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

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Ground micro-gravity verification of free-floating non-cooperative satellite docking

Ground micro-gravity verification of free-floating non-coope...

引用

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

作者： Haitao Yang Minghe Jin Zongwu Xie Yu Zhang Kui Sun Xiaoyu Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781467391085

Ground micro-gravity verification and test for the on-orbit docking operation of non-cooperative target satellites in 3-dimensional space based on two 6-DOF industrial robots is essential and significant owing to the high risk and cost and the influence of the earth gravity. The development of ground micro-gravity verification system mainly adopts the hybrid simulation method, which includes the real contact hardware test experiment and the virtual software simulation. To realize the emulation of ground micro-gravity environment, the gravity compensation algorithm of the non-cooperative target satellites is necessary in the system. The admittance control method is adopted to realize the soft docking function to ensure the success of the docking mission, which mainly simulates the real contact force and the real motion state during the docking process in space. The ground verification experiment results show that servicing satellite can successfully dock or capture the free-floating non-cooperative target satellites in 3-dimensional space.

关键词： Satellites Gravity Service robots Robot sensing systems Torque

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A human-machine interface software based on android system for hand rehabilitation robot

A human-machine interface software based on android system f...

引用

International Conference on Information and Automation (ICIA)

作者： Fuhai Zhang Xiangyu Wang Yuan Yang Yili Fu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In order to provide patients with portable and user-friendly device, this paper develops human-machine interaction rehabilitation software based on Android system, including the user interactive layer, data access layer, virtual reality rehabilitation training layer, and individual rehabilitation layer. The software can control robot through Bluetooth and real-time display the parameters of rehabilitation in the chart collected from the control system. The software also can use virtual reality technology to build virtual environment which is playing the piano by a finger to induce patients to take rehabilitation training, and this could improve patients' rehabilitation results.

关键词： Solid modeling Man machine systems Androids Humanoid robots Virtual reality Bluetooth

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Design and Dynamic Analysis of an Underwater Manipulator

Design and Dynamic Analysis of an Underwater Manipulator

引用

2015年中国智能自动化学术会议

作者： Wuxiang Zhang Hongcheng Xu Xilun Ding School of Mechanical Engineering and Automation Beihang University State Key Laboratory of Robotics and System (HIT)

Underwater Vehicle/Manipulator system(UVMS) is an important equipment for the exploitation of marine resources. The paper introduces a fivefunction manipulator, which is the main operating tool of UVMS and has four DOFs and a claw. All joints are driven by hydraulic cylinders for a better impermeability to seawater. A novel wrist mechanism utilizing groove cam is presented for achieving a rotation motion output. In addition, the dynamics of the manipulator interacting with the UVMS system is analyzed based on Kane's method. The effects from the fluid environment are also taken into consideration, which include added mass, drag force, and buoyancy. Finally, dynamic simulations of UVMS are performed to reveal the effect of the volume ratio between the manipulator and vehicle on the stability of UVMS and a critical ratio is found.

关键词： UVMS Underwater manipulator Wrist mechanism Hydrodynamic forces Volume ratio

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Hydrodynamic Interactions between Two Tandem Flexible Plates in Viscous Flow

Hydrodynamic Interactions between Two Tandem Flexible Plates...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhenbo Han Dibo Dong Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479970995

A novel immersed boundary-lattice Boltzmann method(IB-LBM) is used to model the fluid-structure interaction problem with biologically flexible structure. In this algorithm, the fluid parameters are solved by LBM, while the boundary condition of structure are implemented by IB. Based on this framework, two tandem flexible plates pined in uniform viscous flow are simulated. The Reynolds number based on the incoming velocity and plate's length are fixed at 300 and 500, but the separation distance are varied in a wide range. Simulation results show that the flexible plates will flapping passively when the flow field reach its stability. And the motion characteristic of downstream plate is strongly influenced by the vortex shedding from the upstream one. Also, we find the hydrodynamics on the tandem plates are strongly depended on the separation distance. As the distance increases, drag on the upstream plate is always smaller than single one. However, the downstream one will show two opposite situations. The findings of this work would be benefit for designing novel underwater robots.

关键词： Hydrodynamic interactions Flexible plates Lattice Boltzmann method

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Operating principle and vibration characteristic of an I-shaped ultrasonic motor

Operating principle and vibration characteristic of an I-sha...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Yingxiang Liu Dongmei Xu Weishan Chen Jipeng Yan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479999750

An I-shaped ultrasonic motor using longitudinal vibrations is proposed, designed, and analyzed. The operating principle is discussed. The resonance frequencies of the three transducers are tuned to be close by modal analysis. Then, the vibration trajectories of the four tip ends of the two horizontal transducers are investigated by transient analysis. Oblique elliptical movements are generated on the four tip ends by the superimposing of the three longitudinal vibrations. The two upper driving feet will produce downward thrust forces while the two lower feet can push the runners upward. Intensive coupling bending vibrations are generated in the horizontal transducers under the horizontal mode of the proposed motor. The study results show that the coupling bending vibration of the horizontal transducer must be weakened for the realization of four feet synchronous driving. At present, the proposed design can be used as a bidirectional linear standing wave ultrasonic motor under the horizontal mode.

