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IEEE International Conference on robotics and Biomimetics

作者： Yunfeng Gao Wei Wei Ke Wang Feiyang Wang Chuqing Cao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Wuhu HIT Institute of Robot Technology Wuhu China

ISBN: (纸本)9781479973989

A quality inspection system based on low cost machine vision is presented for online quality inspection of electroplated micrometer-scale diamond wire. Instead of using a costly high-speed camera to detect moving micrometer-scale diamond particles, we adopt a general speed microscopy camera with a mechanical motion compensation module to reduce the blur effects of relative high-speed moving particles. Connected components labeling (CCL) algorithm is applied to counting and classification of diamond particles based on a special camera calibration procedure. The system is of capable to give statistical properties based on the above techniques, and experimental results validate the performance.

关键词： Diamonds Cameras Wires Inspection Calibration Image processing Labeling

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Aggregation and docking strategies for mobile self-reconfigurable robots

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Journal of Chemical and Pharmaceutical Research 2013年第9期5卷 529-535页

作者： Zhong, Ming Yao, Y.F. Huang, B. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The reversible process between distributed robots and connected robot is the key issue of mobile self-reconfigurable robots, which can be divided into two phases of aggregation and docking. In this paper, corresponding strategies are proposed for robots enhanced with mobility. In the dynamic aggregation mechanisms, the optimal locations are determined based on the multi-object optimization of time cost, energy consumption, and system balance. Besides, a predictive chasing method is developed for collective robots to adjust position and attitude. Based on the aggregation results, docking strategy makes all the adjacent robots connect together via docking devices including MEMS-navigation module and embedded vision. All the strategies are applied to the control of mobile self-reconfigurable robots, and experiments are performed. The results show that the proposed strategies are effective for the implementation of reversible process.

关键词： Multi agent systems

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A detection method of stick-slip state on wafer transfer surface and its sensor design

A detection method of stick-slip state on wafer transfer sur...

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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Jiang Wu Kang Li Haijun Han Tao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Japan

In order to perceive stick-slip on during wafer transfer process, in this paper, a detection method was proposed and a force sensor basing on electromagnetic principle was applied to achieve this function. Through kinetic analysis, we chose second derivative of friction as detection judgment because friction varies in a high frequency within stick-slip state. Basing on the kinetic characteristics of force sensor, we added a circuit with the function of first derivation to obtain linear output of judgment. The results of model identification experiment indicate that second derivation function can be achieved within 2 kHz. In wafer transfer experiment, this sensor gave out a large amplitude and high frequency output when stick-slip appeared, which verified the effectiveness of this method for stick-slip detection in wafer transfer system.

关键词： Friction Robot sensing systems Manipulators Acceleration Prototypes Force sensors

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Parameter optimization of controllable local degree of freedom for reducing vibration of flexible manipulator

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Chinese Journal of Aeronautics 2013年第2期26卷 487-494页

作者： Bian Yushu Gao Zhihui School of Mechanical Engineering and Automation Beihang University State Key Laboratory for Robotics and System (HIT) Harbin Institute of Technology

Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization （PSO）. Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.

关键词： Degrees of freedom Flexible manipulators Optimization Particle Swarm Optimization Vibration control

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Comparative study of redundancy based on Resolved Motion Rate Control Algorithm

Comparative study of redundancy based on Resolved Motion Rat...

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International Conference on Information and Automation (ICIA)

作者： Hongxing Wang Ruifeng Li Lianzheng Ge Chuqing Cao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China HIT Wuhu Robot Technology Research Institute

Resolved Motion Rate Control Algorithm is a kind of coordination control algorithm. The algorithm decomposes the movement of the manipulator end-effectors into the movement of the moving platform and each 3D manipulator joint harmoniously. The paper separately sets up the motion models of the fixed arm and the mobile 3D manipulator and researches redundancies of them based on the Resolved Motion Rate Control Algorithm. Compared the simulation result with the one of the fixed arm, the mobile 3D manipulator shows better smoothness, flexibility and greater workspace in mobile operating process as the more redundancy is got with the DOF of the mobile platform added.

关键词： Manipulators Mobile communication Three-dimensional displays Redundancy Mathematical model Joints

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Optimal kinematic control of humanoid arms with offset wrist

Optimal kinematic control of humanoid arms with offset wrist

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IEEE International Conference on Mechatronics and Automation

作者： Xijian Huo Yiwei Liu Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Harbin Institute of Technology Harbin Heilongjiang CN

This paper proposes the optimal inverse kinematic solutions of a 7R humanoid arm using the reconfiguration method and the self-optimizing method. Firstly, based on analyses of the humanoid arm with offset wrist, the reconfiguration method is proposed. Given the specified hand pose in Cartesian space, a closed-loop robot is developed by virtually connecting two ends of the humanoid arm. And then, the equivalent robot arm with a spherical wrist can be obtained by cutting open the kinematic chain at another link. And closed-form solutions of the humanoid arm are determined based on the seventh joint parameterization. Secondly, in order to realize kinematic optimizations of joint limits avoidance, the self-optimizing method is proposed based on the virtual force. The joint movable range is divided into the dangerous zone and the safe zone, and the evaluation of solutions in the dangerous zone is equivalent to the virtual force. Driven by the virtual force, the kinematic optimizations are performed using the iterative algorithm. Finally, kinematic simulations demonstrate that the virtual reconfiguration method is valid for inverse kinematics of humanoid arms with offset wrist, and kinematic optimizations are performed efficiently using the self-optimizing method.

