检索结果-内蒙古大学图书馆

Artificial Intelligence, Human-Computer Interaction and robotics (AIHCIR), International Conference on

作者： Tao Yang Shize Qin Fang Xu Songbo Deng Hao Zhang Yan Shi State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing PR China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing PR China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang PR China

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft robotics and Wearable Devices

SSRN

引用

SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

来源：评论

学校读者我要写书评

暂无评论

Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator

Synchronous Control Method and Simulation Research of Multi-...

引用

Service robotics (ICoSR), International Conference on

作者： Tao Yang Fang Xu Baosen Du Yongjian Ni Chao Yu Yan Shi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

引用

Chinese Journal of Aeronautics 2025年第2期 581-600页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of Technology Centre for Precision Manufacturing DMEMUniversity of Strathclyde State Key Laboratory of Robotics and System Harbin Institute of Technology

To mill fine and well-defined micro-dimpled structures, a machining manner of spiral trajectory tool reciprocating motion, where the tool repeats the process of ‘feed milling±retract±cutting feed±feed milling again' along the spiral trajectory, was proposed. From the kinematics analysis, it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion. To reveal this causation, simulation modelling and experimental studies were carried out. A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length) and parameters(discrete angle, discrete arc length, and pitch) on surface texture and residual height of micro-dimpled structures. Subsequently, microdimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion. A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy, surface morphology and surface roughness of milled dimples. Meanwhile, the errors and factors affecting the above three aspects were analyzed. The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures. Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces. And an appropriate machining trajectory can be generated based on the optimized trajectory parameters, thus contributing to the improvement of machining quality and efficiency.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Damage evolution mechanism and low-damage grinding technology of silicon carbide ceramics

引用

International Journal of Extreme Manufacturing 2025年第2期7卷 551-586页

作者： Chen Li Kechong Wang Oleg Zakharov Hailong Cui Mingtao Wu Tianchen Zhao Yongda Yan Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001People’s Republic of China Moscow State University of Technology STANKINMoscow 127994Russia Sichuan Precision and Ultra-Precision Machining Engineering Technology Center Chengdu 610200People’s Republic of China College of Mechanical Engineering Quzhou UniversityQuzhou 324000People’s Republic of China Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-cut Material Hunan University of Science and TechnologyXiangtan 411201People’s Republic of China

Silicon carbide(SiC)ceramics are extensively utilized in aerospace,national defense,and petrochemical industries due to their superior physical and chemical *** processing of bulk SiC ceramics necessitates precise and efficient grinding techniques to produce components with satisfactory ***,the inherent high hardness and brittleness of SiC ceramics present significant challenges during grinding,leading to severe brittle fracture and tool wear that compromise both surface integrity and production *** ductile-regime grinding of SiC ceramics can be achieved by enhancing machine tool accuracy and stiffness while optimizing wheel performance alongside appropriate selection of process parameters,a comprehensive summary of the mechanisms underlying damage evolution during grinding is lacking,and a mature grinding process for SiC ceramics has yet to be *** bridge this gap,the sintering technologies,mechanical properties,and microstructures of SiC ceramics were briefly *** grinding-induced damage mechanism and low-damage grinding technologies of SiC ceramics were *** fundamental science underlying the ductile deformation and removal mechanisms of brittle solids was ***,attention was directed towards the critical role of hybrid energy field grinding in minimizing brittle damages and promoting removal *** review not only elucidates the intrinsic interactions between the work material and abrasives,but also offers valuable insights for optimizing the grinding processes of brittle solids.

关键词： grinding damage evolution low damage high surface integrity silicon carbide ceramics

来源：评论

学校读者我要写书评

暂无评论

Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

引用

2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

Optimization Approach on the Topology Structure of Beam-Based Flexural Pivots with Arbitrary Center of Rotation

SSRN

引用

SSRN 2024年

作者： Zhang, Zhaowei Pieber, Michael Gerstmayr, Johannes State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta Street 114 Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences No.135 Chuangxin Rd Liaoning Shenyang110169 China Department of Mechatronics University of Innsbruck Technikerstraße 13 Innsbruck6020 Austria

