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

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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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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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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Tracking for humanoid robot based on Kinect

Tracking for humanoid robot based on Kinect

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International Conference on Mechatronics and Control (ICMC)

作者： Qiubo Zhong Jie Zhao Chunya Tong School of Electronic and Information Engineering Ningbo University of Technology Ningbo China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

According to the high requirement in environment of tracking for humanoid robot based on vision, a recognition algorithm and control method is present using depth information extraction. The depth information is gathered by a Kinect camera from Microsoft, and an accelerated algorithm is proposed to improve the real-time requirements of image recognition. The obstacles information and robot status are gathered and an artificial potential field method based on safe region is planned to control the tracking. Finally, experiments are achieved on a real humanoid robot Nao.

关键词： Humanoid robots Target tracking Real-time systems Histograms Acceleration

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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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Design of a novel surgical instrument for minimally invasive robotic surgery

Design of a novel surgical instrument for minimally invasive...

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IEEE International Conference on robotics and Biomimetics

作者： Bo Pan GuoJun Niu YiLi Fu DianGuo Xu Yongsheng Wang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479973989

Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.

关键词： Instruments Grippers Wrist Wires Surgery Wheels Steel

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Hand motion recognition based on pressure distribution maps and LS-SVM

Hand motion recognition based on pressure distribution maps ...

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International Conference on Mechatronics and Control (ICMC)

作者： Nan Li Shourong Wei Minfeng Wei Bo Liu Hong Huo Li Jiang National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing Aerospace Automatic Control Institute Beijing China State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479925391

This paper presents a novel hand motion recognition method to achieve the volitional control of a multi-DOF prosthetic hand. Based on the principle that the pressure distributions on the surface of forearm caused by the muscular activities are different when different hand motions are performed, a human-machine interface (HMI) composed of 32 force sensitive resistor (FSR) sensors, measurement unit and recognition unit is designed to measure and classify the pressure distribution maps (PDM) of 9 typical hand motions. The least-squares support vector machine (LS-SVM) is adopted as the pattern recognition algorithm to classify the selected movement modes. The multi-subject experiment results show that the method can identify each motion with high accuracy.

关键词： Accuracy Sensor arrays Prosthetic hand Thumb Support vector machines

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Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics

Optimization and design of remote center motion mechanism of...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Bo Pan Yili Fu Guojun Niu Dianguo Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479953349

Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.

关键词： Minimally invasive surgery Optimization Jacobian matrices Medical robotics Service robots

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Dynamic model and balance control of two-wheeled robot with non-holonomic constraints

Dynamic model and balance control of two-wheeled robot with ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Ling Li Shigong Jiang Fuquan Dai Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China

Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model of two-wheeled robot in this paper. The virtual prototype model of the robot and the state space model with feedback are obtained. The experiments based on the simulation model and actual model are implemented. They show that the state feedback controller carried on the robot model in the posture and the speed is effective and the dynamical balance process is stable. The nonlinear dynamics model based on non-holonomic constraints and pole placement algorithm on the basis of the dynamic model are effective.

关键词： Mathematical model Mobile robots Equations Wheels Robot kinematics Nonlinear dynamical systems

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