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

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Theoretical analysis and experimental study of Ultrasonic Vibration Microdissection technology

Theoretical analysis and experimental study of Ultrasonic Vi...

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IEEE International Conference on Mechatronics and Automation

作者： Liguo Chen Yaxin Liu Tao Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters.

关键词： Frequency Needles Microscopy Laser beam cutting Laboratories Glass Oscillators robotics and automation Nonhomogeneous media Piezoelectric actuators

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Piezoelectrically driven silicon microgrippers integrated with sidewall piezoresistive sensor

Piezoelectrically driven silicon microgrippers integrated wi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tao Chen Liguo Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

This paper presents the design, fabrication, and application of an piezoelectrically driven microgripper integrated sidewall piezoresistive force sensor for measuring the gripping force. Surface and bulk micromachining technology is employed to fabricate end-effectors and sensor of the microgripper from a single crystal silicon wafer. Vertical sidewall surface piezoresistor etching technique is used to form the side direction sensors. The end-effectors of the gripper are four-bar structures. Two fixed cantilever beams integrated with piezoresistive sensor are designed to sense the gripping force, and a piezoelectrically driven microactuator is designed to provide the force to operate the other two movable bars. The piezoelectrically driver adhered with the silicon end-effectors generates a linear horizontal motion 9 mum, which is amplified to 30 mum at the bar tip of the microgripper. Then the range of the operation is 25 mum - 140 mum. Testing results verify that the vertical sidewall surface piezoresistor etching technique is effective. The sensitivity of the piezoresistive sensors is better than 72 V/N, and the resolution is better than 3 muN.

关键词： Silicon Grippers Piezoresistance Force sensors Force measurement Etching Fabrication Micromachining Structural beams Microactuators

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Analysis on Simplified Engineering Model and Vibration Feature of Spherical Micromanipulator

Analysis on Simplified Engineering Model and Vibration Featu...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Pengfei Wang Haiyan Hu Mantian Li Lining Sun tate Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

ISBN: (纸本)9781424447749

A spherical micromanipulator achieves rotations with 3-DOFs of the micro-ball with the relative displacements brought by the frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes. The two-masses simplified engineering model of the stick-slip principle is established under the condition of simplifying spherical higher pair joints. The model of forced vibration and self-excitation oscillation on stick-slip movement is established by dividing the two-masses simplified engineering model and the composite theory of the forced vibration and self-excitation oscillation is presented. The model is demonstrated by simulations. The experiment is also done, and the validity of the model is further proved by the results. At last, the defects of simple driving are discussed, which provides reference to micromanipulator control.

关键词： Micromanipulator Spherical Stick-slip Vibration features

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DSP&FPGA-based joint impedance controller for DLR/HIT II dexterous robot hand

DSP&FPGA-based joint impedance controller for DLR/HIT II dex...

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

作者： T. Lan Y.W. Liu M.H. Jin S.W. Fan H.G. Fang J.J. Xia H. Liu State Key Laboratory of Robotics and System (HIT) Harbin China Institute of Robotics and System Dynamics German Aerospace Center Germany

A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and position measuring. The experimental results of joint impedance control show that proposed strategy not only improves the effectiveness of contact task performance, but also provides compliant interaction of robot hand with a person, thus enables robot hand to work in different environments.

关键词： Impedance Control systems Robot sensing systems Orbital robotics Position control Human robot interaction Communication system control Intelligent robots Fingers Timing

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Micro/nano grip and move compliant mechanism with parallel movement tips

Micro/nano grip and move compliant mechanism with parallel m...

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IEEE Conference on Nanotechnology

作者： Mahmoud Helal Liguo Chen Lining Sun Bing Shao The State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424448326

The development and deployment of micro and nano-electro-mechanical systems (MEMS/NEMS) are critical to the economy of each country and society because these technologies will lead to major breakthroughs in information technology and computers, medicine and health, manufacturing and transportation, power and energy systems, and avionics and national security. The assembly of micro-devices involves handling of parts that are extremely very small. This paper presents the design of compliant grip and move manipulators with parallel movement tips. The integration of both gripping and moving manipulators with parallel movement tips is accomplished by the use of compliant mechanisms, which generate paths that are symmetric. The structural topology optimization approach is applied in order to find the optimal material distribution in the proposed domain for compliant mechanism. A 2-D finite element analysis (FEA) model using ANSYS is constructed for the propose design domain. The optimal configurations of the compliant mechanism, which can realize a micro grip and move with parallel movement tips, is demonstrated.

