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Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot

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Science China(Technological Sciences) 2011年第3期54卷 610-624页

作者： LI ZhiQing MA ShuGen LI Bin WANG MingHui WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.

关键词： self-adaptive mobile mechanism transformable track wheel-track hybrid robot mechanism design

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Piezo-powered Micro-dissection system with ultrasonic vibration

Piezo-powered Micro-dissection system with ultrasonic vibrat...

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作者： Chen, Liguo Liu, Yaxin Sun, Lining Robotics and Microsystems Center Soochow University Suzhou 215021 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

In biomedical areas, Micro-dissection technology plays an important role for Cancer Genomics, through which pure population of targeted cells can be procured from tissue sections for subsequent analysis. In this paper, a novel Piezo-powered Micro-dissection system using ultrasonic vibration was developed. First, the Piezo-powered Micro-dissection principle and system construction will be introduced briefly. Then the key component of the system, piezo-powered micro-dissection tool, is proposed in detail. The micro-dissection tool could vibrate with the frequency scope from 0.5k to40K and the amplitude scope from 0 to 2m. Finally, a variety of experiments about bio-micro-dissection on liver tissue slice were carried out, and the experiments show the feasibility of the micro-dissection method with ultrasonic vibration. The new micro-dissection method can be adopted in the bio-micro-manipulation field and it can also significantly promote the development of Biomedical Engineering. © 2011 Chinese Assoc of Automati.

关键词： Microdissection

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A circular bend mode piezoelectric micro-droplet ejection generator for spatial lubrication

A circular bend mode piezoelectric micro-droplet ejection ge...

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Sheng, Mingwei Chen, Weishan Liu, Junkao Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology 92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781612840857

The paper reaches into a circular bend mode piezoelectric micro-droplet ejection generator, and a complete relation model from the voltage pulse applied on the piezoelectric transducer to ejection parameters of high viscosity aerospace lubricant droplet was established. Based on the Finite Element Analysis (FEM), transient response analysis of FEM modal was carried out, and the vibration equation of circular piezoelectric transducer was obtained by means of curve fitting. Multi-phase computational fluid dynamics (CFD) software was involved, and the gas liquid two-phase flow near the nozzle was established. To solve the interface movements with continuing topology changes, volume-of-fluid method (VOF) along with the piecewise linear interface construction (PLIC) techniques were implemented to describe the interfacial movements. A computational approach based on VOF method was applied to analyze the ejection process of lubricant droplet. And the effects of internal factors consist of dynamic viscosity and surface tension on the ejection parameters were investigated emphatically. © 2011 IEEE.

关键词： Finite element method

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Investigation of hybrid Solar-Wind power generation systems for the polar expedition robot

Investigation of hybrid Solar-Wind power generation systems ...

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作者： Liang, Jianhong Zhong, Qiliang Wang, Liewu Robotics Institute Beihang University Beijing China China State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9781880653968

In order to develop a self-sufficient autonomous mobile robot which has long working ability and can work on the polar ice caps, important data of the distributed density of the new energy and characteristic of renewable energy within the working area scope of the robot should be seriously considered. In this paper, we design a novel hybrid Solar-Wind power generation system that is capable of data acquisition of the battery charging and data transferring by satellite. This system has the capacity of automatically recording and transferring the information of its battery series, and is installed in Chinese Zhongshan station that is located in the Antarctic. The experimental results show that the Solar & Wind energy could be continuously captured by the system;meanwhile, the possible power consumption of the mobile polar expedition robot is also evaluated and analyzed. The system also provides useful renewable power data for the implementation of future polar expedition robot which aims to have infinite working ability. Copyright © 2011 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Data acquisition

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Approximating the stance map of a SLIP Monopod: A perturbation approach

Approximating the stance map of a SLIP Monopod: A perturbati...

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yu, Haitao Li, Mantian Cai, Hegao State Key Laboratory of Robotics and System Harbin Inst. of Tech. Harbin 150001 China

ISBN: (纸本)9781612842509

In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. The perturbation solution achieves higher accuracy in predicting the apex trajectory and stance locomotion by comparing with other existing analytic approximations. Particularly, our solution is validated for non-symmetric case in a large angle range. Additionally, the approximate apex return map is established, of which the fixed point stability is analyzed base on the approximations. © 2011 IEEE.

关键词： Perturbation techniques

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hui Tang Yangmin Li Qinmin Yang Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa Macao China Overseas Distinguished Professor at the State Key Laboratory of Robotics of Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou China

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H ∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks.

