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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ying-xiang Liu Dong-mei Xu Ji-peng Yan Xiu-hua Ni Wei-shan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Shanghai Radio Equipment Research Institute Shanghai P. R. China

A bending vibrations hybrid type ultrasonic motor with a bonded-type structure is proposed and designed in this work. Four pieces of PZT plates are bonded on a metal beam to form the proposed motor. In this design, elliptical movements of the driving feet, the significant motion to realize the actuating of a rotor, is produced by the superimposing of two first bending vibrations orthogonal in space. The structural parameters' sensitivities of the bending resonance frequency and the electromechanical coupling factor are calculated and discussed by modal analysis and harmonic analysis respectively. The most sensitive parameters are obtained. Then, the vibration characteristic of the proposed motor is investigated by transient analysis; another ultrasonic motor with the same length but no horns is also calculated to give a comparison. Different with previous motor, the proposed one drive the runner by two transversal displacements of the driving tip; this new actuating mode has merits of higher resonance frequency, larger vibration amplitude and velocity, better movement trajectory uniformity and shorter response time. The study results can guide the fabrication of linear or rotary ultrasonic motor with small size.

关键词： Resonant frequency Vibrations Acoustics Acoustic beams Trajectory Couplings Structural engineering

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Design of underwater welding robot used in nuclear plant

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key Engineering Materials 2014年 620卷 484-489页

作者： Lv, Ximin Liu, Yufei Gao, Haibo Ding, Liang Tao, Jianguo Xia, Kerui Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China School of Automation Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)9783038351856

Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot. © (2014) Trans Tech Publications, Switzerland.

关键词： Nuclear power plants

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Trajectory Tracking of Spasm-oriented Zebrafish Larvae 33

Trajectory Tracking of Spasm-oriented Zebrafish Larvae

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第三十三届中国控制会议

作者： GUO Jiayu ZHAO Shasha SHU Mao YAN Zhongguang SUN Mingzhu ZHAO Xin FENG Xizeng Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University State Key Laboratory of Medicinal Chemical Biology College of Life ScienceNankai University

ISBN: (纸本)9781479947249

As a vertebrate developmental biology model, zebrafish has been widely used in research fields of development, genetics, behavior and molecular biology recently [1]. In the field of drug research, researchers apply various ratios of drugs on zebrafish and determine the proper ratio of drugs by analyzing the behavior of the zebrafish. Trajectory tracking of the zebrafish is the first step of such research. Note that when being applied drugs such as antiepileptic drugs, the larvae will produce spasm [2], in which solution the larvae's speed is so high that its moving image will appear deformation and the larvae's color will be light and it is difficult to locate it. In this paper, we propose a method to locate the head and tail of zebrafish in static background by combining background reduction and frame differential method. Experimental results demonstrate that this method can detect the larvae accurately when it produces spasm. Then the larvae's two-dimensional trajectory is obtained. This method is of high accuracy, high-speed, and easy to implement.

关键词： Zebrafish,drug research,trajectory tracking,spasm,head and tail

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The study of bone cutting force with FEM

The study of bone cutting force with FEM

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5th International Conference on Material and Manufacturing Technology, ICMMT 2014

作者： Liu, Sen Wu, Dong Mei Zhao, Jun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9783038351498

In orthopedic surgery, it is easy to do harm to surrounding tissues, so the study of bone cutting is necessary. In this article, a finite element model (FEM) of orthogonal bone cutting is developed. Cutting force intra-operatively can provide the surgeon with additional on-line information to support him to control quality of cutting surface. The obtained cutting force decreased little with cutting speed increasing, but ascended evidently with cutting depth increasing. The results of finite element simulations are aimed at providing optimization of cutting parameters and the basic information for hybrid force-velocity control of a robot-assisted bone milling system. © (2014) Trans Tech Publications, Switzerland.

关键词： Bone

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Simulation of liquid meniscus and microdrop formation of a capillary gripper for microparts transfer

Simulation of liquid meniscus and microdrop formation of a c...

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2014 International Conference on Mechatronics and Intelligent Materials, MIM 2014

作者： Wang, Le Feng Chu, Zhao Qi Fan, Zeng Hua Rong, Wei Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9783038351412

Microparts transfer plays an important role in various micromanipulation and microassembly tasks. One typical way of microparts transfer is based on the pick-and-place method with a microgripper. Microparts have the potential risks to be damaged due to the local stress concentration when they are gripped and it is a great challenge to release them reliably due to adhesion forces at microscale. In this paper, a flexible and reliable pick-and-place transfer scheme with a capillary gripper is proposed and the principle of the transfer scheme is based on microdrop control. A series of simulations are also performed. For picking microparts, the simulation results show that meniscus can be adjusted by altering the interface pressure. For placing microparts, the controllable formation of microdrops shows the placing reliability. These results are helpful to further optimization and control of the proposed capillary gripper. © (2014) Trans Tech Publications, Switzerland.

