricated and measured.

关键词： traveling wave,FEM,ultrasonic transducer,materiel transmission

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Design for flexible joint controller based on a new compensation control strategy

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Jiqiren/Robot 2011年第2期33卷 150-155页

作者： Dang, Jin Ni, Fenglei Liu, Yechao Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

For the uncertain disturbance, friction and parameter variation, modeling errors and other issues in flexible joint robot control system, conventional PID control can not take into account both the requirements of stability and control accuracy. To solve this problem, a novel robust joint controller based on a new compensation control strategy is designed. In the controller design, the friction is divided into two parts, linear and nonlinear, and the disturbance into certain and uncertain. The part associated with the robot self structure, deterministic disturbance and the linear part of the friction can be controlled effectively by the feedforward compensation part. Feedback compensation part of the proposed controller can compensate nonlinear part of friction, system parameter variation, external uncertain disturbance, modeling error and so on. Its stability is completely proved by Lyapunov stability theory. Finally, the results on the platform of HIT 4-DOF flexible manipulator show that the controller has good position tracking performance and robustness.

关键词： Controllers

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Development of a novel robotic catheter system for endovascular minimally invasive surgery

Development of a novel robotic catheter system for endovascu...

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IEEE/Institute of Complex Medical Engineering International Conference on Complex Medical Engineering

作者： Fu, Yili Gao, Anzhu Liu, Hao Li, Kai Liang, Zhaoguang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China First Clinical College Harbin Medical University Harbin Heilongjiang Province China

ISBN: (纸本)9781424493241

Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity, Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays;surgeons can be located in the control room away from the operating room in the master-slave way;catheterization can be performed successfully and safely to the target point with high maneuverability. © 2011 IEEE.

关键词： Catheters

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Tracking control of an electro-hydraulic shaking table system using a combined feedforward inverse model and adaptive inverse control for real-time testing

Tracking control of an electro-hydraulic shaking table syste...

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作者： Shen, G. Zheng, S.T. Ye, Z.M. Yang, Z.D. Zhao, Y. Han, J.W. State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Yikuang Street 2# Nangang District Harbin Heilongjiang Province 150001 China

An electro-hydraulic shaking table (EHST) is used for real-time replication of situations that occur in civil and architectural engineering, the automotive industry, and earthquake resistance testing. EHSTs are able to generate a large force at high speeds over a wide frequency range and this feature makes them invaluable in performing vibration tests. Unfortunately, due to the inherent dynamics of the EHST system's hydraulics, the output response of an EHST system displays magnitude attenuation and phase delays in response to displacement and acceleration commands. A feedforward inverse model (FFIM) combined with adaptive inverse control (AIC) is proposed to improve the tracking performance of the EHST following specified displacement and acceleration commands. The proposed control strategy utilizes a FFIM to extend the EHST system's frequency bandwidth and uses AIC based on a recursive least squares (RLS) algorithm to adaptively adjust the time domain drive signal of the EHST servo controller and improve the tracking accuracy. Experimental and simulation results demonstrate the effectiveness of the proposed combined control strategy. © Authors 2011.

关键词： Earthquake engineering

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Running and Turning Control of a Quadruped Robot with Compliant Legs in Bounding Gait

Running and Turning Control of a Quadruped Robot with Compli...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Xin Wang Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyChina

In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from rest till a constant speed and hi-speed turning, both in the prototype simulation and robot experiment. These results contribute to that complex dynamically dexterous tasks may be controlled via simple energy control method and delayed task feedback, which is closer to the animal’s actual locomotion conditions. In the future, we plan to modify this method for reducing the energy expending and make the robot running fast.

关键词： Leg Torque Hip Legged locomotion Robot kinematics Turning

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Running control of a quadruped robot in trotting gait

Running control of a quadruped robot in trotting gait

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IEEE Conference on robotics, Automation and Mechatronics

作者： Zhenyu Jiang Mantian Li Wei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology China

In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robot body are constructed. Under the analysis of the dynamics model, a simple running control method was implemented to decouple six DOF of the body, which requires minimal task level feedback and only controls the leg torque and touch down angle. In simulation this control method successfully executes on robot running from stationary to a constant speed when climbing up or down slope with well regulated pitching, rolling and yawing motions. Additionally, a prototype robot is constructed, and the control method is verified by prototype experiment in the sagittal plane.

关键词： Legged locomotion Springs Hip Joints Shoulder Actuators

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Peng Yin Pengfei Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified.

关键词： Legged locomotion Foot Robot sensing systems Planning Adaptation models Trajectory

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A study on out-of-plane compressive properties of metal honeycombs by numerical simulation

A study on out-of-plane compressive properties of metal hone...

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Meng Li Rongqiang Liu Hongwei Guo Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

To provide theoretical basis for metal honeycombs used as buffering and crashworthy structures,the effect of the cell length and foil thickness on compressive properties of metal honeycombs is investigated by numerical *** results are well consistent with the corresponding experimental *** numerical results show that metal honeycombs have cyclic buckling when loaded in out-of-plane *** thicker the foil is or the shorter the cell length is,the higher the plastic collapse stress is and the plastic collapse stress is much sensitive when cell length is *** numerical simulation used in this paper can well predict the crush *** and doubled foil portions of cell walls are also accounted in the FE *** results demonstrate that the method is effective which can be used in optimization design of buffers.

关键词： metal honeycombs quasi-static experiment numerical simulation out-of-plane compressive properties energy-absorption characteristic

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Mechanics Analysis of Beam-like Space Deployable Truss Mast

Mechanics Analysis of Beam-like Space Deployable Truss Mast

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

A kind of beam-like space deployable truss mast with square batten frames supported by four longerons and two diagonal cables cross laced per face is described.A simple method for deriving mechanics parameters of the mast is *** loads for mast to maintain self-equilibrating structure are *** equations for the axial,bending,shear,torsional stiffness and bending strength of the mast are derived based on proposed *** derived by simple method are consistent with expressions for the effective continuum mechanics of beam-like truss derived previously based on equivalent continuum method,these equations are helpful for mast preliminary design and mechanics *** of mast structural parameters on mast stiffness and strength is analyzed,mast stiffness and strength can been improved by selecting reasonable structural parameters.

关键词： Mechanics Stiffness Strength Space deployable truss mast

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The Study Between Passive Self-adaptability and DOF of The Rover

The Study Between Passive Self-adaptability and DOF of The R...

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Fei Yang Jianguo Tao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

For getting good passive self-adaptability,the model for single wheel system contacting with the terrain is established,and the degree of freedom(DOF) needed is studied when the system has good passive self-adaptability;further more,the model of one sided wheel-suspension is set up,and the DOF is obtained by analyzing with corresponding proof is given;several relative features of some common passive self-adaptive rovers are concluded,and these information testifies the universalism of this paper's conclusions.

关键词： rover passive self-adaptability DOF suspension structural synthesis

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