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IEEE International Conference on robotics and Biomimetics

作者： Tianqi Yue Kui Sun Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Conventional legs for quadruped robot are facing problems such as heavy load and high energy consumption of motors. To address this challenge, this paper presents a quadruped robot leg with variable joint configuration and introduces the optimization design method of this leg. The leg can change the joint configuration during the motion of robot, which could help motors adapt ground reaction force more reasonably. The simulation results show that compared with typical leg structures, the variable configuration leg can theoretically reduce the peak torque and the energy consumption of motor to a certain extent, which might provide a possible solution for this problem.

关键词： Quadruped robot Electric-drive Leg structure Joint configuration

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Transporting Microobjects Using a Magnetic Microrobot at Water Surfaces*

Transporting Microobjects Using a Magnetic Microrobot at Wat...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yuanzhe He Lefeng Wang Lifu Zhong Yang Liu Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Microobject transporting is an important task in numerous micromanipulation applications. In this paper, we propose a novel method to transport microobjects using a magnetically actuated microrobot at water surfaces. The microrobot is a pentagram-shaped magnetized sheet with typical diameter of 800μm. By applying magnetic gradient generated by electromagnetic coils, the microrobot can move controllably at water surfaces. Microobjects at water surfaces can be trapped by the microrobot due to the capillary attraction. Microobject transporting is realized by direct push of the microrobot. A releasing strategy by accelerating the microrobot is also presented to separate the microobject from the microrobot. The experimental results show that the maximum transporting speed for solder balls achieved 3.3mm/s with a magnetic gradient of 79mT/m.

关键词： Force Drag Robots Magnetic field measurement Magnetic separation Saturation magnetization

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Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy

Closed Loop Control of a Continuum Surgical Manipulator for ...

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IEEE International Conference on robotics and Biomimetics

作者： Qi Li Haozhe Yang Yuyang Chen Kai Xu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Minhang Shanghai Province China RII Lab (Lab of Robotics Innovation and Intervention) Shanghai Jiao Tong University Minhang Shanghai Province China

Robotic assistance in MIS (Minimally Invasive Surgery) has attracted worldwide attention in the past decades. Even though majority of the implemented robotic surgical manipulators have articulated structures, continuum structures have been more widely applied due to their advantages of intra-abdominal dexterity and safe interaction with anatomy. However, absolute positioning accuracy of a continuum surgical manipulator can be low due to its nonlinear bending behaviors under different loads and un-modeled manufacturing clearance. This paper hence presents a proof-of-concept investigation of closed loop control scheme for improving the manipulator's absolute positioning accuracy. system descriptions, kinematics modeling and experimental validations are reported in detail to demonstrate the effectiveness of the proposed control scheme.

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Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

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Nano-Micro Letters 2019年第4期11卷 690-708页

作者： Zhichao Li Chao Gao Sisi Fan Jiang Zou Guoying Gu Mingdong Dong Jie Song Institute of Nano Biomedicine and Engineering Department of Instrument Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Shanghai Engineering Research Center of Advanced Dental Technology and Materials Shanghai Ninth People’s HospitalShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Interdisciplinary Nanoscience Center(iNANO) Aarhus UniversityAarhus 8000Denmark

As a frontier of biology,mechanobiology plays an important role in tissue and biomedical *** is a common sense that mechanical cues under extracellular microenvironment affect a lot in regulating the behaviors of cells such as proliferation and gene expression,*** such an interdisciplinary field,engineering methods like the pneumatic and motor-driven devices have been employed for ***,such techniques usually rely on complex structures,which cost much but not so easy to *** elastomer actuators(DEAs)are well known as a kind of soft actuation technology,and their research prospect in biomechanical field is gradually concerned due to their properties just like large deformation(>100%)and fast response(<1 ms).In addition,DEAs are usually optically transparent and can be fabricated into small volume,which make them easy to cooperate with regular microscope to realize real-time dynamic imaging of *** paper first reviews the basic components,principle,and evaluation of DEAs and then overview some corresponding applications of DEAs for cellular mechanobiology *** also provide a comparison between DEA-based bioreactors and current custom-built devices and share some opinions about their potential applications in the future according to widely reported results via other methods.

关键词： Dielectric elastomer actuator Mechanical stimulus Bioreactor Mechanobiology

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Profile detection and surface fitting based on the key optical components of the seeker 15

Profile detection and surface fitting based on the key optic...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wu, Si Li, Xianming Rong, Weibin Zhou, Jun Tian, Xue Deng, Zhun Sheng, Zhong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China Beijing Institute of Remote Sensing Equipment China Aerospace Science and Industry Corp Beijing100854 China

ISBN: (纸本)9781538660720

This paper proposes a new method for measuring thickness data of surface compensation gasket and an algorithm for ellipse fitting and multiple ellipse fitting. First of all, the laser ranging sensor is used to scan the surface to obtain the data types of different specifications and to analyze the advantages and disadvantages of the data types. Secondly, the least square method is used to fit the data and analyze algorithm error. Finally, a new multi-ellipse fitting algorithm is proposed for determining the position of the fastening hole. It will facilitate the application of force sensors. © 2018 IEEE.

关键词： Least squares approximations

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Central Pattern Generator Based Band-Limited Multiple Fourier Linear Combiner for Tremor Estimation in Functional Electrical Stimulation system

Central Pattern Generator Based Band-Limited Multiple Fourie...

