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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yuan, Rupeng Zhang, Fuhai Zhu, Ying Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Pose tracking is very crucial for robot's autonomous navigation. LIDAR based pose tracking algorithms are widely used due to its high cost-effective advantage. However these methods are likely to give back wrong result if the environment is blocked by the obstacles. In this paper, a visual odometer assisted pose tracking method is proposed to increase the robustness of pose tracking. Statistical index is introduced to evaluate the samples' score of LIDAR based pose tracking. If the result is not credible, the result of visual odometer will compensate the error along the maximum error direction. The experiment shows that the proposed method is able to track the robot correctly if the environment is blocked by obstacles. © 2019 IEEE.

关键词： Mobile robots

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Modeling and simulation of the structural and electrical characteristics for a polarized piezoelectric sensor actuator 2

Modeling and simulation of the structural and electrical cha...

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2nd International Conference on Modeling in Mechanics and Materials

作者： Zhang, Chong Shan, Xiaobiao Peng, Gaoliang Xie, Tao Dong, Xin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The present work aims to design a new polarized piezoelectric sensor actuator. This sensor actuator not only can achieve sensing and execution at the same time, but also has the advantages of small size and high integration. A mathematical model of stack displacement with input voltage and number of layers was established. The relationship between the charge generated by quartz crystal and external force was numerically analysed. The static and modal analysis of the structure were carried out to obtain the measured force range and the maximum working frequency. The transient simulation is used to verify the follow-up law of the actuator to the alternating signal. The Electric field interference analysis of the piezoelectric sensor actuator was performed to eliminate the interference from the electric field generated by the actuator. The results show that the measured force range of the actuator is up to 1 kN, with the maximum working frequency is 1000 Hz, and the actuator can follow the drive voltage signal well, with an almost negligible electric field interference in the sensor part. This paper provides a new method and theory for the study of self-sensing actuators. © Published under licence by IOP Publishing Ltd.

关键词： Piezoelectricity

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A Soft Robotic system Imitating the Multimodal Sensory Mechanism of Human Fingers for Intelligent Grasping and Recognition

SSRN

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

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Parameters Analysis of SMA Bimetallic Strip Smart Actuator

Parameters Analysis of SMA Bimetallic Strip Smart Actuator

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作者： Li, Chuanyang Tang, Dewei Guo, Hongwei Yan, Huiyin Ouyang, Weimin Liu, Rongqiang Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a study on the bimetallic strip smart actuator with six parameters. The impacts of these parameters on characteristics of the actuator, namely, driving torque, output displacement, and stiffness are analyzed. Then, the finite element analysis of the smart actuator is conducted and the natural frequency of the actuator is discussed. These analyses are expected to be applied for optimal design of this smart actuator. © 2019, Springer Nature Switzerland AG.

关键词： Actuators

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Experimental study on underwater fin-shaped piezoelectric energy harvester based on wake galloping 2

Experimental study on underwater fin-shaped piezoelectric en...

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2nd International Conference on Modeling in Mechanics and Materials

作者： Wang, Yicong Shan, Xiaobiao Feng, Ju Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance. © Published under licence by IOP Publishing Ltd.

关键词： Flow velocity

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Type Synthesis of Fully-isotropic 2T3R 5-DoF Hybrid Mechanisms

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2019年第3期40卷 307-314页

作者： Zhang, Hong Zhou, Hui Qin, Youlei Ge, Shuyi Wang, Kun Cao, Yi School of Mechanical Engineering Jiangnan University Wuxi214122 China State Key Laboratory of Mechanical System and Vibration Shanghai200240 China State Key Laboratory of Robotics and System Harbin150080 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi214122 China

In mechanical design, it is necessary to synthesize the mechanism,especially for the fully-isotropic hybrid mechanisms (HMs). This article proposes a simple but very effective approach for fully-isotropic HMs by means of GF set theory. firstly, a type synthesis method for HMs is simply presented, especially, the option standard of the input motion joint and the steps for the integration of the branches are given which provide the theoretical foundations for the integration of the type structure of completely isotropic HMs. Secondly, the process of type synthesis for fully-isotropic HMs is described in detail. To corroborate the usefulness of the proposed method for fully-isotropic HMs, type synthesis of fully-isotropic 2T3R 5-Degree-0f-Freedom (DoF) HMs is illustrated with example, where T denotes translation and R denotes rotation. Finally, the forward displacement analysis of a synthesized 2T3R fully-isotropic HM is carried out. The expression of the Jacobian matrix is deduced, it shows that the Jacobian matrix of the synthesized fully-isotropic HM is a 5×5 identity matrix throughout the entire workspace validating the fully-isotropic feature of the HM and the effectiveness of the type of composite approach for fully-isotropic HMs. © 2019, Chinese Mechanical Engineering Society. All right reserved.