关键词： Joints Kinematics Robots Wrist Optimization Closed-form solutions Torque

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Approach for vertical loading error compensation for wheel test bench of lunar rover vehicle

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2013年第6期34卷 561-569页

作者： Gao, Haibo Liang, Zhongchao Ding, Liang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A lunar roving vehicle (LRV) is the key for manned lunar explorations and for supporting a lunar base. It is therefore necessary for the maneuverability and adaptability to the environment of its wheels to be known during the design phase. Toward this end, it is essential to build a test bench for LRV wheels. A torsion spring loading mechanism with a parallelogram linkage instead of a counterweight enables continuous vertical loading of the testing wheel and reduces the inertia and start-up time of the testing wheel. However, the vertical load during transition from the initial stationary state to the stable movement state contains an error because of slip sinkage. The variation of sinkage leads to variations in the vertical displacement of the testing wheel, causing changes in the torque of the torsion spring and in turn causing vertical loading errors in the wheel. In this study, the vertical loading error of a testing wheel loaded by a torsion spring was analyzed, and an error compensation algorithm was deduced theoretically. Finally, highly accurate vertical loading of the wheel test bench for an LRV was realized. This should lay the foundation for future wheel experiments of LRVs.

关键词： Torsional stress

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Design of a Micro-Nano Positioning Platform Based on Stick-Slip Driving

Design of a Micro-Nano Positioning Platform Based on Stick-S...

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2014 International Conference on Advanced Nano-Technology and Biomedical Material(ANTBM 2014)

作者： Qian-cheng Guo Shou-bin Liu Wei-bin Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School State Key Laboratory of Robotics and System Harbin Institute of Technology

Micro-nano positioning platform is a core component for micro-nano operation. The static and dynamic characteristics of platform will determine its precision level. This paper presented a new 2-D micro-nano platform based on stick-slip driving. By using static structural module and modal analysis module of ANSYS software, the stress and natural frequency of pedestal were analyzed. The driving frequency of piezoelectric ceramic was selected far away from the natural frequency to avoid resonance. Dynamic performance of pedestal was also analyzed with ANSYS transient module. Simulation results show that the presented platform has excellent static and dynamic performance.

关键词： Micro-Nano Platform Stick-Slip SEM Simulation

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On the design of lower extremity exoskeleton with single drive (LEESD)

On the design of lower extremity exoskeleton with single dri...

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IEEE International Conference on robotics and Biomimetics

作者： Yanhe Zhu Xuefeng Cai Hongzhe Jin Jie Zhao State Key Laboratory of Robotics & System Harbin Institute of technology C1-203 Harbin P. R. China

ISBN: (纸本)9781479973989

The design of the LEESD, a new exoskeleton for old people and patients, is presented in this paper. With one active degree of freedom (DOF) and two passive degrees of freedom, the LEESD can realize human walking gait. The hip joints and knee joints of the LEESD are directly driven by four-bar linkages and all these four-bar linkages are driven by merely one brushless DC motor which rotates at a constant speed. Considering these features, LEESD is a simple, as well as affordable mechanism. The details of the LEESD have been rigorously discussed and calculated during the design process.

关键词： Joints Couplings Hip Exoskeletons Knee Legged locomotion Thigh

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Video system design of a miniature cable-free robot for LESS

Video system design of a miniature cable-free robot for LESS

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IEEE International Conference on Mechatronics and Automation

作者： Jinlei Zhuang Haibo Feng Yili Fu Yunfeng Gao Tengfei Ma Yi Lv State Key Laboratory of Robotics ad System Harbin Institute of Technology Harbin China Department of Hepatobiliary Surgery Xi'an Jiaotong University Xi'an China

Laparo-endoscopic single-site surgery (LESS) is a promising and important alternative improvement for the limits of classical surgical robot systems, and has become a popular issue in minimally invasive surgery (MIS). This paper describes a video system design of a miniature, low power consumption and cable-free robot which can provide real-time video of operation target area in MIS. The magnetic anchor robot can be inserted into abdominal cavity through just only an incision. The system includes: (1) a miniature wireless camera which provides realtime video, (2) a wireless control illumination subsystem, (3) a wireless control subsystem, (4) a human-machine interface to control the platform. Low-power dissipation performance of the system is verified by experiment, and the feasibility of the system is successfully verified by an ex-vivo experiment on porcine kidney. This imaging robot can be used in MIS for view feedback and integrating with surgical tools such as manipulator, it will become an in vivo anchored surgical robot for LESS.

关键词： Lighting Robots Light emitting diodes Cameras Power demand Streaming media Wireless communication

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