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3D printing of high-precision and ferromagnetic functional devices

International Journal of Extreme Manufacturing 2023年第3期5卷 646-656页

作者： Zhiyuan Huang Guangbin Shao Dekai Zhou Xinghong Deng Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001People’s Republic of China

The development of projection-based stereolithography additive manufacturing techniques and magnetic photosensitive resins has provided a powerful approach to fabricate miniaturized magnetic functional devices with complex three-dimensional spatial ***,the present magnetic photosensitive resins face great challenges in the trade-off between high ferromagnetism and excellent printing *** address these challenges,we develop a novel NdFeB-Fe_(3)O_(4) magnetic photosensitive resin comprising 20 wt.%solid loading of magnetic particles,which can be used to fabricate high-precision and ferromagnetic functional devices via micro-continuous liquid interface production *** resin combining ferromagnetic NdFeB microparticles and strongly absorbing Fe_(3)O_(4) nanoparticles is able to provide ferromagnetic capabilities and excellent printing quality simultaneously compared to both existing soft and hard magnetic photosensitive *** established penetration depth model reveals the effect of particle size,solid loading,and absorbance on the curing characteristics of magnetic photosensitive resin.A high-precision forming and ferromagnetic capability of the NdFeB-Fe_(3)O_(4) magnetic photosensitive resin are comprehensively *** is found that the photosensitive resin(NdFeB:Fe_(3)O_(4)=1:1)can print samples with sub-40μm fine features,reduced by 87%compared to existing hard magnetic photosensitive resin,and exhibits significantly enhanced coercivity and remanence in comparison with existing soft magnetic photosensitive resins,showing by an increase of 24 times and 6 times,*** reported NdFeB-Fe_(3)O_(4) magnetic photosensitive resin is anticipated to provide a new functional material for the design and manufacture of next-generation micro-robotics,electromagnetic sensor,and magneto-thermal devices.

关键词： magnetic device magnetic photosensitive resins 3D printing NdFeB Fe_(3)O_(4)

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A Climbing Robot for Tube-sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2016 IEEE.

关键词： Grippers

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing Technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

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Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller

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Journal of Bionic Engineering 2024年第6期21卷 2759-2778页

作者： Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Faculty of Computing Harbin Institute of Technology(HIT)Harbin150001China

The dynamic motion capability of humanoid robots is a key indicator for evaluating their ***,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured ***,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic *** idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid ***,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the ***,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s ***,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping *** control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of *** and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.

关键词： Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics

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Journal of Bionic Engineering 2022年第4期19卷 935-952页

作者： Bingchen Liu Li Jiang Shaowei Fan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.

关键词： Robotic hand Human-in-the-loop Grasping Postural synergy Impedance control

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