关键词： Computer aided manufacturing Micromechanical devices Nanoelectromechanical systems Information technology Transportation Aerospace electronics National security Assembly Topology Finite element methods

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2D-Numerical Simulation of Flexible Oscillating Fin Mimetic Bony Fishes Fin

2D-Numerical Simulation of Flexible Oscillating Fin Mimetic ...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Yangwei Wang Guanrong Hang Jian Li Zhenlong Wang State Key Laboratory of Robotics and System (HIT) Harbin Heilongjiang 150001 People's Republic of Ch State Key Laboratory of Robotics and System at Harbin Institute of technology Harbin Heilongjiang 15

ISBN: (纸本)9781424447749

A controllable flexible biomimetic fin actuated by Shape Memory Alloy (SMA) was presented to imitate the flexible bending of fin rays in bony fishes. Based on the bending experiment of the biomimetic fin, the kinematics model was set up. Then a two-dimensional numerical simulation on the oscillatory biomimetic fin was performed by computational fluid dynamic to investigate the interaction with the surrounding fluid and the propulsive force production. By solving the 2D, incompressible, laminar, unsteady Navier–Stokes equations, the computational results show that the biomimetic fin generates a vortex ring after a complete period in still water which can generate a thrust force. The dynamics performance of the vortex ring is achieved and then the average propulsive force is calculated on different oscillatory frequencies and maximum bending angles to find the change character. At last, an important parameter, the Strouhal number was discussed in this paper. Different Wake pattern were observed depending on different velocities of the background flow, which decide the Strouhal number. When the 0.2

关键词： Fins vortex state (superconductivity) Strouhal number bony fish Biomimetics bend tests SEED RECOVERY Standing water Propulsion FLEXIBLE thrust Hydrodynamics

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Heat Affected Zone in the MEMS Wire Bonding

Heat Affected Zone in the MEMS Wire Bonding

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2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

作者： Yuetao Liu Yanjie Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In the wire bonding process of MEMS packaging, Heat Affect Zone (HAZ) is the important factor governing the loop profile of bonding. The height of loop is affected by the length of the HAZ. Factors governing the HAZ are studied. To investigate this relationship, the experiments were done for the various sizes of wire diameter and Free Air Ball (FAB). Electric Flame-Off (EFO) current, EFO time, EFO gap and the recrystallization were also studied. The results showed that as the size of FAB became larger, the length of HAZ increased. With the increase of EFO current and time, the length of HAZ became longer. When FAB was formed at the same parameter, the length of HAZ became shorter with the high temperature of recrystallization.

关键词： heat affected zone meres wire bonding free air ball

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The effects of Parameters on the Stability of Passive Dynamic Walking

The effects of Parameters on the Stability of Passive Dynami...

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Xiuhua Ni Weishan Chen Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinChina

We studied the effects of parameters on the stability of passive dynamic walking by simulations and experiments. For simulations, we quantified the stability as the largest amount of lowing that the virtual prototype could still recover from and continue walking to the end. We used the ADAMS software to obtain this largest amount lowing. For experiments, we quantified the stability of each walker by observing 100 passive walking trials down a gentle slope of finite length and recording the fraction of trials which successfully walked to the end. This study provides a guide for designing passive dynamic walkers with high stability. This might also be used for designing prosthetic legs.

关键词： passive dyanmic walking stability ADAMS

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Force-driven Robotic Drag Control for Freehand 3D Ultrasound-guided Robot-assisted Percutaneous Surgery

Force-driven Robotic Drag Control for Freehand 3D Ultrasound...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Yinshan Sun Dongmei Wu Zhijiang Du Lining Sun Harbin Institute of Technology State Key Laboratory of Robotics and SystemHarbinChina

ISBN: (纸本)9781424447749

Freehand 3D US-guided robot-assisted percutaneous surgery system, presently under development in our laboratory, has the potential to overcome some drawbacks of current conventional clinical interventions. The robot is commanded to insert accurately the needle into the target in patient's body according to planned path in the 3D model reconstructed by freehand 3D US by several separate steps, one of which is to move the needle tip to the selected insertion point on the surface of the skin. In this paper, we present a force-driven robotic drag control algorithm, designed to transform axial drag force signal of the force sensor mounted approximate to the needle propeller into motor pulse signal of the corresponding axis, to allow the surgeon to drag the robot and lead the needle tip to the entry point manually and flexibly. Experiment has been conducted to validate the algorithm performance.

关键词： drag force sensors NEEDLES Insertion Point Robot three-dimensional displays Three Dimensions Surgeons Surgery pulse signal

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Hydrodynamic analysis of fishlike robot swimming in the straight forward way

Hydrodynamic analysis of fishlike robot swimming in the stra...

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IEEE International Conference on Mechatronics and Automation

作者： Dan Xia Junkao Liu Weishan Chen Luhui Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper investigates the three dimensional hydrodynamics of a fishlike robot swimming in the straight forward way under self-propulsion. The unsteady flow fields associated with swimming robot is computed by using Navier-Stokes equation. Both the user defined function and dynamic mesh technique are applied to track the robot motion. The results show that the mean magnitudes of net thrust force and net lift force approach to zero for one cycle. The variation trends of thrust force, swimming power and propulsive efficiency over time are in sine function. The computed flow fields clearly reveal the evolution of two pairs of pressure cores traveling along the robot as it swims. A positive pressure gradient around the tail is in competition with negative pressure gradient in the head; thrust forces is produced when the positive pressure gradient dominate the negative one. The findings help reveal the propulsive mechanism of the fishlike robot propulsion and benefit the fishlike robot design.

关键词： Hydrodynamics Robot kinematics Computational geometry Shape measurement robotics and automation Laboratories Head Propulsion Mechatronics Tracking

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