关键词： Grippers

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CFD-Based self-propulsion simulation for frog swimming

CFD-Based self-propulsion simulation for frog swimming

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作者： Fan, Jizhuang Zhang, Wei Zhu, Yanhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

Mechanism analysis of frog swimming is an interesting subject in the field of biofluid mechanics and bionics. Computing the hydrodynamic forces acting on a frog is difficult due to its characteristics of explosive propulsion and large range of joint motion. To analyze the flow around the body and vortices in the wake, in this paper, the method based on Computational Fluid Dynamics (CFD) was utilized to solve the velocity and pressure distributions in the flow field and on the frog. The hydrodynamic problem during the propulsive phase of a frog, Xenopus laevis, was calculated using the CFD software FLUENT. A self-propulsion simulation was performed which computed the body velocity from the joint trajectory input and CFD solved the hydrodynamic forces, and visual CFD results of the hydrodynamic forces and flow field structures were obtained. © 2014 World Scientific Publishing Company.

关键词： Computational fluid dynamics

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The design and kinematics analysis of an underactuated cable-truss mechanism

The design and kinematics analysis of an underactuated cable...

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2014 2nd International Forum on Mechanical and Material Engineering, IFMME 2014

作者： Wu, Nan Liu, Rong Qiang Guo, Hong Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9783038350798

Although underactuated mechanism has been widely studied in recent years, little information is available on that with cable-truss. An underactuated cable-truss mechanism was presented in this paper. This serial mechanism consists of five quadrilateral cable-truss units and moves by changing the length of the cables. It can be extended to large-scale spatial gripper and has advantages like light weight, simple structure and high reliability. This mechanism can capture the object without its precise position and shape. The kinematics analysis was discussed considering the characteristics of different ways to capture and a numerical example was given. The results of motion simulation corresponding with the example were shown to verify the correctness of the theoretical analysis. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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Design and analysis of an under-actuated self-adaptive mechanical hand

Design and analysis of an under-actuated self-adaptive mecha...

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2nd International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2014

作者： Xia, Yan Liu, Rong Qiang Guo, Hong Wei Deng, Zong Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9783038351948

A kind of under-actuated self-adaptive mechanical hand was developed in this paper. This mechanical hand consists of three 3-dof under-actuated fingers, and four motors are adopted to drive nine joints. The hand has self-adaptation to targets in different shapes and sizes and it can perform actions, such as folding, unfolding and grasping. In addition, a quasi-statics model of the 3-dof under-actuated finger was established in this paper. The relationship equation between the grasping forces and the driving and damping torques was obtained, and the influence of target size and driving torques on the grasping forces was also discussed. The results of the simulation analysis were shown to verify the correctness of the quasi-statics model. © (2014) Trans Tech Publications, Switzerland.

关键词： Mechanics

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Research on automatic spraying of single-walled carbon nanotubes and detection of spraying effects

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International Journal of Smart and Nano Materials 2014年第2期5卷 86-98页

作者： Jianwen Zhao Jiangcheng Yu Junyang Niu Yong Ge Liwu Liu HIT at Weihai State Key Laboratory of Robotics and SystemSong Jian Research Institute of Building 2Wenhua Road(W)WeihaiShandong264209PR China

Single-walled carbon nanotubes(SWNTs)have been introduced as compliant electrodes for dielectric elastomers(DEs)due to fault *** acquire a better electrostrictive strain and longer lifetime,it is essential to obtain a certain and uniform width of the SWNT *** ensure uniform width manually,a small flux and longer time are ***,it is difficult to control the width of the electrode for the randomness of manual ***,a new type of automatic spraying process is presented in this *** width and homogeneity of the electrode can be easily controlled by certain parameters of the *** methods for detecting the homogeneity of the electrode are introduced in this paper:Measurement of surface resistance and *** coefficient of variation(CV)values detected by the two methods are virtually equal and less than 8%,which shows the feasibility of the detection method and homogeneity of automatic *** speed of automatic spraying is 102 mm^(2)/s,which is higher than that of manual *** spraying process and the method used to detect homogeneity in this paper provide a reference for the relevant processes.

关键词： single-wall carbon nanotube automatic spraying dielectric elastomer homogeneity detection

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