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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

Frontiers of Mechanical engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Energy-efficient concurrent media streaming over time-varying wireless networks

Energy-efficient concurrent media streaming over time-varyin...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Weihua Wu Qinghai Yang Peng Gong Kyung Sup Kwak State Key Laboratory of ISN School of Telecommunications Engineering Xidian University Xian Shaanxi CN State Key Laboratory of ISN School of Telecommunications Engineering Xidian University Shaanxi China National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China Graduate School of Information Technology and Telecommunications Inha University Incheon Korea

In this paper, we design an energy-efficient cross-layer optimization framework for media streaming over time-varying wireless network. The energy efficiency (EE) is characterized by the stochastic optimization model subject to the network stability, which is also used to depict the average media delivery delay. In harmony with the hierarchical architecture of the wireless network, the problem of stochastic optimization of media streaming is decomposed by the Lyapunov drift theory into two subproblems, associated with the flow control in transport layer and the power allocation in physical (PHY) layer. Specifically, the dynamic cross-layer control algorithm for media streaming is developed for adapting to the time-varying network state information, i.e. time-varying channel state information (CSI) of mobile terminal (MT)-access points (AP) links and dynamic queue state information (QSI) at APs. We derive a tradeoff between EE and media streaming delay, where the increase of average delay is approximately linear in V and the increase of EE is at the speed of 1/V with the control parameter V. Simulation results validate the theoretical analysis of our proposed scheme.

关键词： Streaming media Media Wireless networks Optimization Resource management Heuristic algorithms

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The Finite Element Analysis of Solder Joints under Temperature Cycling

The Finite Element Analysis of Solder Joints under Temperatu...

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The 15th International Conference on Electronic Packaging Technology (ICEPT 2014) ) (第十五届电子封装技术国际会议)

作者： Fangyi Liu Wenzhong Lou Fufu Wang Xuran Ding Dakui Wang State Key Laboratory of Mechatronics Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology Beijing China

A thermal-mechanical coupled finite element analysis model of solder joints is established,which plays a role in mechanical support and electrical connection in flip *** temperature cycle load(-45℃~125℃)applied on the solder joints and it will generate periodic internal stress and strain in the process of the temperature *** repeat using,the solder joints will produce deformation,and then cracks,extension,interlayer *** failure of the solder joints may cause the failure of the entire *** paper aims to simulate the periodic changes in temperature and obtain the reliability and potential failure modes of solder joints under temperature cycling,thus providing theory reference for the design and application of the novel solid MEMS switch.

关键词： FEM flip-chip solder joint temperature cycling delamination

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Homoclinic orbits in three-dimensional Shilnikov-type chaotic systems

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Chinese Physics B 2013年第9期22卷 312-323页

作者：冯晶晶张琪昌王炜郝淑英 Tianjin Key Labortory of Nonlinear Dynamics and Chaos Control School of Mechanical EngineeringTianjin University State Key Laboratory of Engines Tianjin University School of Mechanical Engineering Tianjin University of Technology

In this paper, the Pad6 approximant and analytic solution in the neighborhood of the initial value are introduced into the process of constructing the Shilnikov type homoclinic trajectories in three-dimensional nonlinear dynamical systems. The P1D controller system with quadratic and cubic nonlinearities, the simplified solar-wind-driven-magnetosphere-ionosphere system, and the human DNA sequence system are considered. With the aid of presenting a new condition, the solutions of solving the boundary-value problems which are formulated for the trajectory and evaluating the initial amplitude values become available. At the same time, the value of the bifurcation parameter is obtained directly, which is almost consistent with the numerical result.

关键词： chaos Shilnikov theorem homoclinic orbit Pad6 approximation

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Two types of coaxial self-balancing robots

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Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

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Microstrip antenna design based on left-handed materials

Microstrip antenna design based on left-handed materials

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2011 International Conference on Business, Economics, and Financial Sciences, Management, BEFM 2011

作者： Chengtian, Song Zhiliang, Song Xi, Pan State Key Labortory of Mechatronical Engineering and Control Beijing Institute of Technology Beijing China Dalian Airforce Communication NCO Academy Dalian China

ISBN: (纸本)9783642279652

An review on the development and extrodinary properties of left-handed materials is first *** on the current research, left-handed materials is applied to the microstrip antenna *** miniaturized antenna are designed by using the left-handed materials, which makes futhur miniaturization of microstrip antenna possible. © 2012 Springer-Verlag GmbH.

关键词： Microstrip antennas

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on Complex Medical engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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