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Engineering 2023年第5期24卷 84-93,I0002页

作者： Hao Zhang Junyuan Geng Haibo Gao Weibin Rong Hui Xie The State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China

本文介绍了一种基于磁驱动正交悬臂探针(magnetically driven-orthogonal cantilever probes,MDOCP)的三维原子力显微镜(three-dimensional atomic force microscopy,3D-AFM)表征方法,该方法采用两个独立的三自由度纳米扫描器,能够实现探针沿可控矢量角度跟踪扫描样品表面。该3D-AFM系统还配备了高精度旋转台,可实现360°全向成像。定制的MD-OCP包含水平悬臂、垂直悬臂和磁球三部分,其中磁球可在磁场中机械驱动OCP实现激振。垂直悬臂具有一个突出的尖端,可检测深槽和具有悬垂/凹边特征的结构。首先,对MD-OCP的设计、模拟、制造和性能分析进行了描述;其次,详细介绍了探针振幅补偿和360°旋转原点定位的方法。通过使用标准AFM阶梯光栅进行对比实验,验证了所提出方法对于陡峭侧壁和拐角处细节的表征能力,其中采用了三维地形重建方法将图像整合。通过对具有微梳结构的微机电系统(MEMS)器件进行3D表征,进一步证实了所提出基于MD-OCP的3D-AFM技术的有效性。最后,该技术被用于确定微阵列芯片的关键尺寸(critical dimensions,CD)。实验结果表明,所提出的方法可以高精度地获取三维结构的CD信息,相比于难以获得侧壁信息的二维技术,在三维微纳制造检测领域具有更好的潜力。

关键词：图像整合微阵列芯片机械驱动阶梯光栅旋转台磁驱动三维结构

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Design and manufacturing of micro/nanorobots

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International Journal of Extreme Manufacturing 2024年第6期6卷 169-202页

作者： Junmin Liu Rencheng Zhuang Dekai Zhou Xiaocong Chang Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinPeople's Republic of China Key Laboratory of Micro-systems and Micro-structures Manufacturing HarbinPeople's Republic of China Zhengzhou Research Institute of Harbin Institute of Technology ZhengzhouPeople's Republic of China

Micro/nanorobots(MNRs)capable of performing tasks at the micro-and nanoscale hold great promise for applications in cutting-edge fields such as biomedical engineering,environmental engineering,and *** cope with the intricate and dynamic environments encountered in practical applications,the development of high performance MNRs is *** have evolved from single-material,single-function,and simple structure to multi-material,multi-function,and complex ***,the design and manufacturing of high performance MNRs with complex multi-material three-dimensional structures at the micro-and nanoscale pose significant challenges that cannot be addressed by conventional serial design strategies and single-process manufacturing *** material-interface-structure-function/performance coupled design methods and the additive/formative/subtractive composite manufacturing methods offer the opportunity to design and manufacture MNRs with multimaterials and complex structures under multi-factor coupling,thus paving the way for the development of high performance *** this paper,we take the three core capabilities of MNRs—mobility,controllability,and load capability—as the focal point,emphasizing the coupled design methods oriented towards their function/performance and the composite manufacturing methods for their functional *** limitations of current investigation are also discussed,and our envisioned future directions for design and manufacture of MNRs are *** hope that this review will provide a framework template for the design and manufacture of high performance MNRs,serving as a roadmap for researchers interested in this area.

关键词： micro/nanorobots functional structure design manufacturing

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ma, Boyu Cao, Baoshi Liu, Yang Xie, Yuteng Yang, Xiaohang Wang, Wei Hu, Handong Zhou, Xiaokai Ji, Yiming Wang, Zhengpu Li, Mengfei Sun, Haoran Sun, Wandong Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China Northeast Agricultural University School of Resources and Environment Harbin150030 China

ISBN: (纸本)9798350325706

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert-Johnson-Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article. © 2023 IEEE.

关键词： Experimental Module Manipulator (EMM) extra-vehicular activity (EVA) on-orbit servicing (OOS) Trajectory planning

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). © 2022 IEEE.

关键词： Topology

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Optimization method for operation configuration of space manipulator for on-orbit assembly 24

Optimization method for operation configuration of space man...