关键词： Jacobian matrices

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On Modeling Drilling Load in Lunar Regolith Simulant

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 41-52页

作者： Qi-Quan Quan Chong-Bin Chen Zong-Quan Deng Jun-Yue Tang De-Wei Tang State Key Laboratory of Robotics and System Harbin Institute of Technology

Drilling and coring, as effective ways to obtain lunar regolith along the longitudinal direction, are widely applied in the lunar sampling field. Conventionally, modeling of drill-soil interaction was divided into soil cutting and screw conveyance processes, ignoring the differences in soil mechanical properties between them. To improve the modeling accuracy, a hypothesis that divides the drill-soil interaction into four parts: cuttings screw conveyance, cuttings extruding, cuttings bulldozing, and in situ simulant cutting, is proposed to establish a novel model based on the passive earth pressure theory. An iterative numerical calculation method is developed to predict the drilling loads. A drilling and coring testbed is developed to conduct experimental tests. Drilling experiments indicate that the drilling loads calculated by the proposed model match well the experimental results. The proposed research provides the instructions to adopt a suitable drilling strategy to match the rotary and penetrating motions, to increase the safety and reliability of drilling control in lunar sampling missions.

关键词： Lunar regolith drilling Lunar regolith simulant Drill-simulant interaction Screw conveyance

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

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Journal of Physics: Conference Series 2022年第1期2203卷

作者： Huaiguang Yang Liang Ding Haibo Gao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers.

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Fast sheath-driven electrothermal artificial muscles with high power densities

Research Square

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Research Square 2021年

作者： Hu, Xinghao Jia, Jingjing Wang, Yingming Tang, Xintian Fang, Shaoli Wang, Yilun Wang, Jian Baughman, Ray Ding, Jian-Ning The University of Texas Dallas United States Institute of Intelligent Flexible Mechatronics Jiangsu University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Jiangsu University China

Electrothermal carbon nanotube (CNT) yarn muscles can provide large strokes during heating-cooling cycles. However, the slow cooling rate of thermal muscles limit their applications, since large diameter prior-art thermal muscles cannot be rapidly cycled. We here report an ultrafast thermally powered sheath-driven yarn muscle that uses a hybrid CNT sheath and an inexpensive polymer core. Our coiled muscle contracts 14.3% at 1 Hz and 7.3% at 8 Hz in air when powered by a square-wave electrical voltage input. The 70-mm-diameter actuated muscle cools in air to 16℃ from 150℃ within 0.5 s, compared with 6 s for a 65-mm-diameter sheath-run muscle that uses an electrothermally heated CNT core and 9 s for a 78-mm-diameter muscle that uses the sheath material for the entire muscle. An average power density of 12 kW/kg was obtained for a sheath-driven muscle, which is 42 times that for human skeletal muscle. This high performance results since the heating that drives fast actuation cycles is largely restricted to the muscle sheath, and this sheath is in direct contact with ambient temperature air. © 2021, CC BY.

关键词： Carbon nanotubes

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Fully integrated wearable control system for micro/nanorobot navigation

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International Journal of Extreme Manufacturing 2025年第3期 510-523页

作者： Zhanxiang Zhang Lin Wang Fengqi Jiang Shimin Yu Fengtong Ji Tianhao Sun He Zhang Yanhe Zhu Hao Chang Tianlong Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology Suzhou Research Institute Department of General Surgery Heilongjiang Provincial Hospital College of Engineering Ocean University of China Gurdon Institute University of Cambridge Department of Physiology Development and NeuroscienceUniversity of Cambridge Department of Thoracic Surgery The First Affiliated Hospital of Harbin Medical University

Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and ***,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete *** navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of ***,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence (AI) planner,and a magnetic field *** sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic *** planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/*** a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control *** wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.

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