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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Minglei Fan Ming Yue Hongzhi Zhang Zhiyuan Liu School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In this paper, a jackknife avoidance trajectory tracking control strategy for tractor-trailer vehicle is proposed based on constrained Model Predictive Control (MPC) in the process of reversing perpendicular parking. Firstly, a critical hitch angle is provided for jackknife avoidance and collision-free constraint, through analyzing the influencing factors of the size and stability of the vehicle hitch angle. Next, the conundrums of preventing collision and avoiding jackknife are converted into constraint problem. Therefore, the jackknife and collision problem of tractor-trailer could be solved by using MPC algorithm with the advantage of being able to handle multiple constraints issues. Finally, the simulation results illustrate that the presented control strategy plays an expected role during reversing process of this kind of complicated vehicle system.

关键词： Agricultural machinery Vehicle dynamics Roads Trajectory Mathematical model Process control Axles

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Adaptive tracking control for WMRs with skidding and slipping: a double closed-loop strategy

Adaptive tracking control for WMRs with skidding and slippin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yuan Xu Ming Yue Zenan Lin Haoyu Tian School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

This paper develops a double closed-loop control strategy aiming at the trajectory tracking control of wheeled mobile robots (WMRs) under the skidding and slipping. Firstly, a skidding kinematic model and a slipping dynamic model are proposed to describe the WMR under the skidding and slipping, respectively. Then, an anti-skidding controller based on Lyapunov direct control and an anti-slipping controller based on terminal sliding mode control (TSMC) are separately devoted. All of them consist an double closed-loop control strategy to effectively solve the skidding and the slipping at the same time. In addition, the radial basis function neural network (RBFNN) is employed to estimate the disturbance force caused by slipping, thereby satisfactory adaptive and robust capabilities can be provided for the WMR. The simulation results in last demonstrate the effectiveness of the proposed control strategy.

关键词： Kinematics Robot kinematics Wheels Force Mobile robots Adaptive systems

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Mechanical Design of a 4-DOF Minimally Invasive Surgical Instrument

Mechanical Design of a 4-DOF Minimally Invasive Surgical Ins...

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IEEE International Conference on robotics and Biomimetics

作者： Kun Li Jihua Li Lei Li Shuai Ji Xianju Meng Yili Fu School of Mechanical and Electronic Engineering Shandong Jianzhu University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations.

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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Optimal Reaction Control for the Flexible Base Redundant Manipulator system*

Optimal Reaction Control for the Flexible Base Redundant Man...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Zongwu Xie Mehrdad Moallem State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronic Systems Engineering Simon Fraser University Vancouver Canada

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

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Kinematic Influence Coefficient based Dynamic Modeling of a 6-DOF Parallel Manipulator system*

Kinematic Influence Coefficient based Dynamic Modeling of a ...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Xiaoguang Chen Chaofeng Li Jinpeng Yang Shenghai Jiao Wei Dong Beijing Institute of Space Long March Vehicle Beijing PRC State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang PRC

A six-degree-of-freedom parallel manipulator system based on 6-PURU structure is developed for vehicles' motion simulation. The main research in this paper is focused on dynamic modeling of the proposed parallel system. The kinematic model of the proposed system is established via kinematic influence coefficient method, in which the velocity and acceleration mappings between the passive components and actuated components are more accurate compared to the equivalent 6-PUS or 6-PSS systems. Based on the kinematics analysis, the dynamic model of the parallel kinematic machine is then formulated via the principle of virtual work. Finally a numerical calculation is performed based on the proposed dynamic model which matches the simulation results of commercial software. The approach outlined in this paper is generic and can be extended to a variety of applications.