Beam-based flexural pivots are widely adopted as compliant mechanisms due to their ideal design for achieving low torsional stiffness and high translational stiffness. Usually, the flexural hinges are optimized for a specific application in compliant mechanisms. However, designing flexure hinges with an arbitrary center of rotation presents a significant challenge, especially when aiming to accommodate large deformations. Addressing this, we introduce an approach to optimize the topology structure of beam-based flexural pivots undergoing large deformation, aiming to achieve an optimized configuration with an arbitrary center of rotation. Both the stiffness based objective function and strain energy based objective function are introduced. For the implementation, a geometrically exact beam element is utilized to establish a dual-layer ground structure for optimization. A genetic algorithm is employed to identify optimal configurations for flexural hinges, including traditional notch hinges and cross-spring pivots. Furthermore, how different objective functions and their corresponding parameters influence the optimized configurations are examined. Ultimately, using three examples with an arbitrary center of rotation, this approach achieves optimal design results. The results demonstrate that this approach can serve as a foundation for designing compliant mechanisms with an arbitrary center of rotation. © 2024, The Authors. All rights reserved.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Generalized Optimization Approach to Design In-Plane Distributed Compliant Remote Center of Motion Mechanism

SSRN

引用

SSRN 2024年

Remote center of motion (RCM) mechanisms are widely used because their center of rotation is outside the mechanical device. Usually, compliant RCM mechanisms use a linkage-based design with flexure hinges to achieve relative motion. It is still an open question to design a distributed compliant RCM mechanism using flexural beams. Addressing this, the paper proposes a generalized optimization approach for the design. The optimization approach is implemented in two steps. First, we use beams to establish a dual-layer ground structure. Using a genetic algorithm and considering the relative density of beams as variables, we obtain the optimized topology. Second, based on the topology and employing curved beams for size-shape optimization, we achieve optimized distributed compliant RCM mechanisms. Based on this approach, we explore and identify four distinct topologies and four detailed distributed compliant RCM mechanisms. With the comparison of stiffnesses and rotational axis shift, two kinds of optimized distributed compliant RCM mechanisms are considered. For verification, commercial finite element method software ABAQUS were used, demonstrating excellent alignment. Ultimately, this approach can be generalized for optimizing distributed compliant RCM mechanisms. © 2024, The Authors. All rights reserved.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Material Removal Mechanism and Microstructure Fabrication in Micro-Milling of Glow Discharge Polymer (GDP)

SSRN

引用

SSRN 2022年

作者： Wang, Guangzhou Yu, Tianyu Zhou, Xingying Guo, Ruiyang Chen, Mingjun Sun, Yazhou School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Glow discharge polymer (GDP) is an essential material for target ball applied in inertial confinement fusion (ICF). The processing quality of GDP material directly affects its high energy performance. Machinability and material removal mechanism are critical to attain a high processing quality during micro cutting. In this work, a comprehensive study of the machinability and removal mechanism of GDP material is conducted. Mechanical properties of GDP, such as elastic modulus, hardness and elastic recovery rate, were investigated first using nanoindentation experiments. Micro milling experiments were performed using micro ball end milling. Chip modes, machined surface morphology and their formation mechanism are emphatically analyzed. An geometric model for calculating undeformed chip area removed by ball end mill was proposed for analyzing the specific cutting force. Additionally, the effects of minimum uncut chip thickness (MUCT) threshold and size effect on the machining quality of GDP material were also studied. By comprehensively analyzing chip morphology, cutting force, specific cutting force as well as surface integrity, the cutting mechanism of GDP material can be roughly divided into the ploughing dominated, the ploughing-shearing coexist and the shearing dominated Below normalized MUCT threshold of 0.339, the size effect is obvious. When the ratio of feed per tooth to cutting edge radius is up to 0.714, the size effect has little influence on the machining of GDP material. At the end, micro dimples were fabricated on the GDP surface by ball end milling. The surface quality of machined micro dimples indicates that the ploughing effect and size effect have significant impact on machining micro-dimpled structures in ploughing dominated mode. The parameters (e.g. step or pitch distance) of specific machining ways (e.g. layer milling or spiral milling) are the main factors affecting machining micro dimples in shearing dominated mode. © 2022, The Authors. All rig

关键词： Surface morphology

来源：评论

学校读者我要写书评

暂无评论

A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

引用

17th IEEE International Conference on mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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：