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IEEE International Conference on Mechatronics and Automation

作者： Yang Luo Yongsheng Gao Qiang Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Central pattern generator (CPG) is a useful mathematic model to describe the periodic motion of human. As the pathological tremor can be approximated as roughly periodic and sinusoidal motion signal, the CPG based algorithm for tremor signal processing exhibits great potential. However, CPG for pathological tremor suppression has rarely been applied in real time implementation. In this work, a new algorithm named central pattern generator based band limited multiple Fourier linear combiner (CPG-BMLC) for tremor suppression in functional stimulation system (FES) is proposed. The proposed algorithm is employed to process the signal collected from the patient with Parkinson tremor. The stimulation results have shown that CPG-BMLC can predict the motion signal and filter off the high frequency tremor accurately. In addition, the algorithm is programed in FES for tremor suppression in real time. The experimental results verify that the CPG-BMFLC in FES can suppress frequency tremor signal in real-time implementation. The CPG-BMLC in FES for tremor suppression can extract the tremor part from motion and suppress the tremor accurately.

关键词： Iron Prediction algorithms Oscillators Estimation Real-time systems Muscles Generators

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Elbow Joint Angle Estimation in Wavelet Neural Network using ReliefF Selected Features of sEMG and Post Filter

Elbow Joint Angle Estimation in Wavelet Neural Network using...

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IEEE International Conference on Mechatronics and Automation

作者： Yang Luo Yongsheng Gao Qiang Li Jie Zhao Xingtong Fei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In the control of electromyography-driven exoskeleton, the algorithms must estimate the human motion with fast speed and high accuracy. In this paper, we propose a wavelet neural network (WNN) to estimate the continuous wrist joint angle using the reliefF selected features of surface electromyography (sEMG) and post filter (WNN using RSF&PF). The working process of WNN using RSF&PT can be described as three steps. The candidate sEMG features extracted in time domain are selected according to reliefF theory, and then the selected features are relayed to WNN for angle estimation. In the end, the moving average filter, a post filter, is used to smooth the output curve of the WNN. The estimation performance of WNN using RSF&PF is evaluated via an experimental platform and compared with that of support vector machine as well as that of radial basis function neural network. The average execution time of WNN using RSF&PT in processing 20-s of the sEMG data is 1.104s. The root mean square error and correlation coefficient are 8.73 degree, 0.978 respectively. The comparison results suggest that WNN using RSF&PF achieves the best estimation in terms of accuracy and speed in this work.

关键词： Angle Estimation ReliefF Selected Features Wave Neural Network Post Filter Surface Electromyography

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Design and Modeling of Belt Grinding Tool for Industrial Robot Application

Design and Modeling of Belt Grinding Tool for Industrial Rob...

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2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Mingyang Li Yongzhuo Gao Wei Dong Zhijiang Du the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)

ISBN: (纸本)9781538631089;9781538631072

Manufacturing in aerospace industry has a strong demand for robotic ***,poor trajectory accuracy and rigidity hinder the application for accurate *** this paper,we present a novel approach for modeling and control of an automated grinding process that utilizes a belt grinding *** tool has an active compensating electric cylinder controlled with the information integrating contact force and tool *** design of critical components are presented in details and the coupling method is described based on the static structure of *** within robotic cell has been set up to demonstrate the effectiveness of the presented methods.

关键词： Design and Modeling of Belt Grinding Tool for Industrial Robot Application

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N-PD cross-coupling synchronization control based on adjacent coupling error analysis

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Journal of Central South University 2018年第5期25卷 1154-1164页

作者：刘延杰梁乐储婷婷吴明月 State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China HIT-Boshi Research Institute Harbin Boshi Automation Co.Ltd.Harbin 150078China

In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, nonlinear proportion-deviation （N-PD） cross-coupling synchronization control strategy based on adjacent coupling error analysis is presented. The mathematical models of the robot, including kinematic model, dynamic model and spline trajectory planing, are established and verified. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with nonlinear control and coupling performance of the robot, N-PD cross-coupling synchronization controller is designed and validated by simulation analysis. A servo control experimental system which mainly consists of laser tracking system, the robot mechanical system and EtherCAT based servo control system is constructed. The synchronization error is significantly decreased and the maximum trajectory error is reduced from 0.33 mm to 0.1 mm. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot＇s trajectory tracking precision significantly.

关键词： mathematical model of robot adjacent coupling error nonlinear PD control synchronization control trajectory tracking accuracy

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Dynamic Contact Behaviors of Precision H-type Air Bearings during Startup Process

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2018年第6期54卷 18-24页

作者： Zhang, Chuanwei Li, Dongsheng Gu, Le Wang, Liqin Sun, Tao School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The dynamic air bearing force and asperity contact force of precision H-type air bearings are calculated considering the effect of air rarefaction and surface roughness. The axial motion of the rotor and the minimum air film thickness is obtained. The effect of both the number and depth of spiral grooves on the startup behaviors of the air bearing is discussed. The results show that the air bearing force increases with an increase in the angular velocity of the rotor. When the angular velocity is about 200 r/min, the rotor fully separates with the air bearing surface. The increasing spiral groove number leads to an increase in the air bearing force and a decreased in the contact force. However, slight change in the air bearing force and contact force is generated when the groove number is over 10. Considering the cost and efficiency for manufacturing the spiral grooves, the optimal groove number of the air bearing is 10. With an increase in the groove depth, the air bearing force first increases and then decreases, while the asperity contact force first decreases and then increases. When the groove depth is 1.5 μm, a maximum air bearing force and a minimum asperity contact force are generated. Therefore, under the startup condition of the air bearing, the optimal groove depth is 1.5 μm. © 2018 Journal of Mechanical Engineering.

关键词： Air

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