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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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Correction method for pixel response nonuniformity of CCD

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

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An Improved Algorithm of Measuring Extravehicular Mobility Unit (EMU) Spacesuit Joint Damping Parameters for the Old Passive Robot system

An Improved Algorithm of Measuring Extravehicular Mobility U...

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2008 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2008), vol.1

作者： Jingdong Zhao Yiwei Liu Hegao Cai Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, an improved algorithm to measure China's EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuit's arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics of the EMU spacesuit arm including flexible joints are proposed. And finally, a new algorithm that eliminates the gravity effect is implemented to calculate the damping torques of the EMU spacesuit joints. Experimental results and verification on SGI workstation proved the correctness and effectiveness of the proposed measuring method.

关键词： Joints Robots Damping Torque Robot kinematics Kinematics Manipulators

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Mobility Performance Analysis of Lunar Rover Based on Terramechanics

Mobility Performance Analysis of Lunar Rover Based on Terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 1-476

作者： Peng Zhang Zongquan Deng Ming Hu Haibo Gao State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424948

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference.

关键词： mobility performance performance evaluation locomotion system terramechanics lunar rover

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Garbage grab bucket controller based on input shaping and PD feedback control

Garbage grab bucket controller based on input shaping and PD...

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IEEE International Conference on Automation and Logistics

作者： Shijie Dai Gang Ren Lei Zhao Weiguo Ren State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)9781424425020

A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.

关键词： Cranes Pd control Feedback control Vibrations Robustness Switches Driver circuits

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Multi-robot cooperative pursuit based on combinatorial auction mechanism under dynamic environment

Multi-robot cooperative pursuit based on combinatorial aucti...

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2008 2nd International Symposium on systems and Control in Aerospace and Astronautics, ISSCAA 2008

作者： Su, Cai Ze Ning, Sun Li Bo, Gao Hai Cheng, Zhou Pu State Key Laboratory of Advanced Robot and System Harbin Institute of Technology Harbin 150001 Heilongjiang China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 Heilongjiang China Department of Information Engineering Artillery Academy of PLA Hefei 230031 AnHui Province China

This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced,and an improved task negotiation process based on Multi-Unit Combinatorial Auction was proposed. It allocated task dynamically through capability classification and independent competition. A kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity ofthe given algorithm.

关键词： Multipurpose robots

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Wave prediction theory and application in teleoperation

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2008年第11期40卷 1726-1731页

作者： Zhang, Feng-Feng Xie, Xiao-Hui Du, Zhi-Jiang Sun, Li-Ning State Key Laboratory of Robotics and Mechatronics Harbin Institute of Technology Harbin 150001 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518067 China

Aiming at the problem that the present wave variable method can not satisfy the requirement of medical bone-setting in time delay condition, the system stability and the master-slave track precision were obtained by introducing prediction techniques in wave domain. In order to use this method in different initial conditions, and keep it robust in slave model mismatch and round off error, the modified Smith prediction method was used in the scheme. It employed a state observer combined with a time forward observer to estimate the output of slave part, then an energy regulation algorithm was used in the conjunction of a prediction algorithm to ensure the system passivity. The proposed wave prediction method can ensure the system stability under varying time delay environments in most cases, but varying time delay and round off error can lead to the position shift error-between master and slave part. Thus an error correction method was designed to regulate the wave domain energy to correct the shift in master-slave position.

关键词： Time delay

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A silicon integrated micro nano-positioning XY-stage for nano-manipulation

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Journal of Micromechanics and Microengineering 2008年第12期18卷 125004 (9p-125004 (9p页

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin Bao, Haifei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

An integrated micro XY-stage with a 2 × 2 mm2 movable table is designed and fabricated for application in nanometer-scale operation and nanometric positioning precision. The device integrates the functions of both actuating and sensing in a monolithic chip and is mainly composed of a silicon-based XY-stage, comb-drive actuator and a displacement sensor, which are developed by using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven XY-stage is achieved by deep reactive ion etching (DRIE) on both sides of the wafer. The displacement sensor is formed on four vertical sidewall surface piezoresistors with a full Wheatstone bridge circuit, where a novel fabrication process of a vertical sidewall surface piezoresistor is proposed. Comprehensive design and analysis of the comb actuator, the piezoresistive displacement sensor and the XY-stage are given in full detail, and the experimental results verify the design and fabrication of the device. The final realization of the device shows that the sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV νm-1 without amplification, and the linearity is better than 0.814%. Under 28.5 V driving voltage, a 10 νm single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983 Hz in air. © 2008 IOP Publishing Ltd.

关键词： Natural frequencies

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Electrostatically driven microgripper integrated piezoresistive force sensor

Electrostatically driven microgripper integrated piezoresist...

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Design, Test, Integration and Packaging of MEMS/MOEMS

作者： Tao Chen Liguo Chen Lining Sun Xinxin Li State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China State Key Lab ofTransducer Technology Shanghai Institute ofMicrosystem and Information Technology Chinese Academy and Sciences Shanghai China

This paper presents the design, fabrication, and application of an electrostatically driven microgripper integrated piezoresistive force sensor. The microgripper is designed to manipulate two microobjects at the same time with force sensing ability. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The end effector of the gripper is a four arms structure, two fixed cantilever beams integrated with piezoresistive sensor are designed to sensing the gripping force, and an electrostatically driven microactuator is designed to provide the force to operate the other two movable arms. In this way, the four fingers structure enables the gripper to grasp two samples with different sizes at the same time. Experimental results show that it can successfully provide force sensing and play a main role in preventing damage of microparts in micromanipulation and microassembly tasks.

关键词： Grippers Piezoresistance Force sensors Arm Fabrication Micromachining Silicon End effectors Structural beams Microactuators

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Nano-positioning X-Y stage with the function of displacement detection

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Nami Jishu yu Jingmi Gongcheng/Nanotechnology and Precision Engineering 2008年第5期6卷 376-382页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Robotics Institute Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 200050 China

To meet the requests of miniaturization and high precision of nano-positioning X-Y stage, a novel 2-DOF single crystal silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection was successfully developed using silicon bulk machining, and its principle was introduced in this paper. Based on the combination of theoretical analysis and finite element simulation, a sidewall piezoresistor in plane technique was proposed to fabricate piezoresistor sensor in the micro X-Y stage. The experimental results verify the reasonable ness of micro X-Y stage design. Under the driving voltage of 23.68 V, the maximal displacement of X-Y stage is 10 μm in each of the four directions, with the positioning precision of better than 20 nm. The piezoresistor sensor of 4.2 k is tested using semi-automatic probe stage and its breakdown voltage is 75 V. The sensitivity of the fabricated piezoresistor, namely, the relative changes in resistance, is 3.6 × 10-5 under the displacement of 10 nm, which fully meets the design requirements.

关键词： Finite element method

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