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SSRN 2022年

作者： Yan, Yongda Li, Zihan Wang, Jiqiang Geng, Yanquan The State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Heilongjiang Harbin150080 China Center for Precision Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China

An atomic force microscopy (AFM) tip-based scratch method has been used to machine 2D/3D micro-nanostructures. However, the machining efficiency is too low for being applied in a wide application. The AFM tip-based nanomilling approach has the advantage of higher efficiency due to a higher materials removal rate. This paper compares the materials removal mechanism between single scratch and nanomilling processes close to the atomic scale on single crystal copper surface using the molecular dynamics simulation. By analyzing the groove morphology, atomic flow behavior and variation of scratching forces, the materials removal mechanism is revealed in this study. Moreover, tip trajectory and sample crystallographic orientation effect on atomic removal are also studied by the analysis of relationship between the evolution of the subsurface defect and material removal. This work reveals the mechanism of the materials removal in nanomilling process in detail, which will greatly improve the ability of the tip-based nanomachining method. © 2022, The Authors. All rights reserved.

关键词： Molecular dynamics

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Corrigendum to “Development of a 3-DOF rotary piezoelectric actuator with compact structure” [International Journal of Mechanical Sciences, 2024, 262: 108749]

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International Journal of Mechanical Sciences 2024年 271卷

作者： Jie Deng Chenglin Yang Qingbing Chang Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

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A Model-Free Synchronous Control of Humanoid Robot Finger

A Model-Free Synchronous Control of Humanoid Robot Finger

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

For a multi-fingered robot hand, the individual control over single joints cannot guarantee their fine collaboration. For achieving a high-precision synchronization, a theory of synchronous control is introduced to multi-fingered robot hands. This paper introduced a new model-free and cross-coupling control strategy. It had been tested on the humanoid robot fingers and showed high positioning performance. For realizing the mutual influence between the control of all joints, we establish the synchronization error by the differential disposal of adjacent actuator errors, then position errors and synchronization errors are incorporated into a unified control frame. Meanwhile, considering the complex dynamic formulations of the dexterous hand and the characteristics of the control system, a model-free, cross-coupled trajectory tracking method is introduced and the explicit dynamic modeling parameters is not necessary. Finally, we tested our method on a multi-fingered hand platform HIT/DLR-II. The results prove that the new method has superior performance over traditional non-synchronous approaches.

关键词： Automation Trajectory tracking Conferences Force Humanoid robots Collaboration Kinematics

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process

The Application of Acceleration-Level Quaternion Interpolati...

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International Conference on Computer and Automation Engineering, ICCAE

作者： Xiaoyu Zhao Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance.

关键词： Interpolation Visualization Automation Quaternions Computational modeling Robot control Process control

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Design and Control of a Hydraulic Driven Robotic Gripper

Design and Control of a Hydraulic Driven Robotic Gripper

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IEEE International Conference on robotics and Biomimetics

作者： Jiahui Qi Xu Li Zhenguo Tao Haibo Feng Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The robots with robotic grippers can take the place of human to carry objects and use tools efficiently in different situations. This paper presents a novel hydraulic driven robotic gripper named the WLRG-I (the first generation of Wheel-legged robot gripper) which bears large load and has strong robustness. The WLRG-I is installed on the wheel-legged humanoid robot arm to make the WLR-III (the third generation of Wheel-legged robot) have the capability of grasping daily tools and fulfilling special operation tasks in harsh environments. This paper focuses on the design of gripper transmission structure, kinematics and statics. Firstly, the linkage mechanism is proposed according to the design goal. Then, the kinematics and statics of the gripper are studied, and a structural model is established. In addition, PID controller is used to control the position of the gripper with angle feedback. Finally, position tracking and load experiments are completed to verified the accuracy of the control. The gripper can grasp objects of 20kg with 2.15kg dead weight. To the authors’ best knowledge, robot grippers with such a high load-to-weight ratio are very rare.

关键词： Humanoid robots Kinematics Hydraulic systems Manipulators Robustness Mobile robots Grippers

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Multi-Slip Conditions Acquisition of Planetary Rovers with Application to Terrain Parameter Identification*

Multi-Slip Conditions Acquisition of Planetary Rovers with A...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ye Yuan Huaiguang Yang Chaojie Yang Liang Ding Haibo Gao Nan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Planetary rovers, integrated with the state-of-the-art technologies in different fields, are required to explore extraterrestrial surfaces to achieve their scientific goals. The perception of the extraterrestrial environment, especially the terrain, greatly affects the mobility of rovers. The estimation of terrain parameters often requires wheel-terrain interaction data under various slip ratios. The data of multi-slip conditions can be obtained by adjusting the slope angles of the terrain or rover load in experiments. However, these methods are neither safe nor practical for planetary rovers that are exploring extraterrestrial planets. In this study, the required wheel slip conditions can be obtained based on the Monte Carlo method and terramechanics theory, by actively adjusting rotation speeds of the rover’s wheels. Simulations in the Vortex physics engine environment verified that the proposed method could generate the multi-slip conditions in a flat terrain without requiring the rover to go up/down high slopes. Furthermore, by measuring the wheel-terrain interaction data, normal force, drawbar pull, driving torque, sinkage under various slip ratios the terrain parameters can be estimated.

