检索结果-内蒙古大学图书馆

Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

来源：评论

学校读者我要写书评

暂无评论

Real-time image processing and mapping algorithm for forward-looking sonar of AUV

Real-time image processing and mapping algorithm for forward...

引用

OCEANS

作者： Lei Gao Hongli Xu State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

ISBN: (纸本)9781479913084

The key of autonomous underwater vehicle to perform a variety of missions in complex sea environment was to accurately distinguish obstacle and mapping in real time. In this paper, the information of obstacle was segmented from sonar image by image filter, image enhancement, fuzzy clustering algorithm and morphology method. Then the coordinate system was established, the barrier information of each frame was projected onto the entire barrier map. Finally, the experiment on the lake proves that the methods of the image processing and mapping algorithm are feasibility.

关键词： Sonar Image processing Noise Buildings Real-time systems Sonar navigation Robots

来源：评论

学校读者我要写书评

暂无评论

A novel pneumatic micropipette aspiration method using a balance pressure model

A novel pneumatic micropipette aspiration method using a bal...

引用

作者： Zhao, Qili Wu, Ming Cui, Maosheng Qin, Yanding Yu, Jin Sun, Mingzhu Zhao, Xin Feng, Xizeng Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Medicinal Chemical Biology College of Life Science Nankai University 300071 Tianjin China Tianjin Institute of Animal Science 300312 Tianjin China

This paper presents a novel micropipette aspiration (MA) method based on a common pneumatic micro-injection system. This method is the first to quantify the influence of capillary effect on aspiration pressure using a balance pressure model, and in return, uses the capillary effect to quantify the aspiration pressure. Subsequently, the seal between the cell and the micropipette is detected to judge and exclude the ineffective MA attempts. The rationality of the balance pressure model is validated by the designed micropipette-filling experiments. Through applied to elasticity-determination of the cells with different sizes, the feasibility and versatility of this MA method are proved. With abilities to quantify aspiration pressures and detect the seam between the cell and the micropipette, our method is expected to advance the application of the commercial pneumatic injector in the MA of cells. Moreover, with the quantified volume of the liquid entering into the micropipette during MA process, our method also has a potential applicability to the study of the permeability of the cell membrane in the future. © 2013 AIP Publishing LLC.

关键词： Pneumatics

来源：评论

学校读者我要写书评

暂无评论

A rotary ultrasonic motor using radial bending mode of ring with nested PZT excitation

引用

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第3期13卷 189-196页

作者： Ying-xiang LIU Jun-kao LIU Wei-shan CHEN Xiao-hui YANG State Key Laboratory of Robotics and System Harbin Institute of Technology Horbin 150001 China

This study presents and verifies a new idea for constructing a rotary traveling wave ultrasonic motor （USM） that uses the radial bending mode of a ring. In the new design, 20 trapezoid cross section slots are cut symmetrically in the outer surface of a thick duralumin alloy ring, where 20 PZT stacks are nested. In each slot, two wedging blocks are set between the PZT stack and the two sides of the slot respectively to apply preloading on the PZT ceramics. Two radial bending modes of the stator that have a phase difference of a quarter wavelength on space are generated by using the d33 operating mode of the PZT elements, and then a flexural traveling wave is formed by the superimposing of two standing waves whose amplitudes are equal and phases are different by 90~ temporally. Two conical rotors are pressed to each end of the ring type stator by a coiled spring. The finite element method （FEM） simulation is developed to validate the feasibility of the proposed motor. The maximal speed and torque of the prototype are tested to be 126 r/rain and 0.8 N＇m, respectively.

关键词： Rotary ultrasonic motor Radial bending mode Traveling wave Wedging block clamped structure

来源：评论

学校读者我要写书评

暂无评论

Adding Sub-chain Method for Structural Synthesis of Planar Closed Kinematic Chains

引用

Chinese Journal of Mechanical Engineering 2012年第2期25卷 206-213页

作者： DENG Zongquan YANG Fei TAO Jianguo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

For at least the past five decades,structural synthesis has been used as a main means of finding better mechanisms with some predefined *** structural synthesis,isomorphism identification is still a problem unsolved well,and to solve this problem is very significant to the design of new *** to the given degree of freedom（DOF） and link connection property of planar closed chain mechanisms,vertex assortment is *** solving the isomorphism problem,a method of the adding sub-chains is proposed with the detailed steps and algorithms in the synthesizing *** this method,the identification code and formation code of every topological structure are achieved,therefore many isomorphic structures could be eliminated in time during structural synthesis by comparing those codes among different topological graphs,resulting in the improvement of synthesizing efficiency and accuracy,and the approach for eliminating rigid sub-chains in and after the synthesizing process is also *** examples are given,including how to add sub-chains,how to detect simple rigid sub-chains and how to obtain identification codes and formulation codes et *** the adding sub-chain method,the relative information of some common topological graphs is given in the form of *** comparison result is coincident with many literatures,so the correctness of the adding sub-chain method is *** method will greatly improve the synthesizing efficiency and accuracy,and has a good potential for application.