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4th International Conference on Control and Intelligent robotics, ICCIR 2024

作者： Li, Mengfei Liu, Yang Feng, Weichao Cao, Baoshi Xie, Zongwu Xie, Yuteng Li, Chongyang Guo, Chuangqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Resources and Environment Northeast Agricultural University Harbin150006 China Agile Robots Beijing Beijing100192 China

ISBN: (纸本)9798400709937

Aiming at the insertion requirements of large space structures during the on-orbit assembly process, a redundant manipulator operation configuration selection method using joint angle variation as a performance evaluation index is proposed, which achieves operation configuration optimization among multiple sets of inverse solutions. At the same time, the risk of collision during installation is reduced. Firstly, the joint angle parameterization method is used to solve all feasible solutions of the redundant manipulator. Then, trapezoidal velocity planning is employed to analyse the operation configuration after the end effector of the manipulator moves a certain distance in different directions of the coordinate system, and the joint weight coefficient is introduced to calculate the weighted value of the angle variation. Finally, select the operation configuration corresponding to the minimum weighted value as the initial configuration for the manipulator. The calculation results show that this method can select an effective solution that satisfies the posture constraints from multiple sets of inverse solutions, giving full play to the redundant characteristics of the SSRMS-type manipulator and ensuring the safety and reliability of the on-orbit assembly process. © 2024 Copyright held by the owner/author(s).

关键词： Inverse kinematics

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3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers 11

3D-DEM Simulation and Post-Process Method of Wheel-Terrain I...

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Lan, Qingning Wang, Zhengyin Yang, Huaiguang Ding, Liang Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Landforms

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LQR-based Ground Resonance Suppression of Helicopter with Adaptive Landing Gear

LQR-based Ground Resonance Suppression of Helicopter with Ad...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Zhen Yu, Haitao Xia, Jifeng Tian, Baolin Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665481090

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR. © 2022 IEEE.

关键词： Multiobjective optimization

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Design of umbrella-like mechanically deployable aerodynamic decelerators on the basis of plane-symmetric 7R linkages

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Frontiers of Mechanical Engineering 2025年第3期20卷 1-26页

作者： Chen, Zijie Guo, Hongwei Shi, Chuang Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics Harbin Institute of Technology Harbin China

The surging interest in planetary exploration underscores the need for deployable aerodynamic decelerators with a low ballistic coefficient. This study introduces a novel approach to designing and constructing mechanically deployable aerodynamic decelerators (MDADs) that utilize an umbrella-like mechanism and proposes a new mechanism of MDADs through this method. The proposed method utilizes plane-symmetric 7R (R: revolute joint) linkages, and the kinematics of these linkages are systematically analyzed using the product of exponentials method. The 7R linkage kinematics are equated to an equivalent joint, the foundation for constructing umbrella-like deployable mechanisms. Three distinct types of mechanisms are synthesized using this methodology. Subsequently, their kinematics are analyzed based on the equivalent joint, and the configurations are experimentally validated through 3D-printed models and kinematic simulations. Trajectory simulations and structural analyses are conducted to assess the performance of the deployable mechanisms and provide valuable insights into their capabilities. This research contributes to advancing deployable aerodynamic decelerator technology and offers a promising avenue for future planetary entry, descent, and landing applications.

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The controller architecture of dexterous hand with switchable coupling mechanism

The controller architecture of dexterous hand with switchabl...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Ziqi Jiang, Li Li, Wangyang Cheng, Ming Wu, Xiaoqiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150008 China

ISBN: (纸本)9781665481090

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance. © 2022 IEEE.

关键词： Controllers

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An overview on mobile manipulator in nuclear applications∗

An overview on mobile manipulator in nuclear applications∗

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Ou, Yue Xu, Biying Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Nuclear power is worldwide popular and keeps rapidly growing, but manual operation in nuclear facilities is challenging by safety and workload issues. Mobile manipulators are ideal to replace human works in nuclear applications. This article reviews the development of mobile manipulators in nuclear applications over time. Then, we summarize three tasks for robots in nuclear applications and corresponding requirements, followed by an overview of the design of selected specific models. Based on the existing design, we propose the challenges for future mobile manipulators in nuclear applications. © 2022 IEEE.

关键词： Manipulators

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