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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mahmoud Helal Weibin Rong Lininig Sun Production and Mechanical Design Dept. Mansoura University Mansoura EGYPT State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

Micro-electromechanical systems is a rapidly growing field that will permeate our everyday lives in the coming decades. Recently, the evolution in microelectronics of combining mechanical and electrical functions has brought about an exciting new field micro/nano-electro-mechanical system. Compliant mechanisms can play an important role in the design of micro-devices for micro-electro-mechanical systems applications. Compliant mechanism is flexible structures that generate desired motion by undergoing elastic deformations. The concept of structural optimization has been more and more widely accepted in many engineering fields. The structural optimization can result in a much more reasonable and economical structure design. In this investigation, structure optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The interface between Malab and Ansys were shown to obtain the optimal shape of the compliant mechanism. Structure design optimization of the two-dimension micro/nano angular-table with S-shape compliant structure was shown and all results are illustrated.

关键词： Manufacturing processes Finite element analysis Micromechanical devices Mathematical model Design optimization Shape

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Preoperative position planning strategy for laparoscopic robot

Preoperative position planning strategy for laparoscopic rob...

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International Conference on Information and Automation (ICIA)

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

ISBN: (纸本)9781479913329

Laparoscopic robot is used to grasp endoscope to output image of focal area for surgeons in minimally invasive surgery (MIS), so it is necessary to set relative position between laparoscopic robot base and patient's focal area to make all focal points locate into robot workspace. For the reasons of surgeons needing to do much work in preoperative process and many surgical instruments occupying much space in operating room, it is impossible to realize position set by repeated trial and error process in operating room. Therefore, the method of off line simulation is a suitable ways to set laparoscopic robot' position in preoperative process. Through the concepts of service sphere and service region, dexterity distribution of laparoscopic robot is illustrated in workspace, then a robot's position planning method using gradient projection for distance search is recommended. By combining with dexterity distribution of laparoscopic robot and gradient projection method for distance search, a preoperative position planning strategy for laparoscopic robot is given. In the end, simulation and experiment are carried out to validate the effectiveness of planning strategy.

关键词： Laparoscopes Robot kinematics Joints Planning Surgery Cost function

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CPG Control for Biped Hopping Robot in Unpredictable Environment

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Journal of Bionic Engineering 2012年第1期9卷 29-38页

作者： Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.

关键词： biped robot unpredictable environment hopping motion control bionic control CPG

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Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

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Journal of Bionic Engineering 2012年第4期9卷 411-422页

作者： Haitao Yu Mantian Li Pengfei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.

关键词： legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment

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Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map

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Journal of Bionic Engineering 2012年第1期9卷 39-47页

作者： Nan Li Dapeng Yang Li Jiang Hong Liu Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

For controlling dexterous prosthetic hand with a high number of active Degrees of Freedom （DOF）, it is necessary to reliably extract control volitions of finger motions from the human body. In this study, a large variety of finger motions are discriminated based on the diversities of the pressure distribution produced by the mechanical actions of muscles on the forearm. The pressure distribution patterns corresponding to the motions were measured by sensor array which is composed of 32 Force Sensitive Resistor （FSR） sensors. In order to map the pressure patterns with different finger motions, a multiclass classifier was designed based on the Support Vector Machine （SVM） algorithm. The multi-subject experiments show that it is possible to identify as many as seventeen different finger motions, including individual finger motions and multi-finger grasping motions, with the accuracy above 99% in the in-session validation. Further, the cross-session validation demonstrates that the performance of the proposed method is robust for use if the FSR array is not reset. The results suggest that the proposed method has great application prospects for the control of multi-DOF dexterous hand prosthesis.

