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10th International Conference on Automation, robotics, and Applications, ICARA 2024

作者： Zhang, Yuxin Dong, Wei Yan, Zhiyuan Gao, Yongzhuo Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350394245

Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It is suitable to insert a sensor based on FBGs to some narrow cavities. At the same time, a slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement sensor of FBG fiber is designed in this paper to realize temperature compensation. Considering the friction among FBG, driving wires, and niti tube and external forces applied on the end, a mechanical model about the FBG sensor and the continuum manipulator is proposed. At last, a linear interpolation method is used in the curvature estimation. Under the condition that there is no end resistance and only the bending moment and friction along the outer surface of the continuum generated by the steel wire driven by the motor the absolute measurement error of the position of the end of the continuum is 1.9mm. © 2024 IEEE.

关键词： Fiber Bragg gratings

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Characterizing permeability-porosity relationships of porous rocks using a stress sensitivity model in consideration of elastic-structural deformation and tortuosity sensitivity

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3437-3451页

作者： Ronghe Xu Liqin Wang Xiaoli Zhao Yuze Mao MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Shanghai Aerospace Control Technology Institute Shanghai201100China

Clarifying the relationship between stress sensitivities of permeability and porosity is of great significance in guiding underground resource *** and more studies focus on how to construct stress sensitivity models to describe the relationship and obtain a comprehensive stress sensitivity of porous ***,the limitations of elastic deformation calculation and incompleteness of considered tortuosity sensitivity lead to the fact that the existing stress sensitivity models are still unsatisfactory in terms of accuracy and ***,a more accurate and generic stress sensitivity model considering elastic-structural deformation of capillary cross-section and tortuosity sensitivity is proposed in this *** elastic deformation is derived from the fractal scaling model and Hooke's *** the effects of elastic-structural deformation on tortuosity sensitivity,an empirical formula is proposed,and the conditions for its applicability are *** predictive performance of the proposed model for the permeability-porosity relationships is validated in several sets of publicly available experimental *** experimental data are from different rocks under different pressure *** mean and standard deviation of relative errors of predicted stress sensitivity with respect to experimental data are 2.63%and 1.91%.Compared with other models,the proposed model has higher accuracy and better predictive generalization *** is also found that the porosity sensitivity exponent a,which can describe permeability-porosity relationships,is 2 when only elastic deformation is considered.a decreases from 2 when structural deformation is also *** addition,a may be greater than 3 due to the increase in tortuosity sensitivity when tortuosity sensitivity is considered even if the rock is not fractured.

关键词： Stress sensitivity model Permeability-porosity relationships Elastic-structural deformation Tortuosity stress sensitivity

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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China's space robotics for on-orbit servicing: the state of the art

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National Science Review 2023年第5期10卷 8-9页

作者： XueAi Li Dapeng Yang Hong Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Since the pioneering deployment of Canadarm in 1981,various on-orbit servicing (OOS) concepts have been flourishing and are continuously demonstrated by space agencies worldwide[1].This novel access to extend human curiosity in space is empowered by the remarkable OOS progress achieved by missions like the Robot technology Experiment (ROTEX),Engineering Test Satellite-Ⅶ(ETS-Ⅶ),

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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Design and In Situ Additive Manufacturing of Multifunctional Structures

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Engineering 2023年第9期28卷 58-68页

作者： Yan Zhang Guangyu Zhang Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

关键词： Additive manufacturing Multifunctional structure Optimal design Satellite Polyetheretherketone

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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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Research progress of space non-pyrotechnic low-shock connection and separation technology(SNLT):A review

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Chinese Journal of Aeronautics 2022年第11期35卷 113-154页

作者： Honghao YUE Yifei YANG Yifan LU Fei YANG Jun WU Qi RUAN Zongquan DENG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Space missions have become diversified in recent years, where connection and separation devices play a crucial role as key components of various spacecraft. Traditional pyrotechnic devices have the advantages of large carrying capacity, rapid motion and functional reliability. However,their shortcomings such as great release shock, poor safety, unrepeatability and other prominent defects make them unsuitable for new generation spacecraft such as microsatellites to separate at low shock or lock repeatedly, etc. Therefore, it is necessary to develop space non-pyrotechnic low-shock connection and separation devices(SNLD) which are required for advanced aerospace missions. In this paper, the progress of the research on space non-pyrotechnic low-shock connection and separation technology(SNLT) is summarized and reviewed. Proceed from the principle of reducing shock for non-pyrotechnic devices, present studies are classified from the perspective of actuating technology and systematic designing methods. For non-pyrotechnic actuating techniques,according to different driving sources, the separation devices are classified into several main categories: electric, magnetic, gas and thermal actuating devices. The actuation principle and application prospect of separation techniques are introduced and the working process, dimension and mechanical properties of typical devices are compared and evaluated. For the systematic designing method, the common mechanism types of SNLDs are summarized according to the designing concept of reducing shock. Then connection configurations are classified according to the structural forms of connection devices, of which the principles, bearing capacities and general applications are discussed. This paper systematically summarizes the key problems, puts forward the future development trend of SNLT, and points out the breakthrough direction for related scholars.

关键词： Connection Low-shock Non-pyrotechnic Separation Space

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

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Frontiers of Mechanical Engineering 2022年第1期17卷 18-33页

作者： Jiawen YAN Bo PAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and *** limited space for robot manipulation restricts structure volume and *** this paper,an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation,needle positioning,and needle insertion.A novel parallel structure is employed in the robot system for space saving,structural rigidity,and collision *** particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure *** method identifies parameters in the modified kinematic model stepwise according to parameter *** experiments prove that the robot system can realize motions needed in *** applying the calibration method,a reasonable,reliable forward kinematic model is built,and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point,respectively.

关键词： ultrasound image guidance prostate percutaneous intervention parallel robot kinematics identification particle swarm optimization informative value

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Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger

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Frontiers of Mechanical Engineering 2022年第3期17卷 59-74页

作者： Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and *** on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical *** finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory *** achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust *** mechanical design of the finger and its stiffness adjusting methods are *** stiffness characteristics of the finger joint and the actuation unit are *** results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the *** have been experimentally proven to be robust against physical ***,the experimental part verifies that fingers have good power,grasping,and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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