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Kinematics modeling of a 6-PSS parallel mechanism with wide-range flexure hinges

Journal of Central South University 2012年第9期19卷 2482-2487页

作者：杜志江史若冲董为 State Key Laboratory of Robotics and System(Harb in Institute of Technology)

A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive *** proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspace.A three-layer back-propagation(BP) neural network was utilized to the kinematics analysis,in which learning samples containing 1 280 groups of data based on stiffness-matrix method were used to train the BP *** kinematics performance was accurately calculated by using the constructed BP model with 19 hidden *** with the stiffness model,the simulation and numerical results validate that BP model can achieve millisecond level computation time and micron level calculation *** concept and approach outlined can be extended to a variety of applications.

关键词： flexible parallel manipulator wide-range flexure hinge kinematics model neural network

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Feedforward Control Based on Fourier Series Trajectory Fitting Method for Industrial Robot 29

Feedforward Control Based on Fourier Series Trajectory Fitti...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

Feedforward control is widely used in industrial robot as a valid control *** speed motion will bring the vibration for robot with flexible joints,which will affect the dynamic performance of *** residual vibration character is analyzed for palletizing robot using feedforward control method in this *** the vibration suppression constraints polynomials fitting method is used to compute the discrete data of ***,the discrete trajectory points are fitted based on Fourier series *** trajectory fitted model is optimized using genetic algorithm,and the high frequency harmonics included in feedforward drive torque is decreased under the premise of guaranteeing fitting precision and boundary *** results verified the Tightness of the proposed trajectory planning algorithm.

关键词： Feedforward control Vibration suppression Fourier series Trajectory planning

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Algorithm of Palletizing Robot Vibration Suppression Based on the Principle of Optimal Trajectory Planning 29

Algorithm of Palletizing Robot Vibration Suppression Based o...

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第29届中国控制与决策会议

作者： Lianzheng Ge Jian Chen Ruifeng Li State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781509046584

High speed motion will bring the residual vibration for palletizing robot with flexible joints,which will affect the dynamic performance of *** time-domain motion character of palletizing robot is analyzed based on modal analysis theory,and the residual vibration model is *** problem of residual vibration suppression using motion planning method is regarded as functional extreme value problem,and the functional extreme problem is converted to solving the BVPfboundary value problem) of ordinary differential equations based on the Pontryagin maximum *** vibration suppression trajectory planning algorithm is designed considering the flexible dynamic model of palletizing robot *** results verify the effectiveness of the optimal trajectory planning for the vibration suppression of palletizing robot.

关键词： Palletizing robot Vibration suppression Optimal control Trajectory planning

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Understand anisotropy dependence of damage evolution and material removal during nanoscratch of MgF_(2) single crystals

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International Journal of Extreme Manufacturing 2023年第1期5卷 236-252页

作者： Chen Li Yinchuan Piao Feihu Zhang Yong Zhang Yuxiu Hu Yongfei Wang State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China

To understand the anisotropy dependence of the damage evolution and material removal during the machining process of MgF_(2) single crystals,nanoscratch tests of MgF_(2) single crystals with different crystal planes and directions were systematically performed,and surface morphologies of the scratched grooves under different conditions were *** experimental results indicated that anisotropy considerably affected the damage evolution in the machining process of MgF_(2) single crystals.A stress field model induced by the scratch was developed by considering the anisotropy,which indicated that during the loading process,median cracks induced by the tensile stress initiated and propagated at the front of the *** cracks induced by tensile stress initiated and propagated on the subsurface during the unloading *** addition,surface radial cracks induced by the tensile stress were easily generated during the unloading *** stress change led to the deflection of the propagation direction of lateral ***,the lateral cracks propagated to the workpiece surface,resulting in brittle removal in the form of chunk *** plastic deformation parameter indicated that the more the slip systems were activated,the more easily the plastic deformation *** cleavage fracture parameter indicated that the cracks propagated along the activated cleavage planes,and the brittle chunk removal was owing to the subsurface cleavage cracks propagating to the crystal *** the same processing parameters,the scratch of the(001)crystal plane along the[100]crystal-orientation was found to be the most conducive to achieving plastic machining of MgF_(2) single *** theoretical results agreed well with the experimental results,which will not only enhance the understanding of the anisotropy dependence of the damage evolution and removal process during the machining of MgF_(2) crystals,but also provide a theoretical foundation for achiev

