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Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

Frontiers of Mechanical Engineering 2021年第4期16卷 711-725页

作者： Yiwei LIU Shipeng CUI Yongjun SUN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The safety of human-robot interaction is an essential requirement for designing collaborative ***,this paper aims to design a novel variable stiffiiess actuator(VSA)that can provide safer physical human-robot interaction for collaborative *** A follows the idea of modular design,mainly including a variable stiffiiess module and a drive *** variable stiffiiess module transmits the motion from the drive module in a roundabout maimer,making the modularization of VS A *** the key component of the variable stiffiiess module,a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously,which can eliminate the additional bending moment caused by the asymmetric *** design of the doubledeck grooves in the lever allows the pivot to move freely in the groove,avoiding the geometric constraint between the ***,the VSA stiffiiess can change from zero to infinity as the pivot moves from one end of the groove to the *** facilitate building a manipulator in the future,an expandable electrical system with a distributed structure is also *** calibration and control experiments are performed to evaluate the physical performance of the designed *** results show that the VSA stiffiiess is close to the theoretical design ***,the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffiiess regulation and a good performance for position tracking.

关键词： variable stiffiiess actuator variable stiffness module drive module symmetrical structure doubledeck grooves expandable electrical system

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Fabrication of dense SiBCN monolith at a lower temperature and its high-temperature performance

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Journal of Advanced Ceramics 2024年第8期13卷 1198-1211页

作者： Zi-Bo Niu Daxin Li Dechang Jia Zhihua Yang Kunpeng Lin Yan Wang Paolo Colombo Ralf Riedel Yu Zhou Institute for Advanced Ceramics School of Materials Science and EngineeringHarbin Institute of TechnologyHarbin 150080China Key Laboratory of Advanced Structural-Function Integrated Materials and Green Manufacturing Technology Ministry of Industry and Information TechnologyHarbin 150080China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150080China Department of Industrial Engineering University of PadovaPadova 3513iItaly Department of Materials Science and Engineering The Pennsylvania State UniversityUniversity Park 16802USA Institute of Materials Science Darmstadt University of TechnologyDarmstadt 64287Germany School of Materials Science and Engineering Harbin Institute of Technology(Shenzhen)Shenzhen 518055China

In this study,a crack-free pyrolysis process of partially cured precursor powder compacts was developed to prepare dense silicon boron carbonitride(SiBCN)monoliths at much lower temperatures(1300℃),thereby circumventing the challenges of sintering densification(>1800℃).Unlike the elastic fracture in over-cured precursors or the viscoelastic deformation in under-cured precursors,the partially cured precursor,exhibiting elastic-plastic deformation behavior,facilitates limited nanoscale pore formation in a dense structure,achieving a balance between crack-free pyrolysis and *** to SiBCN derived from the over-cured precursor(σ=~159 MPa,K_(IC)=1.9 MPa:m^(1/2),Vickers hardness(HV)=7.8 GPa,and E=122 GPa),the resulting SiBCN monolith exhibited significantly improved mechanical properties(σ=~304 MPa,K_(IC)=3.7 MPa-m12,HV=10.6 GPa,and E=161 GPa)and oxidation *** addition,this study investigated the high-temperature performance of SiBCN monoliths,including crystallization and oxidation,and determined the oxidation kinetics induced by pore structure healing and the different oxidation mechanisms of Si-C-N and B-C-N clusters in the amorphous *** to its unique composition and structure,the SiBCN ceramic oxide layer exhibits exceptional self-healing effects on repairing the nanoporous system in the initial stage and shows outstanding high-temperature stability during prolonged oxidation,mitigating adverse effects from bubble formation and *** to the nanoporous structure,the oxidation rate is initially controlled by gas diffusion following a linear law before transitioning to oxide layer diffusion characterized by a parabolic ***,due to different valence bond configurations,Si-C-N transforms into an amorphous SiCNO structure after phase separation,unlike the nucleation and growth of residual B-N-C.

关键词： silicon boron carbonitride(SiBCN)ceramics crack-free pyrolysis amorphous structure oxidation mechanisms kinetic law

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Sustainable Seawater Desalination and Energy Management:Mechanisms,Strategies,and the Way Forward

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Research 2024年第3期2023卷 595-611页

作者： Meng Wang Yen Wei Ruoxin Li Xin Wang Chengyu Wang Nanqi Ren Shih-Hsin Ho State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150001China Department of Chemistry Tsinghua UniversityBeijing 100084China Key Laboratory of Bio-based Material Science&Technology(Northeast Forestry University) Ministry of EducationHarbin 150040China.

Solar-driven desalination systems have been recognized as an effective technology to address the water ***,evaporators prepared based on advanced manufacturing technologies have emerged as a promising tool in enhancing ocean energy *** this review,we discussed the thermal conversion,energy flow,salt deposition mechanisms,and design strategies for solar-driven desalination systems,and explored how to improve the desalination performance and energy use efficiency of the systems through advanced manufacturing *** future perspectives,we determined the feasibility of coupling solar-driven solar desalination systems with multi-stage energy utilization systems and emerging artificial intelligence technologies,for which conclusions are given and new directions for future desalination system development are ***,exciting opportunities and challenges in the face of basic research and practical implementation are discussed,providing promising solutions and blueprints for green and novel desalination technologies while achieving sustainable development.

关键词： Sustainable Solar directions

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

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Acoustic black hole effect enhanced micromanipulator

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Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

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Kinematic Parameter Calibration Method of Light Weight Robots Based on Sequence Quadratic Programming Algorithm 12

Kinematic Parameter Calibration Method of Light Weight Robot...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Min, Kang Ni, Fenglei Shu, Xin Ji, Zhu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Kinematic parameter calibration can improve the absolute positioning accuracy of the robot tool center point (TCP). However, the current least-squares (LS) iterative method for calibration is sensitive to noise and ineffective when the Jacobian matrix is close to singular. In addition, the robot kinematic parameter errors cannot be directly compensated because its structure needs to satisfy Pieper's criterion. Thus, a kinematic parameter calibration based on sequence quadratic programming (SQP) algorithm is proposed to solve the above two issues. Firstly, the kinematics and its error model of TCP positions are established. Then, the kinematic parameter errors are identified by SQP algorithm. Finally, the identified kinematic parameter errors are converted into joint angle errors for error compensation. The simulations and experiments are carried out on the self-developed light weight robot. Simulation results show that the proposed calibration method is insensitive to noise. Experimental results reveal that mean positioning accuracy has increased 88.17% and 63.58% than that of the before calibration in sampling and verification regions, respectively. © 2022 IEEE.

关键词： Calibration

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot 5

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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5th International Conference on Mechatronics, robotics and Automation, ICMRA 2022

作者： Chen, Qiao Liu, Yiwei Chen, Zhuo Zhou, Yangjunjian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665472654

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots. © 2022 IEEE.

关键词： Motion planning

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Stability Augmentation Control of Tilting Dual-Rotor UAV with Balance Tail

Stability Augmentation Control of Tilting Dual-Rotor UAV wit...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Xu, Yurui Gao, Liang Liu, Benshan Zhang, Junming Zhu, Yanhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation. © 2022 IEEE.

关键词： Attitude control

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Duan, Bosong Mao, Tianyou Gong, Kening Guo, Chuangqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481090

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight;U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight;The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV. © 2022 IEEE.

关键词： Fluid structure interaction

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Ha, Zekun Xiao, Junxiao Chi, Cheng Yao, Ziyun Liang, He Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in main belt comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent. © 2022 IEEE.

关键词： Detonation

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