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Influences of the ambient humidity and temperature on the material removal and wear behaviors on the soft-brittle KDP optics lithographed by the AFM probes

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Wear 2025年 571卷

作者： Chen, Guang Cheng, Jian Zhao, Linjie Chen, Mingjun Ding, Wenyu Lei, Hongqin Liu, Qi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China Centre for Precision Manufacturing DMEM University of Strathclyde GlasgowG1 1XJ United Kingdom

KDP (K2HPO4) crystals possess excellent nonlinear electro-optical properties and are often employed as Pockels cells and frequency converters. Ink-free DPN (IF-DPN) provides a promising method to lithograph surface nano-patterns in KDP optics to improve their laser damage resistances. However, material removal and wear behaviors are greatly affected by humidity and temperature. In this work, theoretical analyses at atomic- and electronic-scales are performed based on molecular dynamics and ab initio to study lithography behaviors (indentation and scratching) for IF-DPN. Lithography experiments with different humidity and temperatures are also executed on KDP substrate, which align well with theoretical results. During indentation processes, surface materials are squeezed into substrate, leading to deep subsurface damages and significant material recoveries. While the scratching processes would cause intense surface material stripping, and sharp-edge of AFM probe facilitates this process. Numerous K-related chemical structure defects would emerge during the lithography processes, which is the predisposition of microstructure change inside KDP crystal. The binding processes of AFM probe, water, and KDP crystal are spontaneous exothermic reactions. Bonding reactions of Si-O, Si-H, and O-H covalent bonds would expedite the wear of AFM probe and KDP crystal. The humidity affects lithography behaviors mainly through chemical dissolution actions, reducing surface integrity and structural strength of KDP crystal and facilitating material stripping. The high humidity would intensify the hydroxylation reaction occurring on AFM probe and KDP crystal surfaces, enhancing their hydrophilicity. The high temperature would result in a reduction of the condensed water meniscus and adsorbed water film, weakening chemical actions of IF-DPN. But it is beneficial for the penetration of AFM probe into KDP crystal surface, material stripping, and minimization of subsurface damages. The hig

关键词： Molecular dynamics

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A novel End-effector Finger Rehabilitation Robot (EFRR) for stroke patients 7

A novel End-effector Finger Rehabilitation Robot (EFRR) for ...

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2021 7th International Conference on Manufacturing Technology and Applied Materials, ICAMMT 2021

作者： Hongbo, Wang Yu, Tian Baoshan, Niu Jiazheng, Du Junjie, Tian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects. © Published under licence by IOP Publishing Ltd.

关键词： End effectors

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BEE-Net: Bridging Semantic and Instance with Gated Encoding and Edge Constraint for Efficient Panoptic Segmentation

BEE-Net: Bridging Semantic and Instance with Gated Encoding ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xinyang Huang Guanghui Zhang Dongchen Zhu Yunpeng Sun Wenjun Shi Gang Ye Yang Xiao Lei Wang Xiaolin Zhang Bo Li Jiamao Li Bionic Vision System Laboratory State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai China University of Chinese Academy of Sciences Beijing China Lotus Robotics Ltd. ShanghaiTech University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Panoptic segmentation is a challenging perception task, which can help robots to comprehensively perceive the surrounding environment. In the task, we notice that semantic, instance, and panoptic have rich relations, however, which are rarely explored. In this work, we propose a novel panoptic, instance, and semantic bridged network to delve into the reciprocal relation. To make semantic and instance benefit from each other, we design a novel Gated Encoding (GE) module, incorporating complementary cues between semantic and instance heads through the gated mechanism. In addition, a novel edge-aware consistency constraint among edges of each task is presented, which exhaustedly exploits geometric constraints, to boost the segmentation quality of challenging edges. Experimental results on the Cityscapes and MS-COCO datasets demonstrate that our approach achieves state-of-the-art performance in an efficient CNN-based paradigm, attaining a balance between accuracy and efficiency.