关键词： structural synthesis adding sub-chain method identification code formation code rigid sub-chains

来源：评论

学校读者我要写书评

暂无评论

Two-dimensional dynamic analysis of an ocean umbilical cable using the geometrically exact beam elements

Two-dimensional dynamic analysis of an ocean umbilical cable...

引用

2013 International Conference on Mechanical, Automotive and Materials Engineering, CMAME 2013

作者： Quan, Wei Cai Zhang, Zhu Ying Zhang, Ai Qun Zhang, Qi Feng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences No. 114 Nanta Street Shenyang Liaoning 110016 China University of Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9783037858073

We present an idea for modeling flexible ocean umbilical cable using a nonlinear finite element method. The umbilical cable is assembled by Reissner's geometrically exact beam elements, which take account of the geometric nonlinearities of large rotation and displacement, and effects of axial load and bending stiffness for modeling of slack cables. The linearization and discretization of the entire weak form for the umbilical cable system are proposed. The resulting semi-discrete motion e quations are solved by the Newmark method. The capability of considering the action of horizontal ocean current is a key feature of this analysis. An example about the two-dimensional dynamic behavior of the umbilical cable system in depth-dependent ocean current with sinusoidal ship motion is presented. © (2013) Trans Tech Publications, Switzerland.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Three-dimensional dynamic behavior of the flexible umbilical cable system

引用

2013 4th International Conference on Mechanical and Aerospace Engineering, ICMAE 2013

ISBN: (纸本)9783037858332

We extend an idea of the modeling flexible umbilical cable using a nonlinear finite element method to three-dimensional space. The umbilical cable is assembled by Reissner's geometrically exact beam elements, which take account of the geometric nonlinearities of large rotation and displacement, and effects of axial load, transverse shear, torsion and bending stiffness for modeling of slack cables. The resulting semi-discrete motion equations are solved by the Newmark method. Finally, an example about the three-dimensional dynamic behavior of the umbilical cable system in depth-dependent ocean current with ship motion is presented. © (2013) Trans Tech Publications, Switzerland.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Teleoperation of a space robot experiment system

Teleoperation of a space robot experiment system

引用

IEEE International Conference on robotics and Biomimetics

作者： Zongwu Xie Guangxin Wu Zainan Jiang Jing Xia Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Harbin Institute of Technology Harbin Heilongjiang CN

ISBN: (纸本)9781479927456

This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem, Tasks plan subsystem, and Haptic interface subsystem. The experimental results and the analysis of the data generated validate the effectiveness and correctness of our system.

关键词： Trajectory Joints Planning Haptic interfaces Space vehicles Manipulators

来源：评论

学校读者我要写书评

暂无评论

Atomic force microscope deposition assisted by electric field

Atomic force microscope deposition assisted by electric fiel...

引用

2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Liu, Zeng-Lei Jiao, Nian-Dong Wang, Zhi-Dong Dong, Zai-Li Liu, Lian-Qing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of Chinese Academy of Sciences Beijing 100049 China Chiba Institute of Technology Chiba 275-8588 Japan

ISBN: (纸本)9783037856420

This paper introduces atomic force microscope (AFM) deposition method to fabricate nanostructures and nanodevices. Field emission theory is introduced in this paper, which provides theoretical explanation for AFM deposition. Dot matrixes are fabricated by AFM deposition on three different substrates, Si, Au and GaAs. Differences of deposition on the three substrates are discussed. AFM deposition has many practical applications. For example, AFM deposition can be used to solder nano components together to improve electrical properties of nanodevices. Besides nanosoldering, AFM deposition can also be used in fabrication of nanodevices. Thus AFM deposition is a valuable research field for future massive applications of nanodevices. © (2013) Trans Tech Publications, Switzerland.

关键词： Deposition

来源：评论

学校读者我要写书评

暂无评论

A fast connected components labeling algorithm for binary images

引用

Journal of Harbin institute of Technology(New Series) 2012年第3期19卷 81-87页

作者：付宜利韩现伟王树国 State Key Laboratory of Robotics and System Harbin Institute of Technology

A fast label-equivalence-based connected components labeling algorithm is proposed in this *** is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labeling *** is a fast pixel scan method,and the other is an array-based Union-Find data *** scan procedure assigns each foreground pixel a provisional label according to the location of the *** is to say,it labels the foreground pixels following background pixels and foreground pixels in different ways,which greatly reduces the number of neighbor pixel *** array-based Union-Find data structure resolves the label equivalences between provisional labels by using only a single array with path compression,and it improves the efficiency of the resolving procedure which is very time-consuming in general label-equivalence-based *** experiments on various types of images with different sizes show that the proposed algorithm is superior to other labeling approaches for huge images containing many big connected components.

关键词： binary image connected components labeling algorithm Union-Find label-equivalence

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：