关键词： Mathematical model Uncertainty Hysteresis Nanobioscience Actuators Robustness

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Obstacle performance analysis for a novel inspection robot with passive joints

Obstacle performance analysis for a novel inspection robot w...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Song, Yifeng Wang, Hongguang Jing, Fengren State Key Laboratory of Robotics Shenyang Institute of Automation and Graduate School of Chinese Academy of Sciences Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning China

ISBN: (纸本)9781457721373

To complete the power transmission line inspection task successfully, the inspection robot has to cross dampers, splicing sleeves and other obstacles installed in the line quickly and smoothly. A novel inspection robot with passive joints is presented, with its quasi-static model being set up for obstacle-crossing analysis. The analysis result indicates that the passive joints ensure at least one gripper keep close during obstacle-crossing and the robot obstacle performance is enhanced. It will be especially benefit of obstacle-crossing in the inclined line with a large angle and cutting down the robot working risk. In addition, some robot mechanism parameters are determined by optimization method to find the maximum height the robot can cross. Finally, the reliability and stability of the robot obstacle crossing is validated by simulation and field experiment. It provides the theoretic reference for the robot mechanical design and autonomous control. © 2011 IEEE.

关键词： Inspection

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Dynamic measurement of the positioning accuracy of redundantly actuated parallel machine tool

Dynamic measurement of the positioning accuracy of redundant...

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International Conference on Intelligent Control and Information Processing

作者： Cheng, Li Zhao, Yongsheng Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Robotics Research Center Yanshan University China

ISBN: (纸本)9781457708145

A 5-DOF 5-UPS/PRPU parallel machine tool (PMT) is introduced. Redundant actuation is adopted in order to improve the positional accuracy and dynamic performance. A method for the measurement of positioning accuracy of PMT under dynamic condition is described in detail. It is based on Agilent 5529A dual-frequency laser interferometer which is capable of performing dynamic calibration. Based on the working principle of laser interferometer, the positional data of the moving platform are collected and the positional error data in accordance with ISO 230-2 standard of each virtual axis are obtained in high resolution. Meanwhile, the positioning accuracy of each axis is also descried with visual graphics. In order to investigate the influence of redundant actuation on the positioning accuracy of the machine, the linear positional error of X-Axis are both tested under the redundant actuation case as well as its corresponding non-redundant counterpart. These positional error data can be used for the positional error compensation model of machine tool. © 2011 IEEE.

关键词： Machine tools

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Bond graph approach to the modeling of permanent magnet linear synchronous motor with consideration of end-effect

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Dianji yu Kongzhi Xuebao/Electric Machines and Control 2011年第2期15卷 71-75+83页

作者： Li, Teng Liu, Yan-Jie Sun, Li-Ning Guo, Cui-Juan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

In order to analyze the thrust force characters of permanent magnet linear synchronous motor (PMLSM) and to build global electromechanical model of motor drive system, bond graph model of PMLSM was proposed, in which the end effect character of linear motor was included. Referring to the method used in the analysis of rotating motor, model of PMLSM under d-q reference frame was built. Besides, magnet distortion caused by end effect was described by magnetic field generated by mutual inductance and current. According to them, equivalent circuit of PMLSM was got then transformed to bond graph model through bond graph theory and state space equation of system was established. Simulation and experiment with a homemade motor are conducted, results validate the correctness of the model and show velocity oscillation caused by end effect, in which the value of oscillation cycle is equal to polar distance.

关键词： Vector control (Electric machinery)

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Linear motion control of two-pendulums-driven spherical robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2011年第11期47卷 1-6页

作者： Zhao, Bo Wang, Pengfei Sun, Lining Li, Mantian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A spherical robot driven by two pendulums is designed, which is actuated by both the eccentric force and the inertial force generated by the inner drive unit when the robot is in motion. Because of the point contact between spherical shell and ground, the friction cannot counteract the change of motion state caused by motion error of inner drive unit when the robot is in a switching process between static configuration and dynamic configuration. A linear motion control method of two-pendulums-driven spherical robot is studied for the stable start-stop and speed control. The dynamic model of linear motion is constructed by Lagrange equation. A Gaussian function based smooth trajectory control method for linear motion is proposed through analysis of the relationship among dynamic parameters, and the correctness of the method is verified theoretically by simulation. A feedback controller of linear motion is designed to guarantee the accurate tracking of the expected value of practical control signals. The effectiveness of the controller is validated by simulation and prototype experiment. © 2011 Journal of Mechanical Engineering.

关键词： Feedback control

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