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IEEE International Conference on robotics and Biomimetics

作者： Jun Chen Xiuchao Cao Zongquan Deng Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai 264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781467396769

This paper focuses on kinematic characteristics of articulated multi-unit wheel type pipe robot system. After establishing the posture model of the robot system in elbow considering wheel dimensions, wheel center coordinates and corresponding contact point coordinates of each wheel are presented. Based on the posture model, the ratio relations of theoretical angular velocity for each wheel are presented. To confirm the effectiveness of the proposed theoretical analysis, simulation analyses based on virtual prototype technology are performed, and the analysis results with theoretical calculations are basically identical. This provide theoretical basis for the selection of driving mechanism design and control mode of wheel type pipe robot.

关键词： establishing posture control

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Active Gravity Compensation Test Bed for a Six-DOF Free-flying Robot

Active Gravity Compensation Test Bed for a Six-DOF Free-flyi...

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IEEE International Conference on Information and Automation

作者： Lifang Li Haibo Gao Zongquan Deng Pengzhen Guo Research Center of Basic Space Science Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Physics Harbin Institute of Technology

ISBN: (纸本)9781467391054

A novel active gravity compensation concept is proposed to simulate space on-orbit microgravity environments for free-flying robots on ground. Here, robots are suspended by active-controlled motion path tracking mechanisms through wires to compensate for gravitational forces. Based on the concept, an experimental test bed was designed and fabricated in laboratory to study on-ground kinematic and dynamic behaviors of a free-flying robot. The experimental fabrication contains an active horizontal motion tracking mechanism composed of primary and secondary active rotating arms. An multi-objective optimization method calculating the tension of the wires to minimize torques on robot joints is approved. The tension of the suspension wires is obtained through passive counterweights using pulley mechanisms. The kinematics and dynamics of a 6-DOF free-flying manipulator were calculated in MATLAB and simulated in MSC Adams under three working conditions: zero-gravity, gravity compensation and gravity. The lowest ratio of the torque compensation reached 80%. Agreements between numerical analyses and simulation results confirm the ability of this gravity compensation concept to simulate the kinematic and dynamic behaviors of free-flying manipulator in space.

关键词： Free-flying manipulators Space robots Gravity compensation

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High integrated modular joint for Chinese Space Station Experiment Module Manipulator

High integrated modular joint for Chinese Space Station Expe...

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

作者： ShiCai Shi Da Wang SiPu Ruan Rong Li MingHe Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Honors School of Harbin Institute of Technology Harbin Department of Automobile Heilongjiang Institute of Technology Harbin

ISBN: (纸本)9781467391085

Around 2020, China is going to build its own space station and to carry out space science research of larger scale. Chinese Space Station (CSS) will operate in orbit for about ten years. This period will provide much more opportunities to scientists in China after the international space station. The space manipulators as cost-effective, energy-efficient tools supporting humans on extended space missions have played an important role in space exploration, such as aided cabin docking, cargo handling, supporting EVA and carrying out scientific experiments. So an Experiment Module Manipulator (EMM) was proposed for CSS. The principle prototype of the modular joint has been developed as the crucial component of the EMM and passed through the preliminary thermal vacuum test and dynamics environment tests.

关键词： Joints Temperature sensors Torque Brushless motors

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A Reconfigurable Three-Finger Robotic Gripper

A Reconfigurable Three-Finger Robotic Gripper

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IEEE International Conference on Information and Automation

作者： Guozhi Li Cong Fu Fuhai Zhang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

This paper presents a multi-DOF and reconfigurable robotic gripper which has three fingers and is easy to control. Every finger of the gripper has three joints that are actuated by two motors. The mechanical gripper structure contains the same three fingers, while every finger can be driven and controlled independently. Based on the four-bar linkage, a model of reconfigurable mechanism is obtained, while input variables can determine the motion and trajectory. The gripper consists of palm, three fingers, rotating base. The first phalange and the second phalange are coupled and driven by first servo motor, while the second DC motor rotate the finger using a type of worm-and-wheel beside the third joint of finger. The third DOF of every finger is not coupled that makes the reconfiguration of the gripper can be obtained by adjusting the orientation of the fingers. Potentiometers integrated in the motors detect rotate angers of every finger in order to measure the rotation of joints for controlling the gripper to adapt to different shapes of the object and determine the final configurations. The gripper is designed to provide the ability of performing industrial tasks involving the grasping of a variety of different sizes of objects. The primary experimental exhibits a good capability to versatile grasping with reduced complexity.

关键词： Grasping Reconfigurable Hand Multiple configurations

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Stereo matching based on support points

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2015年 23卷 546-553页

作者： Zhang, Xue-He Zhao, Jie Li, Ge Hou, Zhen-Xiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

A stereo matching method based on stable support points was proposed to improve its computing speed and disparity accuracy. With the method, a canny edge operator was used to detect the edge points of the image and act them as 'supporting points. Then those points were processed by a Delaunay triangulation algorithm to divide the whole image into a series of linked triangular facets. These facets were used as matching elements to compose the basic modules to perform a rude estimation of image disparity. Finally, according to the triangular property of shared vertices, the estimated disparity was refined and the disparity map was obtained. The method was tested by Middlebury stereo pairs on the platform, Experimental results show that the time cost of the method is about 1 s and the matching accuracy is 93% as compared with ground truth map. The proposed method has higher positioning accuracy and lower error mathing rate, and improves both the computing speed and computing accuracy. It forms a steady foundation and good application prospect for robot's path planning system with stereo camera devices. © 2015, Chinese Academy of Sciences. All right reserved.

