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第三届机电控制技术与交通运输国际学术会议

作者： Shuo Wang Zhiyuan Yan Zhengxin Yang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology

The haptic device is the key facility in the master-slave minimally invasive surgery system, a gravitycompensation algorithm is proposed for this device. The structure of this device mentioned in this paper is a combination of serial and parallel structure, and it has 6 degrees of freedom. 3 motors are installed at 3 active joints respectively. In order to establish the dynamic equation of the haptic device, the device is simplified and the torque which is used to compensate the gravity is calculated by the principle of virtual work(Codourey A, 1998). Then the whole process of gravity-compensation is simulated under the environment of a dynamic software. After the comparison between the theoretical model and the simulation result, errors are shown and compensated through BP neural network, the performance of the gravity-compensation is improved.

关键词： Haptic device Gravity-compensation Principle of virtual work BP neural network

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Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model

Large Deflection of a Compliant Beam with Non-uniform Stiffn...

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

作者： Hu Jin Tao Fang Haoyao Chen Tanju Yildirim Weihua Li Shiwu Zhang University of Science and Technology of China Hefei China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen and the State Key Laboratory of Robotics and System China University of Wollongong Wollongong NSW Australia

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot.

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Development of Deep-Sea Resonant Sandwich Linear Ultrasonic Motor

Development of Deep-Sea Resonant Sandwich Linear Ultrasonic ...

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作者： Shaopeng He Shengjun Shi Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology

A deep-sea resonant sandwich linear ultrasonic motor is proposed and designed. We determine the parameter of its structure by finite-element analysis. The piezoelectric actuator adopts compound vibration mode of fifth order bending vibration and second order longitudinal. The mode degeneracy of that is completed. We manufacture the prototype to measure the performance of it. We measure its vibration mode and resonant frequency. The velocity of prototype can reach 264.5 mm/s while the water pressure is 8 MPa and the voltage signal with frequency of 30.30 kHz and voltage amplitude of 150 V.

关键词： Piezoelectric Actuator Finite-Element Analysis Hybrid Mode Fluid-Solid Coupling

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Dynamic modeling and analysis of the drill stem in the lunar soil drilling sampler 15

Dynamic modeling and analysis of the drill stem in the lunar...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Yang, Shuai Han, Jianchao Hu, Huajun Lai, Xiaoming Zhang, Jiabo Sun, Jing Pan, Bo Beijing Spacecrafts China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9781538660720

Mechanics researches related to the drill stem of the lunar soil drilling sampler mainly focus on the interaction characteristics between the drill stem and the soil at present, while the mechanical analysis of the drill stem itself is relatively less and can't reflect the actual working process. Aimed at this problem, it is presented in this paper that the flexible multibody dynamic model of the drill stem in the initial stage of drilling on lunar surface and the analysis results obtained by using the variable-length beam-shaft element. It turned out that to improve the drilling precision of the sampler, it is necessary to set up a special amplitude limiting mechanism between the rotating drive mechanism and the fixed support and lower the amplitude limiting mechanism in a suitable position to constitute an approximate clamped constraint with the fixed support to the drill stem. Works in this paper could provide theoretical basis for the design of amplitude limiting mechanism and raise the reliability of the lunar soil drilling sampler accordingly. © 2018 IEEE.

关键词： Soils

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Apple Vision Pro for Healthcare: "The Ultimate Display"? Entering the Wonderland of Precision Medicine

arXiv

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arXiv 2023年

作者： Egger, Jan Gsaxner, Christina Chen, Xiaojun Bian, Jiang Kleesiek, Jens Puladi, Behrus Girardetstraße 2 Essen45131 Germany Hufelandstraße 55 Essen45147 Germany Hufelandstraße 55 Essen45147 Germany Department of Oral and Maxillofacial Surgery University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany Institute of Computer Graphics and Vision Graz University of Technology Inffeldgasse 16/II Graz8010 Austria Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Health Outcomes & Biomedical Informatics College of Medicine University of Florida GainesvilleFL32610 United States Partner Site Essen Hufelandstraße 55 Essen45147 Germany Department of Physics TU Dortmund University August-Schmidt-Str. 4 Dortmund44227 Germany Institute of Medical Informatics University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany

At the Worldwide Developers Conference (WWDC) in June 2023, Apple introduced the Vision Pro. The Vision Pro is a Mixed Reality (MR) headset, more specifically it is a Virtual Reality (VR) device with an additional Video See-Through (VST) capability. The VST capability turns the Vision Pro also into an Augmented Reality (AR) device. The AR feature is enabled by streaming the real world via cameras to the (VR) screens in front of the user’s eyes. This is of course not unique and similar to other devices, like the Varjo XR-3. Nevertheless, the Vision Pro has some interesting features, like an inside-out screen that can show the headset wearers’ eyes to "outsiders" or a button on the top, called "Digital Crown", that allows you to seamlessly blend digital content with your physical space by turning it. In addition, it is untethered, except for the cable to the battery, which makes the headset more agile, compared to the Varjo XR-3. This could actually come closer to the "Ultimate Display", which Ivan Sutherland had already sketched in 1965. Not available to the public yet, like the Ultimate Display, we want to take a look into the crystal ball in this perspective to see if it can overcome some clinical challenges that - especially - AR still faces in the medical domain, but also go beyond and discuss if the Vision Pro could support clinicians in essential tasks to spend more time with their patients. © 2023, CC BY.