关键词： anisotropy dependence damage evolution stress field crack propagation nanoscratch MgF_(2)single crystal

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A Flexible Hingeless Control Surface Inspired by Aquatic Animals

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Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong Wang,Jian Li,Guanrong Hang,Yangwei Wang state key Laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.China [a] State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150001 P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

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Biomimetic Design and Optimal Swing of a Hexapod Robot Leg

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Journal of Bionic Engineering 2014年第1期11卷 26-35页

作者： Jie Chen Yubin Liu Jie Zhao He Zhang Hongzhe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Biological inspiration has spawned a wealth of solutions to both mechanical design and control schemes in the efforts to develop agile legged machines. This paper presents a compliant leg mechanism for a small six-legged robot, HITCR-ll, based on abstracted anatomy from insect legs. Kinematic structure, relative proportion of leg segment lengths and actuation system were analyzed in consideration of anatomical structure as well as muscle system of insect legs and desired mobility. A spring based passive compliance mechanism inspired by musculoskeletal structures of biological systems was integrated into distal segment of the leg to soften foot impact on touchdown. In addition, an efficient locomotion planner capable of generating natural movements for the legs during swing phase was proposed. The problem of leg swing was formulated as an optimal control procedure that satisfies a series of locomotion task terms while minimizing a biologically-based objective function, which was solved by a Gauss Pseudospectral Method （GPM） based numerical technique. We applied this swing generation algorithm to both a simulation platform and a robot prototype. Results show that the proposed leg structure and swing planner are able to successfully perform effective swing movements on rugged terrains.

关键词： biomimetic design legged robot optimal control biological movement principle Gauss pseudospectral method

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Miniature 6-axis force/torque sensor for force feedback in robot-assisted minimally invasive surgery

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Journal of Central South University 2015年第12期22卷 4566-4577页

作者：李坤潘博高文朋封海波付宜利王树国 State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Life Science and Technology Harbin Institute of Technology

In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is *** on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external *** accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic *** and dynamic loading tests for this sensor prototype are carried *** working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational *** also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an *** sensor is compatible with surgical instruments for force feedback in RMIS.

关键词： force feedback force/torque sensor Stewart platform optimal design robot-assisted minimally invasive surgery

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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

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Chinese Journal of Mechanical Engineering 2018年第4期31卷 58-72页

作者： Zhen Liu Hong-Chao Zhuang Hai-Bo Gao Zong-Quan Deng Liang Ding State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Tianjin University of Technology and Education

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

关键词： Electrically driven Heavy-duty six-legged robot Tripod gait Force of foot Walking mode

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Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain

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Journal of Bionic Engineering 2014年第2期11卷 176-187页

作者： He Zhang Yubin Liu Jie Zhao Jie Chen Jihong Yan State Key Lab of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.

关键词： hexapod robot structure optimization posture control force distribution force compensation

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Topological dependence of mechanical responses of solidification microstructures in aluminum brazed joints

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中国有色金属学会会刊：英文版 2003年第6期13卷 1296-1300页

作者：高峰钱乙余 D.P.Sekulic 马鑫 F.Yoshida State Key Laboratory of Advanced Production Technology Center for Robotics and Manufacturing Systems Department of Mechanical System Engineering

The main objective is to provide an evidence of spatial dependence of mechanical responses of a heterogeneous aluminum brazed joint re-solidified clad, and to confirm a sufficient sensitivity of a nano-indentation—load curve method for identifying the dependence. Topological features of a network of solidification microstructures(α phase and eutectic), formed during quench in a brazing process of aluminum alloy, influence significantly dynamic mechanical responses of resulting heterogeneous material. Nano/micro indentation depth vs load characteristics of differing phases suggest a spatially sensitive mechanical response of a re-solidified fillet in the joint zone. Hence, a spatial distribution, pattern formations and other morphological characteristics of microstructures have a direct impact on an ultimate joint integrity. Topology-induced variations of indentation—load curves was presented. A hypothesis involving microstructures’ spatial distribution vs mechanical response was formulated.

关键词：铝铜焊显微结构凝固拓扑相关机械响应焊接铝合金

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