关键词： Vibrations Transducers Acoustics Synchronous motors Trajectory Resonant frequency Finite element analysis

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Optimal Design of Dynamic Balancing for the Redundant Orientation Mechanism of a Master Manipulator

Optimal Design of Dynamic Balancing for the Redundant Orient...

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IEEE International Conference on Mechatronics and Automation

作者： Lihong Chen Zhiyuan Yan Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781479970995

A methodology of combining counterweight and actuator torque is proposed to achieve the dynamic balancing for the redundant orientation mechanism of a master manipulator (ROMMM) which is applied for minimally invasive laparoscopic surgery. With the method of Kane, the dynamic model of the ROMMM is established to obtain the required actuator torque for balancing. Simulated annealing is applied to optimize the counterweights based on the moment of inertia and actuator torque. The optimization reduces the required actuator torque for the dynamic balancing significantly. In addition, the dynamic performance of the ROMMM is improved greatly.

关键词： Redundant orientation mechanism of a master manipulator Dynamic balancing Counterweight optimization

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Possible impact of large scale wind energy integration on small signal stability

Possible impact of large scale wind energy integration on sm...

引用

IEEE PES Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： S. Lamichhane N. Mithulananthan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781467381338

The growing concerns of climate change and depletion of fossil fuels are driving rapid development of wind generations. However, the integration of large scale wind generation may compromise the stability of the power system. Besides, the same source of renewable generation such as wind may deploy various technologies such as Doubly Fed Induction Generator (DFIG), Squirrel Cage Induction Generator (SCIG) and Direct Driven Synchronous Generator (DDSG). The generation mix with these wind generators and existing synchronous generators may dynamically interact within themselves or with each other resulting the weak damping or positive damping on the critical modes of low frequency oscillation. This paper aims to explore the same using the simulation results obtained from the DSA Tools®.

关键词： Power system stability Stability analysis Induction generators Synchronous generators Damping Oscillators

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Research on design and jumping performance of a new water-jumping robot imitating water striders

Research on design and jumping performance of a new water-ju...

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International Conference on Information and Automation (ICIA)

作者： Jihong Yan Kai Yang Tao Wang Jie Zhao State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin Heilongjiang Province China

At present, the research of robots imitating water strider is mainly focusing on imitating the skating movement of the insects. In contrast, the jumping motion of water striders needs a sufficiently large driving force to lift the body detaching from the water surface, which is easy to break the hydrophobic property of the material and result in the sinking of the robot, so there is few research on the water-jumping robots. This paper designed a new water-jumping robot using hydrophobic material as legs and springs as energy storage devices. By establishing the force model of the robot, the forces exerted on supporting legs and the jumping property of the robot were analyzed and simulated separately. Then the robot was fabricated by 3D printing technology, the parameters affected the jumping performance were verified through a series of experiments. Based on the above analysis and experiments, the structure of the robot was optimized. The optimized robot weighed 12.2g and jumped 50mm high.

关键词： Legged locomotion Force Springs Drag Gears Mathematical model

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Numerical Analysis on Fishlike Swimming with Immersed Boundary Method

Numerical Analysis on Fishlike Swimming with Immersed Bounda...

引用

IEEE International Conference on Mechatronics and Automation

作者： Kai Zhou Junkao Liu Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479970995

The immersed boundary method is an effective way to handle complex geometries and moving geometries within a flow field. In this paper, two-dimensional numerical simulations of fishlike swimming are conducted based on the immersed boundary method. In the process of calculation, the velocity and pressure coupling is solved using a second-order pressure correction method and the Lagrangian force density is calculated using Physical Virtual Model. In order to verify validity and feasibility of the algorithm, flow around a circular cylinder and moving cylinder in stationary flow are simulated, and then the results are compared with other researches. After that, the modeling and simulation of fish-like swimming are conducted. At each time step, the shape and position of the fish is updated and the Lagrangian force density is calculated. The shape and position of the fish are calculated based on the motion equation and the forces acting on the boundary. Furthermore, the impacts on performance of motion frequency, wavelength and amplitude are studied.

关键词： Fishlike swimming Immersed boundary method Finite-difference method

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Experimental study of static and dynamic characteristics of a miniature 6-axis force and torque sensor

Experimental study of static and dynamic characteristics of ...

引用

International Conference on Information and Automation (ICIA)

作者： Kun Li Bo Pan Yili Fu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467391054

This paper describes an experimental evaluation of a miniature force and torque sensor in robot-assisted minimally invasive surgery (RMIS). A sensor prototype including the mechanical system and sensing electronics is overviewed. A linear square based static decoupling method is introduced, design and use of a newly invented calibration platform is presented. A dynamic loading mechanism to simulate a heartbeat motion is described. The sensing ranges of the sensor prototype is ±30 N and ±30 N·mm with resolutions of 0.08 N (x, y directions), 0.25 N (z direction), and 2.4 N·mm (rotational directions). It also exhibits a good capability to follow the dynamic loads at a frequency close to a normal heart rate of an adult.

关键词： Robot sensing systems Calibration Force Loading Dynamics Torque

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