关键词： Bridges Accuracy Semantics Logic gates Germanium Encoding Task analysis

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Biomimetic Composite Tendon and Pneumatic Actuation for Soft Manipulator: Balancing High Load-Bearing Capacity, Repetitive Precision, and Active Softening Contact Safety

SSRN

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SSRN 2024年

作者： Li, Xianglong Zhang, Shouyi Xiong, Quan Sui, Dongbao Zheng, Tianjiao Zhang, Qinghua Wang, Ziqi Luan, Lingkai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore Ji Hua Laboratory Foshan528200 China Harbin University of Science and Technology Harbin150001 China

Soft manipulator is a prominent research area in the field of soft robotics, but designing a soft manipulator capable of serving human life remains challenging, facing issues such as low motion robustness and poor accuracy. The trunk of an elephant, a unique biological tissue in nature, is characterized by its flexibility, strong load-bearing capacity, and dexterous yet soft tip, distinct from skeletal-dependent movements. Inspired by the thrust-deformation mechanism of the elephant trunk under multi-muscle action, this paper reports a novel composite tendon and pneumatic hybrid-driven tapered soft manipulator that mimics the multi-muscle action of the elephant trunk. In the design, a common Bowden tube is introduced as an artificial tendon to simulate the thrust of elephant trunk muscles. This paper first establishes an equivalent finite element model for Bowden tube tendons, along with an exploration of the impact of constraint ring distribution intervals on tendon buckling during thrust generation. This paper also establishes a finite element model for the entire experimental prototype, validating the effectiveness of Bowden tendon tension and thrust and demonstrating the large deformation curvature and flexible motion space of the soft manipulator. Finally, the paper experimentally tests the stability of repetitive motion, load-bearing capacity, and safety of active softening contact with humans of the soft manipulator, demonstrating that this biomimetic design exhibits not only flexibility and agility but also robustness in motion and precision in accuracy, closely resembling the capabilities of an elephant trunk, and holds promise as flexible supernumerary robotic limbs for mobile or humanoid robots. © 2024, The Authors. All rights reserved.

关键词： Tendons

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Optimal Design of Robust Wireless Power Transfer Links for Human-machine Interface *

Optimal Design of Robust Wireless Power Transfer Links for H...

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IEEE International Conference on robotics and Biomimetics

作者： Yujun Wu Yun Fang Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researchers often ignore the curvature of WPT coils. In addition, power transfer efficiency (PTE) and robustness to coil shifts are not both considered when designing WPT links. In this paper, a coaxial cylindrical coils model was presented to simulate curved coils, and several design parameters affecting robustness were investigated through electromagnetic and circuit simulation. We also proposed a novel method for designing WPT links that ensures both sufficient robustness and optimal PTE. Three sets of coils designed with the proposed method achieved an efficiency over 85% in the simulation and fulfilled the given robustness requirements at the same time. The coaxial cylindrical coils model and the proposed method were validated by experiments. A demonstration of the wireless powering of an HMI device was performed as well. In conclusion, this paper provided a guideline to model and design efficient and robust WPT coils in HMI applicaitions.

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Corrigendum to “Development of a 3-DOF rotary piezoelectric actuator with compact structure” [International Journal of Mechanical Sciences, 2024, 262: 108749]

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International Journal of Mechanical Sciences 2024年 271卷

作者： Jie Deng Chenglin Yang Qingbing Chang Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

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Theoretical Modeling and Performance Analysis on the Linear Electromagnetic Actuator with High Nonlinear Dynamic Negative Stiffness