关键词： finger motion recognition dexterous hand support vector machine sensor array pressure distribution map

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Bio-Inspired Controller for a Robot Cheetah with a Neural Mechanism Controlling Leg Muscles

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Journal of Bionic Engineering 2012年第3期9卷 282-293页

作者： Xin Wang Mantian Li Pengfei Wang Wei Guo Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

The realization of a high-speed running robot is one of the most challenging problems in developing legged robots. The excellent performance of cheetahs provides inspiration for the control and mechanical design of such robots. This paper presents a three-dimensional model of a cheetah that predicts the locomotory behaviors of a running cheetah. Applying biological knowledge of the neural mechanism, we control the muscle flexion and extension during the stance phase, and control the positions of the joints in the flight phase via a PD controller to minimize complexity. The proposed control strategy is shown to achieve similar locomotion of a real cheetah. The simulation realizes good biological properties, such as the leg retraction, ground reaction force, and spring-like leg behavior. The stable bounding results show the promise of the controller in high-speed locomotion. The model can reach 2.7 m-s^-1 as the highest speed, and can accelerate from 0 to 1.5 m-s^-1 in one stride cycle. A mechanical structure based on this simulation is designed to demonstrate the control approach, and the most recently developed hindlimb controlled by the proposed controller is presented in swinging-leg experiments and jump-force experiments.

关键词： biomimetics biologically-inspired robots legged robots neural mechanism artificial pneumatic muscle

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Optimization and experimental research on a new-type short cylindrical cup-shaped harmonic reducer

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Journal of Central South University 2012年第7期19卷 1869-1882页

作者：高海波庄红超李志刚邓宗全丁亮刘振 State Key Laboratory of Robotics and System(Harbin Institute of Technology)

In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress,multi-objective optimizations of key structural parameters were achieved. Flexspline,wave generator,and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype,the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.

关键词： harmonic drive flexspline structural parameter multi-objective optimization

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Kinematics modeling of a 6-PSS parallel mechanism with wide-range flexure hinges

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Journal of Central South University 2012年第9期19卷 2482-2487页

作者：杜志江史若冲董为 State Key Laboratory of Robotics and System(Harb in Institute of Technology)

A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive *** proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspace.A three-layer back-propagation(BP) neural network was utilized to the kinematics analysis,in which learning samples containing 1 280 groups of data based on stiffness-matrix method were used to train the BP *** kinematics performance was accurately calculated by using the constructed BP model with 19 hidden *** with the stiffness model,the simulation and numerical results validate that BP model can achieve millisecond level computation time and micron level calculation *** concept and approach outlined can be extended to a variety of applications.

关键词： flexible parallel manipulator wide-range flexure hinge kinematics model neural network

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Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

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Acta Automatica Sinica 2013年第8期39卷 1238-1245页

作者： Zheng-Cai CAO Long-Jie YIN Yi-Li FU Tian-Long LIU College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China Key Laboratory of Embedded System and Service Computing Ministry of Education Tongji University Shanghai 201804 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China

Visual servo stabilization of nonholonomic mobile robots has gained extensive attention. However, currently, the solution of the problem does not consider both the visibility constraints and the actuator limitations, so the designed controller is difficult to realize satisfactory performance in practical application. In this paper, a predictive controller for the visual servo stabilization of a mobile robot is presented. Firstly, a kinematic predictive stabilization controller utilized to generate the command of velocity is introduced. Then, in order to make the actual velocity of the mobile robot asymptotically approach to the desired one, a dynamic predictive controller is designed. The proposed predictive controller can deal with the constraints easily. Finally, several simulations are performed, and the results illustrate that the proposed control scheme is effective to solve the visual servo stabilization problem.

关键词： Nonholonomic mobile robots visual servo stabilization predictive control constraints

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A novel grasping force control strategy for multi-fingered prosthetic hand

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Journal of Central South University 2012年第6期19卷 1537-1542页

作者：张庭姜力刘宏 State Key Laboratory of Robotics and System(Harbin Institute of Technology) Institute of Robotics and Mechatronics German Aerospace CenterMunich 82230Germany

A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.

关键词： grasping impedance control force control sliding mode control prosthetic hand

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