关键词： Edge detection

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Research on SIFT matching algorithm based on GPU

Research on SIFT matching algorithm based on GPU

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4th International Conference on Frontiers of Manufacturing Science and Measuring Technology, ICFMM 2014

作者： Zhan, Zheng Feng Li, Ge Zhang, Xue He State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038351924

Aiming at the shortage of SIFT algorithm in time comsumption and getting less matching points. On the one hand, the paper improves the original SIFT algorithm, it proposes regional growth algorithm based on SIFT, so you can get many matching points which are good for generating the disparity map;on the other hand, the paper uses the CPU and GPU heterogeneous platforms and analyses the CUDA programming model and memory model. This paper analyses the algorithm in detail, so the algorithm can be carried out on CUDA. Experimental results show that, compared with the original algorithm, the algorithm is about 10 times faster, and generate good disparity map. © (2014) Trans Tech Publications, Switzerland.

关键词： Graphics processing unit

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On-line identification of line segments using hypothesis testing for robot mapping

On-line identification of line segments using hypothesis tes...

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2014 2nd International Conference on Manufacturing Engineering and Technology for Manufacturing Growth, METMG 2014

作者： Huo, Guang Lei Zhao, Li Jun Li, Rui Feng Wang, Ke Lv, Ming Rui State key laboratory of robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038350354

A novel features identification method is proposed for mobile robot indoor environment perception. In this paper, firstly, multi-dimensional data space is building based on laser scanner data, in which corner point is located by hypothesis testing theory. Secondly, line segments are obtained and localized by fitting method, which are previously estimated using probability model. At last, experiments verify the efficiency of proposed algorithm in indoor environment. © (2014) Trans Tech Publications, Switzerland.

关键词： Mapping

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Kinematics and singularity analysis of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints

Kinematics and singularity analysis of a novel 7-DOF humanoi...

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IEEE International Conference on Mechatronics and Automation

作者： Yanhe Zhu Tianlu Wang Hongzhe Jin Jie Zhao Guangyu Luan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China College of Information Technology Heilongjiang Bayi Agricultural University Daqing Heilongjiang Province China

ISBN: (纸本)9781479970995

The work addresses the motion characteristics and singularity of a novel 7-DOF humanoid arm based on parallel manipulating spherical joints. Firstly, according to parallel manipulating spherical joints, the arm is equipped with the better load bearing ability and better anthropomorphic characteristics than the traditional series configuration. Secondly, the complete forward kinematics is derived. Thirdly, the Jacobian matrix and the Jacobian matrix in the force field are obtained through differential transformation method, which is adopted for the singularity analysis in the later part. Finally, the calculation result of the dexterity provides clues for evaluating the manipulator.

关键词： Jacobian matrices Joints Manipulators Kinematics Wrist Force

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Dynamic modeling and simulation of thermal vacuum test platform for spacecrafts docking

Dynamic modeling and simulation of thermal vacuum test platf...

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2014 International Conference on Mechatronics, Electronic, Industrial and Control Engineering, MEIC 2014

作者： Zhu, Yanhe Zhao, Jie Zhang, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789462520424

Spacecraft docking technology play an important role in the aerospace technology. Due to the spacecraft with variable attitude, so the docking process is complex and variable. Therefore, a comprehensive and systematic study of the spacecraft docking process is very necessary. This paper proposed the equivalent-mass principle and the test platform of spacecraft docking is established based on the equivalent-mass principle through the analysis of environmental characteristics of thermal vacuum. Furthermore, dynamic simulation on the test platform and the results data of simulation is obtained. These studies will facilitate the understanding of the spacecraft docking process and provide solid theoretical foundation for further study. © 2014. The authors - Published by Atlantis Press.

关键词： Docking

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A low-impact deployment hinge based on a novel intermittent mechanism 2

A low-impact deployment hinge based on a novel intermittent ...

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2nd Asian Pacific Conference on Mechatronics and Control Engineering, APCMCE 2014

作者： Guo, Hong Wei Li, Zhong Jie Deng, Zong Quan Shi, Chuang Liu, Rong Qiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038352433

A novel intermittent mechanism and low-impact deployment hinge based on intermittent mechanism are presented in this paper. This application is contemplated to lower the impact dramatically at the end of hinge deployment. The overall deployment process is described and the maximum impact force and angular velocity are derived. The effect of the intermittent motion mechanism on free spring deployable hinges is evaluated by indexes of maximum angular velocity and impact force. Cases are simulated to verify the mechanism design, and results show that the maximum angular velocity and impact force can be decreased by more than 90%. © (2014) Trans Tech Publications, Switzerland.

关键词： Machine design

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