SSRN

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SSRN 2024年

作者： Wang, Chuchao Lu, Shizhou Liu, Xiaohan Mo, Wenyin Zhang, Bin Li, Kai Sun, Lining Mechanical Electrical & Information Engineering Shandong University Weihai264209 China School of Mechanical Engineering Dalian University of Technology Dalian116081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Electromagnetic mechanisms are introduced to adjust the stiffness and improve the performance of mechanical systems, which have been widely researched. In this paper, the transient performance of a novel linear solenoid elastic actuator with higher nonlinear negative stiffness and speed by introducing the negative stiffness mechanism is analyzed and predicted. The actuator can achieve an initial theoretical stiffness of -20.96 N/m at 1 A current and a maximum stroke of 9 mm in 0.5 s. The performance indicators including peak time, overshoot, and steady-state displacement are obtained through electromagnetic-mechanical coupled modeling. The influence of system parameters including natural frequency, equivalent stiffness and damping coefficient on performance indicators is also studied. First, the approximate analytical model of the electromagnetic force is derived by constructing an innovative magnetic field distribution model. Second, the nonlinear vibration equation is solved theoretically to obtain the analytical results of the performance indicators and system parameters. Finally, the transient displacements and performance indicators obtained from the analytical model, the numerical model established in Simulink software and the simulation model obtained in Adams software are compared. The maximum errors of the peak time, overshoot and stable displacement through the analytical model and experiment are 2.56 ms, 9.37% and 0.32 mm, respectively. The theoretical and experimental results show the nonlinear effects of input currents on performance indicators and system parameters. The overshoot has a strong positive following feature on the damping coefficient, but the vibration frequency mainly depends on the equivalent stiffness of the system. This research provides a reference for the transient solution of nonlinear electromagnetic-dynamic coupling models and performance improvement of linear electromagnetic actuators. © 2024, The Authors. All rights reserved.

关键词： Stiffness

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Model Design and Concept of Operations of Standard Interface for On-orbit Construction

Model Design and Concept of Operations of Standard Interface...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jingdong Zhao Zirui Wang Ziyi Liu Liangliang Zhao Qifan Duan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Chang Guang Satellite Technology Co. Ltd. Changchun China Beijing Honor Device Co. Ltd. Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The construction of large-scale space facilities requires the use of on-orbit construction technology. However, several of its key components, such as standard interface design, compliant control methods, and path planning for multi-branch robots, still need improvement before practical application. This paper presents a comprehensive solution for on-orbit construction tasks, encompassing a novel standard interface, docking control method, and path planning method for space multi-branch robots. Firstly, a novel standard interface is introduced, which features multiple mating modes and a lightweight design. Additionally, a compliant docking method is provided to generate lower contact forces along the Z-direction. Furthermore, for four-armed space robots, a hierarchical planning method is proposed, which innovates in environment map construction and locomotion planning. Specifically, the closed-form Minkowski sum method is employed to solve the robot’s free space, and a concise locomotion method is elucidated based on transition support points. Finally, simulations and experiments are conducted.

关键词： Visualization Machine vision Prototypes Aerospace electronics Path planning Planning Task analysis

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The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

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Force-Distribution Analysis for Redundant Cable-Driven Parallel Robots Under Hybrid Joint-Space Input

SSRN

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SSRN 2022年

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo Xiang, Sheng State Key Laboratory of Robotics and System Harbin Institute of Technology China School of Automation Nanjing University of Information Science and Technology China

Cable-driven parallel robots (CDPRs) represent a class of mechanisms where the force distribution in cables is a core problem. This study aims to evaluate the effects of cable tension errors in the selected force-controlled cables on the overall distribution of tension in other cables. The force-distribution sensitivity (FDS) and cable force error limit (CFEL) values for one, two, and three redundancies werecalculated to find appropriate cable combinations and acceptable cable force errors for the force control. To validate the calculation, a hybrid joint-space input trajectory planning strategy was developed using multibody dynamics simulations, based on a suspended configuration with layouts including one, two, and three redundancies while considering the interference of cable length and cable forces. We found that cable combinations are essential for force control as the force control errors may be significantly magnified in cable combinations with high FDS characteristics. A methodology to select the target cable combination for the force control was devised using the selection criteria FDS and CFEL. © 2022, The Authors. All rights reserved.

关键词： Cables

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