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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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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xu Fu, Yili Zhejiang University State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed. © 2023 IEEE.

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Electronically enhancing the long-range nanopositioning accuracy of a Lorentz force actuator

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Frontiers of Information Technology & Electronic Engineering 2023年第7期24卷 1080-1092页

作者： Bimal Jeet GOTEEA Qianjun ZHANG Wei DONG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer ***,a suitable coil is designed for the actuator based on the stiffness of the flexure guide *** flexure mechanism and actuator performance are then verified with finite element *** on these,a means to enhance the positioning performance electronically is presented together with the control ***,a prototype is fabricated,and the performance is *** positioner features a range of 10 mm with a resolution of 10 *** proposed scheme can be extended to other systems.

关键词： Nanopositioning Flexure guides Long range Voice coil motor Lorentz force actuator

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General Dynamics Modeling and Simulation Analysis of Multi-degree of Freedom Flexible Manipulators 23rd

General Dynamics Modeling and Simulation Analysis of Multi-d...

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

作者： Jin, Xichen Tong, Zhizhong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (纸本)9789811993978

This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of flexible joint considering joint stiffness, joint damping, joint friction and joint clearance is deduced, and the dynamic model of flexible rod considering internal structural damping of flexible rod is deduced by using hypothetical modal method. Secondly, the overall dynamic model of flexible manipulator is obtained by comprehensively considering the flexibility of joint and rod. The joint pair has two settings: rotating pair and moving pair. Finally, the simulation experiment of five degree of freedom series flexible manipulator is carried out to verify the correctness of the dynamic modeling method of multi degree of freedom flexible manipulator. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Flexible manipulators

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Decoding Wrist and Hand Movement Using a Synergy-Driven, Variable Stiffness Musculoskeletal Model Under Different Loads

Decoding Wrist and Hand Movement Using a Synergy-Driven, Var...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Jiamin Yu, Yang Sheng, Xinjun Zhu, Xiangyang Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9781665481090

Myoelectric interfaces, which translate electromyography (EMG) signals into motor intentions, are extensively utilized in prosthetic control due to their intuitive nature. However, current methodologies extremely suffer from performance degradation under non-stationary EMG signals. Varying loads significantly alter muscle activation patterns, with variations in loading weights being a significant factor affecting performance. Conventional EMG-driven musculoskeletal models (MMs) demonstrate robustness across different loads but often neglect the influence of changes in muscle co-contraction levels induced by increased loads. To address this issue, we proposed an improved MM that integrated variable muscle and joint stiffnesses with synergy-based muscle activations into the muscle contraction dynamics. This model adapted to alterations in muscle co-contraction levels under diverse loads, allowing for robust estimation of hand and wrist movements without requiring additional training for different loads. Both offline and online experiments were conducted. The outcomes demonstrated that the proposed model significantly improved robustness and estimation accuracy compared to traditional envelopedriven and constant stiffness MMs. It maintained stable performance across different loads with training conducted solely under zero-load conditions, thereby reducing the training burden. This study presents a novel approach to enhance the reliability of EMG-based human-machine interfaces. © 2024 IEEE.

关键词： Electromyography

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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