关键词： Space vehicles Torque Parameter estimation Monte Carlo methods Mechatronics Planets Machine vision

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Design and Analysis of a Variable-sweep Morphing Wing for UAV Based on a Parallelogram Mechanism

Design and Analysis of a Variable-sweep Morphing Wing for UA...

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IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Hong Xiao Yue Bai Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

The variable-sweep wing for unmanned aerial vehicle (UAV) can greatly improve the aerodynamic performance at high-speed and low-speed by changing the sweep angle. In this paper, a shear variable-sweep wing is proposed and studied based on a parallelogram mechanism. The skeleton of morphing wing is a single-degree-of-freedom mechanism composed of parallelogram mechanism unit topology. The skin of morphing wing is applied an innovative Kevlar/carbon fiber hybrid composite skin. The composite skins are stitched to the skeleton and sheared as the sweep-angle changes. The kinematics model of the morphing wing is established, and the wing area, aspect ratio, root-to-tip ratio and relative thickness are analyzed. Moreover, establish the composite skin buckling model and obtain the skin parameters that can be smoothly and continuously deformed within the range of sweep-angle changes. Finally, the variable-sweep morphing wing prototype is developed and scanned to verify the smoothness of the designed morphing skins and the deformation performance of morphing wing.

关键词： Deformable models Prototypes Kinematics Autonomous aerial vehicles Aerodynamics Skin Skeleton

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Electric Polarization and Magnetic Properties of (NH4)1–xKxI (x = 0.05–0.17)

arXiv

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arXiv 2024年

作者： Xu, Yi Yang Meng, Lei Zhao, Miao Miao Peng, Chu Xin Yen, Fei State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System The School of Science Harbin Institute of Technology Shenzhen University Town Guangdong Shenzhen518055 China

While all of the polymorphs of pure NH4I and KI are non-polar, we identify that (NH4)0.95K0.05I is ferroelectric and (NH4)0.87K0.13I and (NH4)0.83K0.17I are pyroelectric through measurements of their pyroelectric current and complex dielectric constant. The order to disorder phase transitions occur near 245 K. Magnetic susceptibility measurements indicate that the proton orbitals of the NH4+ continue to become ordered in the ground state in the (NH4)1–xKxI system up to x ≤ 0.17. The polar phases are proposed to stem from K+ ions disrupting the symmetry of proton-orbital-lattice interactions between the NH4+ and I– ions. Our work introduces a new pathway for the ordered phases of ammonium-based compounds to potentially become ferroelectric. © 2024, CC BY-NC-ND.

关键词： Ferroelectric materials

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Ferroelectricity Driven by Orbital Resonance of Protons in CH3NH3Cl and CH3NH3Br

arXiv

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arXiv 2024年

作者： Peng, Chu Xin Meng, Lei Xu, Yi Yang Xing, Tian Tian Zhao, Miao Miao Ren, Peng Yen, Fei State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System The School of Science Harbin Institute of Technology Shenzhen University Town Guangdong Shenzhen518055 China

The β and γ phases of methylammonium chloride CH3NH3Cl and methylammonium bromide CH3NH3Br are identified to be ferroelectric via pyroelectric current and dielectric constant measurements. The magnetic susceptibility also exhibits pronounced discontinuities at the Curie temperatures. We attribute the origin of spontaneous polarization to the emergence of two groups of proton orbital magnetic moments from the uncorrelated motion of the CH3 and NH3 groups in the β and γ phases. The two inequivalent frameworks of intermolecular orbital resonances interact with each other to distort the lattice in a non-centrosymmetric fashion. Our findings indicate that the structural instabilities in molecular frameworks are magnetic in origin as well as provide a new pathway toward uncovering new organic ferroelectrics. © 2024, CC BY-NC-ND.

关键词： Ferroelectric materials

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A Bistable Jumping Robot with Pure Soft Body Actuated by Twisted Artificial Muscle

A Bistable Jumping Robot with Pure Soft Body Actuated by Twi...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Dong Zhou Yuan Fu Jie Deng Jin Sun Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665431545

Soft robots made from soft materials can safely interact with humans and environments compared with the traditional rigid robots. However, the inherent compliance of the soft robots makes them difficult to realize the jumping motion. Although many soft robots can jump through the design of bistable structure. However, the existing soft robots need rigid spine to be embedded in the soft body. Therefore, it is still hard for the jumping of a soft robot with pure soft body. This paper offers the design method for the pure soft bistable robot with jumping ability. The critical buckling force and total elastic potential energy of the robot can be increased by designing the soft body with different thickness. We use the twisted artificial muscle (TAM) to realize the jumping motion of the soft bistable robot. The proposed robot can jump at a height nearly two times its body height. We envision that the design method will promote the application of the soft robot with pure soft body to realize more types of motion strategy.

关键词： Potential energy Fabrication Mechatronics Design methodology Machine vision Force Soft robotics

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