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International Workshop on Intelligent systems and Applications, ISA

作者： DianYong Yu Kai Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, we take 6 kg arc welding robot designed by our lab as research object and build a complex virtual prototype model. A fast, intuitive and effective dynamics method which is based on simulink and robotics toolbox is designed to validate the virtual prototype model is right. On this basis we check the select of motor and reducer.

关键词： Torque Mathematical model Prototypes Robot kinematics Gears Acceleration

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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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IEEE Conference on robotics, Automation and Mechatronics

作者： Haitao Yu Mantian Li Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

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.

关键词： Approximation methods Gravity Robots Analytical models Stability analysis Mathematical model Springs

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Frame vibration suppression for wafer transfer system

Frame vibration suppression for wafer transfer system

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Yanjie Liu Mingyue Wu Guobao Xu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame.. In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control.

关键词： Vibrations Trajectory Robot kinematics Robot sensing systems Force Semiconductor device modeling

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Particle focusing and separation through lab-on-chip device by dielectrophoresis

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Open Mechanical Engineering Journal 2011年第1期5卷 56-61页

作者： Liu, Deli Song, Baoyu Chen, Liguo Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

A Lab-On-Chip micro-device has been introduced for the focusing and separation of particles which exploits negative dielectrophoretic (nDEP) force. A 3D numerical computational model was presented to simulate the focusing and separation process. In particular, the model will solve for bioparticle movement and Joule heating. In the experimental study, the mixture of viable and nonviable yeast cells was used to demonstrate the focusing and separation effect of the designed microfluidic device. The fabricated chip performs a desired focusing result for the conditions with the electric fields frequency of 1MHz, the medium conductivity of 0.01S/m and the applied voltage V = 20Vpp. The mixture of viable and nonviable yeast cells were focused to the central plane of the micro-channel and then separated by non-equilibrium nDEP induced by the single part of the last pair of electrodes with conductivity σ = 0.01S/m, applied voltage V = 20Vpp and applied electric field frequency of 5Mhz, which validities the prediction of the proposed 3D model. This Lab-On-Chip device provides a simple and effective mean of particle focusing. © Liu et al.

关键词： Electrophoresis

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A novel velocity sensor based on electromagnetic induction

A novel velocity sensor based on electromagnetic induction

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10th IEEE SENSORS Conference 2011, SENSORS 2011

作者： Han, Haijun Liu, Yanjie Liu, Tao Inoue, Yoshio Shibata, Kyoko State Key of Robotics and System Harbin Institute of Technology Harbin China Dep. of Intelligent Mechanical Systems Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781424492886

A novel velocity sensor based on electromagnetic induction was proposed in this paper. It was composed of four small inductor chips with circular symmetrical distribution on the bottom of a printed circuit board (PCB) and an elastic body with a permanent magnet embedded into on the top of the PCB. The output voltage of each inductor chip will change when an object moves on the top of sensor and drives the permanent to follow with a specific speed. The principle of velocity measurement was derived and simulation was carried out to determine size of the magnet and size of the whole sensor. Then, a prototype was developed and velocity experiments were executed to evaluate properties of the prototype. The result shows that the prototype was capable of following the velocity curve of a motion platform and measuring the velocity vector of the platform with nonlinear errors of 8.1% and 11.9% along its x-axis and y-axis respectively when the speed was from 1mm/s to 9mm/s. © 2011 IEEE.

关键词： Printed circuit boards

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Yan-Shen Ge, Lian-Zheng Xie, Ping-Chun Gai, Yu-Xian Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Province 264209 China State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424481149

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2. © 2011 IEEE.

关键词： Spot welding

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A pose measurement system for optical precision operation

A pose measurement system for optical precision operation

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作者： Ma, Li Rong, Weibin Ouyang, Hangkong He, Zhengfeng Sun, Lining Department of Precise Mechanical Engineering School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A new 3-DOF pose precision measurement system based on linear variable differential transformer (LVDT) is developed, built and tested. The system is mainly composed of four LVDTs of symmetrical distribution, which is used to detect the pose relations between a spherical mirror and a resonantor in an optical assembly process. Motion pose of the spherical mirror controlled by an optical assembly robot is formulated according to their geometrical relationship. A LVDT processing circuit using integrated signal conditioning chip AD598 is designed as the control system of pose measurement. Calibration experiments illustrate that the LVDT possesses well static and dynamic characteristics. A PID algorithm is used to improve the adjusting efficiency. Experimental results show that the pose measurement system with maximum angle error of 10" and maximum distance error of 0.5 μm can complete pose adjustment between the spherical mirror and the resonator in 25 seconds, which demonstrate the effectiveness of the proposed method for pose measurement. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Mirrors

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Simulation study on the error of the double parallel-joints coordinate measuring machine

Simulation study on the error of the double parallel-joints ...

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International Workshop on Intelligent systems and Applications

作者： Yu, Lingtao Shuai, Rongbiao Zhao, Jilang Wu, Guoliang Xia, Guisuo Lai, Zhihua Wu, Haiyan State Key Laboratory of Robotics and System HIT Harbin China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Jiujiang Precision Measuring Technology Research Institute Jiujiang China

ISBN: (纸本)9781424498574

The double parallel-joints CMM is a new coordinate measuring machine that between the tradion coordinate measuring machine and the multi-joint coordinate measuring machine. To further study of the double parallel-joints CMM , it is necessary to study on the error model of the measuring machine. The kinematics model is constructed by the D-H method and the error model for the double parallel-joints CMM is constructed too. The SimMechanics institutions model and the M-function model verifies that the theoretical analysis is ture ,by the simulation. to verify the correctness of the error model, laying the groundwork for further theoretical research. The theoretic foundation is made for the further study of The double parallel-joints CMM. © 2011 IEEE.

关键词： MATLAB

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state Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement

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International Journal of Automation and computing 2011年第2期8卷 262-268页

作者： Huan-Yin Zhou Kai-Zhou Liu Xi-Sheng Feng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 PRC School of Electric East China Institute of Technology Fuzhou 344000 PRC Graduate School of the Chinese Academy of Sciences Beijing 100039 RRC

This paper presents a new method to eliminate the chattering of state feedback sliding mode control （SMC） law for the mobile control of an autonomous underwater vehicle （AUV） which is nonlinear and suffers from unknown disturbances system. SMC is a well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.

关键词： Autonomous underwater vehicle （AUV） state feedback sliding mode control （SMC） switching manifold Hurwitz matrix Matlab platform Lyapunov function.

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Comparison of SUT Hinfin;-and UKF in Cartesian and Modified Polar Coordinates for bearings-only tracking

Comparison of SUT Hinfin;-and UKF in Cartesian and Modified ...

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MTS/IEEE Kona Conference, OCEANS'11

作者： Xu, J. Feng, X. Ren, S. Zeng, J. State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning Province China School of Graduate Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457714276

The H∞ filtering problem is considered for a class of nonlinear discrete-time systems for which a novel solution is developed by embedding the unscented transform technique into the extended H ∞ filter structure. This article compares a Scale Unscented Transform H∞ filter (SUT H∞-) and UKF for the bearings-only tracking problem in Modified Polar Coordinates (MPC) and Cartesian coordinates (CC). Its objective is to track the kinematics (position, velocity) of a moving target using noise-corrupted bearing measurements. The SUT H ∞-filter achieves higher accuracy and robustness against model uncertainty. Simulation results for the bearings-only tracking (BOT) are presented to illustrate that the MPC is better than CC in long distance. © 2011 MTS.

关键词： Uncertainty analysis

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