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High-performance wall-climbingrobot for inspection and maintenance

Journal of Beijing Institute of Technology 2014年第3期23卷 383-389页

作者：邵洁高学山戴福全宗成国白阳郭文增李军 Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System(HIT)

A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.

关键词： wall-climbing robot low-vacuum adsorption adsorption force impeller slit seal clear-ance

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Working principle and design of a double cylinders type traveling wave ultrasonic motor using composite transducer

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Journal of Harbin Institute of Technology(New Series) 2011年第2期18卷 28-32页

作者：陈维山刘英想刘军考石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

A double cylinders type traveling wave ultrasonic motor using composite transducer was *** proposed stator contained two cylinders and one composite transducer,and the transducer located on the outer surfaces of *** composite transducer included two exponential horns located on leading ends,and the horns insected with the cylinders at tip *** degenerated flexural vibration modes spatially and temporally orthogonal to each other were excited in each cylinder by the composite *** this new design,a single transducer could excite two flexural traveling waves in the ***,elliptical motions were achieved at the particles on the *** working principle of the proposed motor was *** cylinder and transducer were designed with *** resonant frequencies of two vibration modals of the stator were tuned to be the same,and the motion trajectories of nodes on the teeth were *** analysis results show that the motion trajectories of teeth are *** results of this paper can guide the development of this new type of ultrasonic motor.

关键词： ultrasonic motor traveling wave double cylinders composite transducer FEM

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Actuating mechanism and design of a T-type linear ultrasonic motor

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Journal of Harbin Institute of Technology(New Series) 2011年第2期18卷 43-46页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

To take advantage of merits of higher output-power and efficiency of bolt-clamped transducer,a T-type linear ultrasonic motor was proposed in this *** proposed motor contained a horizontal transducer and a vertical *** horizontal transducer included two exponential shape horns,and the vertical transducer contained one exponential shape *** the horns intersected at tip ends where a driving foot was *** longitudinal vibrations of transducers were excited by the stretching vibration of PZT *** vibrations were superimposed in the motor and generated elliptical trajectory at the driving *** actuating mechanism of the proposed motor was *** two working modals of the motor were gained with *** resonant frequencies of two working modals were degenerated by adjusting the structural *** motion trajectory of nodes on the driving foot was gained by transient *** vibration amplitude of node on the driving foot indicates that the proposed motor has potential good output *** results verify the feasibility of the proposed design and provide instructions for the development of the new ultrasonic motor.

关键词： ultrasonic motor linear T-type longitudinal transducer FEM

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A ring type standing wave ultrasonic motor using cantilever type longitudinal transducers

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Journal of Harbin Institute of Technology(New Series) 2011年第1期18卷 52-56页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

The disadvantages of classic ring type ultrasonic motor were *** obtain large mechanical output power,a ring type standing wave ultrasonic motor using cantilever type longitudinal transducers was *** are four pairs of cantilevers on one side of the ring,and four PZT ceramics are set between each pair of cantilevers.A screw fastened the PZT ceramics and cantilevers together to form a longitudinal *** bending vibration mode of the ring is excited by the stretching vibration of the PZT ***,linear simple harmonic motions are achieved at the particle on the *** the driving force is the frictional force between rotor and *** working principle of the proposed motor was *** ring and the longitudinal transducer were designed with *** sensitive parameters of resonant frequency of the transducer and ring could be gained with modal *** longitudinal vibration modal of transducer and bending vibration modal of ring were degenerated,and the motion trajectories of nodes on the teeth were *** results of this paper could guide the development of this new type of motor.

关键词： ultrasonic motor standing wave ring type vibration characteristic FEM

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On set-point tracking control of dexterous robot hand

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Journal of Harbin Institute of Technology(New Series) 2011年第5期18卷 61-64页

作者：姜力潘军 State Key Laboratory of Robotics and System Harbin Institute of Technology

A model-free set-point tracking control approach of multi-fingered robot hand is *** set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control *** controller does not require the explicit use of dynamic modeling *** performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.

关键词： tracking control robot hand kinematics

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A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

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High Technology Letters 2009年第3期15卷 245-249页

作者：李庆玲 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

关键词： rehabilitation robot surface electromyogram （sEMG） passive motions active-resis- tant motions

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Optimal measurement configurations for kinematic calibration of six-DOF serial robot

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Journal of Central South University 2011年第3期18卷 618-626页

作者：黎田孙奎谢宗武刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics G erman Aerospace Center

An optimal measurement pose number searching method was designed to improve the pose selection *** optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by *** root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were *** optimal number of the configuration set corresponding to the least RMS of pose error was then *** based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less *** optimal pose set including optimal 25 measurement configurations is found during the *** errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.

关键词： serial robot pose selection pose number kinematic calibration observability index

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Multi-sensor control for precise assembly of optical components

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Chinese Journal of Aeronautics 2014年第3期27卷 613-621页

作者： Ma Li Rong Weibin Sun Lining School of Mechatronic Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers （LVDT） is designed to adjust the relation of position and attitude between the spher- ical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

关键词： Assembly Attitude measurement Force control Multi-sensor Vision

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CPG Control for Biped Hopping Robot in Unpredictable Environment

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Journal of Bionic Engineering 2012年第1期9卷 29-38页

作者： Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.

关键词： biped robot unpredictable environment hopping motion control bionic control CPG

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Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

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Journal of Bionic Engineering 2012年第4期9卷 411-422页

作者： Haitao Yu Mantian Li Pengfei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.

关键词： legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment

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