关键词： Augmented reality

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Design and experimental research of the rotation-impact shafting in the lunar soil drilling sampler 15

Design and experimental research of the rotation-impact shaf...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Xiaoqing Yang, Shuai Han, Jianchao Hu, Huajun Sun, Qichen Lai, Xiaoming Sun, Jing Beijing Spacecrafts China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

ISBN: (纸本)9781538660720

In order to satisfy the function and performance requirements of the lunar soil deep sampling, a novel rotation-impact shafting used in the lunar soil drilling sampler is developed through requirements analysis, schematic design, theoretical calculation, dynamic simulation analysis and experimental verification. The novel rotation-impact shafting could adapt to the severe environments of the space and the lunar surface. The rotary motion and percussive motion can be adjusted separately or synchronously, which not only satisfies the diversity requirements of the drilling procedure in the sampling process, but also improves the reliability of the rotation-impact shafting. The experimental results show that the rotation-impact shafting could transmit the rotary cutting power and the impact rock-breaking power effectively to the driller. Furthermore, the rotation-impact shafting has broad application prospects in the soil sampling mechanisms of other extraterrestrial bodies as well as some other spacecraft mechanism products. © 2018 IEEE.

关键词： Rotation

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Research on Gravity Compensation Algorithm of Model-free Manipulator Based on L_1-norm Convex Optimization

Research on Gravity Compensation Algorithm of Model-free Man...

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IEEE International Conference on robotics and Biomimetics

作者： Chenglong Yu Zhiqi Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781728103785;9781728103778

In this paper, a model-free gravity compensation algorithm for manipulators based on L_1-norm convex optimization is proposed. The method does not depend on the structure and parameters of the robotic arm. In contrast, this method optimizes the solution of gravity compensation parameters based on the sampled data. Theoretical analysis shows that the reconstruction of the gravity compensation parameters of the manipulator is realized based on the joint angle and joint torque training data. Experiments show that the gravity compensation results can restore the joint torque of the test set well, which proves the effectiveness of the method.

关键词： Gravity Manipulators Torque Mathematical model Jacobian matrices Robot kinematics

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PlantBot: A new ROS-based robot platform for fast building and developing 15

PlantBot: A new ROS-based robot platform for fast building a...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, Chuanming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

ISBN: (纸本)9781538660720

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot. © 2018 IEEE.

关键词： Robot Operating system

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Interface design of a human-robot interaction system for dual-manipulators teleoperation based on virtual reality

Interface design of a human-robot interaction system for dua...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Bian, Feifei Li, Ruifeng Zhao, Lijun Liu, Yihuan Liang, Peidong State Key Lab of Robotics and System Harbin Institute of Technology 2 Yikuangjie Nangang Harbin Heilongjiang China Quanzhou HIT Institute of Engineering and Technology Fengze Quanzhou Fujian China

ISBN: (纸本)9781538680698

This paper presents a human-robot interaction interface for dual-manipulators teleoperation based on virtual reality. Using this method, the human operator is able to control the robot at a distance to complete complicated tasks in unstructured environment. Virtual reality technology is integrated into the system to provide the first person perspective of the robot to the operator. Based on the three-dimensional coordinates of shoulder, elbow, wrist and hand captured by Kinect, a geometric model of the human arm is built. Then a geometric vector method is proposed to calculate the joint angles of human upper limbs which are translated into movement commands for a robot. To access the performance of our proposed human-robot interaction interface, teleoperation experiments are conducted on the Baxter robot, illustrating the effectiveness and feasibility of our proposed method. © 2018 IEEE.

关键词： Virtual reality

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Collision detection based on octree for virtual surgery system

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IOP Conference Series: Materials Science and Engineering 2020年第7期768卷

作者： Yanrong Hu Zhiyuan Yan Zhenlun Yin Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Naval Architecture and Ocean Engineering Harbin Institute of Technology Harbin China

In the virtual surgery system, the organ is always non-convex and deforms over time which makes the collision detection problem more difficult to handle. In this case, we put forward an innovative collision detection algorithm based on octree. This algorithm can perfectly apply to deal with non-convex organs and organ deformation scenario. In addition, it can achieve high run-time efficiency.

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