关键词： Kinematics Manipulator dynamics Vehicle dynamics Silicon Dynamics Mathematical model

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Design and Experiment of Triangular Prism Mast with Tape-Spring Hyperelastic Hinges

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Chinese Journal of Mechanical Engineering 2018年第2期31卷 35-44页

作者： Hui Yang Hong-Wei Guo Yan Wang Rong-Qiang Liu Meng Li College of Electrical Engineering and Automation Anhui University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Electronics Technology Group Corporation No.38 Research Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Because of the limited space of the launch rockets, deployable mechanisms are always used to solve the phenomenon. One dimensional deployable mast can deploy and support antenna, solar sail and space optical camera. Tape-spring hyperelastic hinges can be folded and extended into a rod like configuration. It utilizes the strain energy to realize self-deploying and drive the other structures. One kind of triangular prism mast with tape-spring hyperelastic hinges is proposed and developed. Stretching and compression stiffness theoretical model are established with considering the tape-spring hyperelastic hinges based on static theory. The finite element model of ten-module triangular prism mast is set up by ABAQUS with the tape-spring hyperelastic hinge and parameter study is performed to investigate the influence of thickness, section angle and radius. Two-module TPM is processed and tested the compression stiffness by the laser displacement sensor, deploying repeat accuracy by the high speed camera, modal shape and fundamental frequency at cantilever position by LMS multi-channel vibration test and analysis system, which are used to verify precision of the theoretical and finite element models of ten-module triangular prism mast with the tape-spring hyperelastic hinges. This research proposes an innovative one dimensional triangular prism with tape-spring hyperelastic hinge which has great application value to the space deployable mechanisms.

关键词： Deployable mechanism Triangular prism mast Tape-spring hyper-elastic hinges Static analysis Modal experiment

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Design and Kinematics Analysis of Parallel Collision Detection Mechanisms for Rocket Tank Polishing Robot

Design and Kinematics Analysis of Parallel Collision Detecti...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Li Wang Fengbo Dong Fei Ren Tian Xu Qianqian Fang Jizhuang Fan Shanghai aerospace equipments manufacturer Co. ltd Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

To ensure applications requirements of rocket storage tank precision polishing, a 6-dof parallel collision detection mechanisms mounted on the end of rocket tank polishing robot used for heavy load condition is designed in this paper. Its each branch chain consists of spherical joint, revolute joint and prismatic joint, in which the prismatic joint is driven by the cylinder. The collision detection principle is to judge whether an external collision occurs by real-time detecting the changes of cylinder pressure and cylinder displacement. Besides, the kinematics of parallel mechanisms is analyzed and a numerical iteration algorithm for forward kinematics based-on our previous work is proposed here. The proposed algorithm can be not only used for 6-dof parallel mechanism but also for more or less than 6-dof ones in which Jacobian matrix is not square. Moreover, it is not sensitive to the iteration initial value. Then, a linear trajectory is simulated to verify the effectiveness of the proposed algorithm. Finally, the simulation results prove the accuracy of the proposed algorithm.

关键词： Collision avoidance Kinematics Robot sensing systems Trajectory Tools

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A Legged Device Based on Active Buffering for Probe Landing on Micro-gravitational Asteroid*

A Legged Device Based on Active Buffering for Probe Landing ...

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IEEE International Conference on robotics and Biomimetics

作者： Canhui Yin Yilin Shen Xiaolin Zhang Fan Guo Qiquan Quan Dewei Tang Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Beijing Institute of Spacecraft System Engineering Beijing China China Academy of space technology Beijing China

The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.

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Corrigendum to ‘Design and experimental study of an origami-inspired constant-force mechanism’ [Mechanism and Machine Theory 179 (2023) 105117]

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Mechanism and Machine Theory 2023年 182卷

作者： Shiwei Liu Gaoliang Peng Zhixiong Li Weihua Li Kang Jin Hongzhao Lin State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 Xidazhi Street Harbin 150001 Heilongjiang Province PR China Yonsei Frontier Lab Yonsei University 50 Yonsei-ro Seodaemun-gu Seoul 03722 Republic of Korea Faculty of Mechanical Engineering Opole University of Technology Opole 45758 Poland School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong Wollongong NSW 2522 Australia

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