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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Cui, Xiulong Fan, Jizhuang Dong, Zhihui Ou, Yue Zhao, Jie Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot's single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect. © 2023 IEEE.

关键词： Mobile robots

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RGB-D Camera Based Map Building and Path Planning of Snake Robot 16th

RGB-D Camera Based Map Building and Path Planning of Snake R...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Sun, Yongjun Wang, Qiang Xue, Zhao Liu, Rongqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964826

Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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3rd International Conference on Computer, Control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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Aerodynamic Analysis and Deployment Mechanism of A Foldable Mars Quadrotor 20

Aerodynamic Analysis and Deployment Mechanism of A Foldable ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhu, Kaijie Tang, Dewei Quan, Qiquan Wang, Kaiyi Dong, Yachao Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

The Mars quadrotor is a vertical take-off and landing aerial platform developed to enhance the efficiency of Mars exploration. The four-blade rotor has a high thrust coefficient due to its high solidity, which enables the quadrotor to navigate the Martian atmospheric environment efficiently. This paper proposes a payload-carrying Mars quadrotor featuring four four-bladed rotors that can fold along the rotor arms. The computational fluid dynamics (CFD) method is employed to perform numerical hovering simulations, exploring the propulsion capability and aerodynamic efficiency of rotors with different diameters. The mass distribution and hovering time are estimated when the quadrotor consists of the rotors with the highest figure of merit. The results demonstrate that a larger rotor diameter of the quadrotor yields greater payload capacity and shorter hovering time. During the launch, the quadrotor is folded and constrained within an envelope to protect it from vibrations and shocks. A lifting mechanism with shape-constraint slides is utilized for quadrotor deployment. © 2023 IEEE.

关键词： Efficiency

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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2023 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2023

作者： Liu, Chengsi Zou, Jibin Harbin Institute of Technology Hit State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment. © 2023 IEEE.

关键词： Dual three phase permanent magnet synchronous motor (DTPPMSM) fault-tolerant finite element analysis (FEA) open circuit

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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期38卷 577-596页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Centre for Precision Manufacturing DMEMUniversity of StrathclydeGlasgow G11XJUK State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To mill fine and well-defined micro-dimpled structures,a machining manner of spiral trajectory tool reciprocating motion,where the tool repeats the process of‘feed milling–retract–cutting feed–feed milling again’along the spiral trajectory,was *** the kinematics analysis,it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating *** reveal this causation,simulation modelling and experimental studies were carried out.A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length)and parameters(discrete angle,discrete arc length,and pitch)on surface texture and residual height of micro-dimpled ***,micro-dimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion.A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy,surface morphology and surface roughness of milled ***,the errors and factors affecting the above three aspects were *** results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled *** trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional *** an appropriate machining trajectory can be generated based on the optimized trajectory parameters,thus contributing to the improvement of machining quality and efficiency.

关键词： Tool reciprocating motion Spiral trajectory Micro-dimpled structure Micromachining Simulation modelling with diamond tool Surface texture

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Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm 20

Inverse Kinematics of a Reconfigurable Space Manipulator Bas...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhao, Zhiyuan Yang, Xiaohang Xu, Zichun Li, Yuntao Tian, Zhonglai Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods' effectiveness. © 2023 IEEE.

关键词： Inverse kinematics

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Control of myoelectric prosthetic hand with a novel proximity-tactile sensor

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Science China(Technological Sciences) 2022年第7期65卷 1513-1523页

作者： YANG Bin JIANG Li GE ChuanYang CHENG Ming ZHANG Jia State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Key Laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of TechnologyHarbin 150080China

Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.

关键词： prosthetic hand proximity tactile sensor myoelectric control sensory feedback

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Tailoring the in-plane and out-of-plane stiffness of soft fingers by endoskeleton topology optimization for stable grasping

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Science China(Technological Sciences) 2023年第11期66卷 3080-3089页

作者： LI DeChen CHEN ShiTong SONG ZeNan LIANG JiaLong ZHU XiangYang CHEN FeiFei State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large deformation and load capacity but ignore the effect of out-of-plane external loads,which may lead to instability in practical *** problem calls for stiffness design along multiple directions to withstand not only in-plane interacting forces with objects,but also unexpected outof-plane *** this paper,we design a new type of soft finger by embedding an endoskeleton inside the widely-used PneuNets actuator,and the endoskeleton layout is optimized to achieve a remarkable bending deflection and limited lateral deflection under combined external in-plane and out-of-plane *** on the multi-objective topology optimization approach,the key structural features of the optimized endoskeleton are extracted and *** multi-material soft fingers are fabricated by the silicone compound mold *** and dynamic experiment results validate that the soft gripper with endoskeleton embedded exhibits remarkably improved out-of-plane stiffness,without sacrificing the in-plane bending flexibility,and leads to more stable grasping.

关键词： soft robot soft gripper stable grasping topology optimization pneumatic actuator

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Hybrid Joint-space Control Strategies Analysis for One-redundant Cable Suspended Parallel Robots 23rd

Hybrid Joint-space Control Strategies Analysis for One-redun...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all cables tensioned at the same time. In the cable-driven parallel robots with redundant drives, all the cable tensions have a predicable range, we called cable adjustable force (CAF) in this study. This work aims at investigating the relationships between the CAF of target force-controlled cables, and the pose errors under the hybrid joint-space control strategy. A simulation framework, considering interfering cable length and cable forces, is developed to analysis the characters of hybrid-input control strategy, based on a cable suspended with one redundant layout. We found that the CAF is related to the pose control error of the end-effector, and can be regard as a selection criteria for the target cable for the force control in the hybrid joint-space control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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