检索结果-内蒙古大学图书馆

Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

引用

Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

来源：评论

学校读者我要写书评

暂无评论

Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm 20

Inverse Kinematics of a Reconfigurable Space Manipulator Bas...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhao, Zhiyuan Yang, Xiaohang Xu, Zichun Li, Yuntao Tian, Zhonglai Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness. © 2023 IEEE.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Thermal analysis of lubricated three-dimensional contact bodies considering interface roughness

引用

Frontiers of Mechanical Engineering 2022年第2期17卷 177-191页

作者： Jiqiang WU Liqin WANG Zhen LI Peng LIU Chuanwei ZHANG MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

Surface roughness and thermal action are of remarkable importance in the lubrication performance of mechanical components,especially in extreme ***,available studies mainly focus on the full-film lubrication conditions without considering temperature rise and real 3D surface roughness due to the complexity of surface topography and temperature ***,studies on the interfacial thermal behaviors of 3D rough surface lubricated contact in an extended range of working conditions remain *** this paper,a deterministic mixed thermal elastohydrodynamic lubrication model considering real 3D surface roughness and thermal effects is *** this model,pressure and temperature are coupled with each other,the computation of elastic deformation is accelerated through the discrete convolution and fast Fourier transform method,the temperature field is calculated with the column sweeping technique,and the semi-system method is introduced to improve convergence and numerical stability under severe *** model is validated by comparing its results with available published numerical and experimental *** thermal behaviors of the contact interface are studied in a wide range of working *** influences of surface roughness and thermal effect on lubrication performance are *** results show that the proposed model can be used as a powerful analysis tool for lubrication performance and temperature prediction in various heavy-load,high-speed lubricated components over a wide range of lubrication conditions.

关键词： thermal elastohydrodynamic lubrication surface roughness effect thermal effect temperature characteristics severe conditions

来源：评论

学校读者我要写书评

暂无评论

Hybrid Joint-space Control Strategies Analysis for One-redundant Cable Suspended Parallel Robots 23rd

Hybrid Joint-space Control Strategies Analysis for One-redun...

引用

23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all cables tensioned at the same time. In the cable-driven parallel robots with redundant drives, all the cable tensions have a predicable range, we called cable adjustable force (CAF) in this study. This work aims at investigating the relationships between the CAF of target force-controlled cables, and the pose errors under the hybrid joint-space control strategy. A simulation framework, considering interfering cable length and cable forces, is developed to analysis the characters of hybrid-input control strategy, based on a cable suspended with one redundant layout. We found that the CAF is related to the pose control error of the end-effector, and can be regard as a selection criteria for the target cable for the force control in the hybrid joint-space control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Electronically enhancing the long-range nanopositioning accuracy of a Lorentz force actuator

引用

Frontiers of Information technology & Electronic Engineering 2023年第7期24卷 1080-1092页

作者： Bimal Jeet GOTEEA Qianjun ZHANG Wei DONG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer ***,a suitable coil is designed for the actuator based on the stiffness of the flexure guide *** flexure mechanism and actuator performance are then verified with finite element *** on these,a means to enhance the positioning performance electronically is presented together with the control ***,a prototype is fabricated,and the performance is *** positioner features a range of 10 mm with a resolution of 10 *** proposed scheme can be extended to other systems.

关键词： Nanopositioning Flexure guides Long range Voice coil motor Lorentz force actuator

来源：评论

学校读者我要写书评

暂无评论

General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators 23rd

General Dynamics Modeling and Simulation Analysis of Multi-d...

引用

23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Jin, Xichen Tong, Zhizhong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Flexible manipulators

来源：评论

学校读者我要写书评

暂无评论

Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

引用

Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

来源：评论

学校读者我要写书评

暂无评论

The Prosthetic Hand Can Grasp Occluded Objects with the Help of 3rd-Eye Based on Artificial Vision and AR technology 1

The Prosthetic Hand Can Grasp Occluded Objects with the Help...

引用

1st International Conference on Artificial Intelligence and Human-Computer Interaction, ArtInHCI 2023

作者： Shi, Chunyuan Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150081 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150081 China

ISBN: (纸本)9781643685083

Grasping occluded objects is a large challenge for hand amputees because of the hand's perception loss. This paper proposed an alternative approach based on artificial vision and augmented reality technology, termed 3rd-Eye, to solve the problem. In detail, a live stream of an RGB camera attached to the prosthetic hand was presented to the user who wore an augmented reality helmet, HoloLens 2. The 3rd-Eye was integrated into a hybrid control prosthetic system (i-MYO proposed in our previous work). It was tested in a special reach-And-grasp experiment where the subject needed to grasp an occluded object in cluttered environments (one to six objects in total) using the prosthetic hand. The new approach has achieved satisfactory results (success rate: 100% in all). © 2024 The Authors.

关键词： Computer vision

来源：评论

学校读者我要写书评

暂无评论

Research on Multisensor Fusion state Estimation of Automatic Navigation Vehicle Based on RNN Model 13th

Research on Multisensor Fusion State Estimation of Automatic...

引用

13th International Conference on Frontier Computing, FC 2023

作者： Zhang, Liyuan Cui, Zhiquan Wang, Honggang Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819992980

Multi sensor fusion state estimation of autonomous navigation vehicle based on RNN model. Multi sensor fusion is a process of combining information from different sensors to estimate a single value. In this paper, we propose a recursive neural network (RNN) model to estimate the state of multiple sensors. This method uses RNN architecture with two hidden layers and one output layer to combine sensor data. The input data is first divided into a sequence and then input into the RNN model to predict the output. We use three types of sensors: IMU, LIDAR and GPS. First, the RNN model is trained using three sensors for the navigation system. Then, we use this trained model to estimate the current position using only one sensor data. Finally, we combine the data of all three sensors to obtain the final estimated position of the vehicle at any given time step. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Neural network models

来源：评论

学校读者我要写书评

暂无评论

Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

引用

2024 Applied Optics and Photonics China: Optical Sensing, Imaging technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：