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2014 International Conference on Applied Sciences, Engineering and Technology, ICASET 2014

作者： Kong, Min Xiu Yu, Guang Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China

ISBN: (纸本)9783038351849

According to the calibration problem of the dual-robot system, a simple and quick calibration method is proposed in this paper. A new frame is established by the three non-collinear points which the robots handshake at. Then the transformation matrix between the first robot base frame and the new frame and the transformation matrix between the second robot base frame and the new frame will be known. After that, the transformation matrix between the two robots' base frames will be calculated by the relationship between them. Then we simulate this algorithm in MATLAB to verify this method. After the simulation, we can find the validity of this calibration method. © (2014) Trans Tech Publications, Switzerland.

关键词： Calibration

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A feedback-based CPG control method for a single-legged hopping robot

A feedback-based CPG control method for a single-legged hopp...

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2014 International Conference on Frontiers of Advanced Materials and Engineering Technology, FAMET 2014

作者： Wang, Ting Ting Zha, Fu Sheng Wang, Peng Fei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9783038350774

Biological CPG (central pattern generator) is responsible for the generation of animals' rhythmic motion such as hopping and running. In this paper, a novel feedback-based CPG control method is proposed, in which output of the CPG network is totally activated and contained by sensory feedbacks. The network responses to environment changes quickly with multi-feedbacks included, and has strong adaption to disturbance and non-flat terrain. This control method is applied to the controlling of a single-legged hopping robot to show the effectiveness of the approach. The simulation results prove that this control mechanism closely couples environment and robot motion, and dynamically stable hopping emerges from feedbacks contained in the neural networks. © (2014) Trans Tech Publications, Switzerland.

关键词： Feedback

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High order longitudinal and bending hybrid ultrasonic motor with new excitation

High order longitudinal and bending hybrid ultrasonic motor ...

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作者： Chen, W. Yang, X. Liu, Y. Liu, J. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A high order longitudinal and bending hybrid ultrasonic motor with new excitation is proposed in this study. In the new type motor, the locations of two sets of piezoelectric ceramics are the loops of bending vibration mode. By applying two alternating voltages to the ceramics, the second longitudinal and the fifth bending vibrations will be superimposed, that make the points of the driving feet to move elliptically. The finite element method is adopted to realise two phase vibration frequency degeneration. The vibration locus of the driving feet is obtained by means of transient analysis;elliptical trajectories are observed, which verify the driving principle of the new type motor. The impedance characteristics, the vibration modes and mechanical ability of the new motor are verified by prototype tests. When the excitation voltage is 450 Vp-p, the maximum noload speed and the maximum output force of the prototype are 439 mm s-1 and 37 N respectively. © W. S. Maney & Son Ltd. 2014.

关键词： Piezoelectric ceramics

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A sEMG recording system

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key Engineering Materials 2014年 620卷 465-470页

作者： Gao, Yongsheng Bai, Jie Wang, Shengxin Zhao, Jie Li, Xiaoyan State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China Electrical Engineering and Automation Tianjin University 300072 Tianjin China

ISBN: (纸本)9783038351856

The sEMG (surface electromyographic) plays a significant role in the rehabilitation medicine, particularly in exoskeleton robotic treatment. A sEMG recording system using STM32F407 DISCOVERY development board and Labview software, combined with multiple signal acquisition sensors was proposed in this paper. The UC/OS-II operating system was embedded in the STM32F407 micro controller so that multiple channels can be picked up from different sensors at the same time. Due to the characteristics of STM32F407 microcontroller;the largest acquisition channels can be up to 16, and multiple signals can be collected such as the sEMG, angle trajectory, acceleration, torque etc. The use of DISCOVERY development board and Labview has reduced development cycle to a greater extent and resulted large improvement in work efficiency. © (2014) Trans Tech Publications, Switzerland.

关键词： Microcontrollers

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Design of a bending vibrations hybrid type ultrasonic motor with a bonded-type structure

Design of a bending vibrations hybrid type ultrasonic motor ...

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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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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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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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