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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zongwu Xie Jingdong Zhao Jianbin Huang Kui Sun Genliang Xiong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China academy of Space Technology China Institute of Robotics and System Dynamics German Aerospace Center Germany

This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for the arm/hand Cartesian level control, and FPGA for two high speed (up to 25 Mbps) real-time Serial Buses communication with the arm and hand. All the electronics are integrated into the joint to achieve the high modularity and reliability. Cartesian impedance control and position control with on-line gravity compensation are realized for regulation tasks of the robot with elastic joints. In addition, the experiments of the joint impedance control and Cartesian impedance control demonstrate that the multi-sensors highly integrated robot has a good performance.

关键词： Digital signal processing Field programmable gate arrays Robot sensing systems Sensor arrays Communication system control Impedance Hardware Software architecture Data processing Brushless DC motors

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Integrating positioning X-Y stage based on bulk micromachining

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2009年第2期17卷 333-340页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Ma, Li State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China

In order to realize the miniaturized nano-positioning stage, a novel 2-DOF Single Crystal Silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection is successfully developed by using silicon bulk-micromachining;the X-Y stage is drived by an electrostatics comb actuator. The theories of electromechanical coupling and energy conservation are used to analyze electrostatic actuated mechanism, X-Y stage static characteristic and X-Ystage dynamic characteristic. Some failure modes of X-Y stage are also presented and the electromechanical side instability and the stable travel range of comb-drive actuators are investigated. The stable travel range depends on the finger gap spacing, the initial finger overlap and the spring stiffness ratio of the compliant suspension. Additionally, by taking into account the effect of the air damping on the X-Ystage dynamic characteristic, the maximum velocity, stable travel range and critical driving voltage are given to an experiment on closed-loop control. The experimental results indicate that the analyzed characteristics are useful in the design and control of the micro X-Ystage. Under 30 V driving voltage, the single-axis displacement output is 10 μm, and the closed-loop step response is only 2.5 ms.

关键词： Electrostatics

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Study and Test of a Double-rotor Ultrasonic Motor with Symmetrical Longitudinal-torsional Converter

Study and Test of a Double-rotor Ultrasonic Motor with Symme...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

To obtain large torque, ultrasonic motors using longitudinal–torsional converters with diagonal slits are proposed. The converters have rather simple and tough structures and are driven by simply exciting the longitudinal vibration of the transducer. Stemming from the merits of such type ultrasonic motors, this paper proposes a double-rotor ultrasonic motor with a symmetrical longitudinal-torsional converter. The ultrasonic motor consists of four PZT-4 annular plates that vibrate longitudinally, two sonotrodes screw bonded atop the two end surfaces of the PZT plate stack, and two rotors pre-pressed against to the output surfaces of the sonotrodes by coil springs. To form identical directions of the output elliptical trajectory motions of the driving points, diagonal slits were symmetrically cut in the sonotrodes. To validate the proposed idea, principle description, FEM simulation, fabrication, and performance measurement of and prototype motor are presented in this paper. The tested performance of the

关键词： ultrasonic motor longitudinal–torsional converter converter with diagonal slits

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Sine Wave Form Reappeared Control Method Research of Variable Step-Size on Hydro-Pneumatic Suspension system

Sine Wave Form Reappeared Control Method Research of Variabl...

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International Conference on Intelligent Computation technology and Automation, ICICTA

作者： Hui Zhang Zhengmao Ye Junwei Han Jiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China Shipbuilding Industry Corp Beijing CN

ISBN: (纸本)9781424447411

This paper described phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-pneumatic suspension control system. The test results indicated that phase-amplitude control method could improve the sine signal reappeared accuracy in limited range, efficiently realize sine signal coordinated loading control for same or not phase and amplitude by adjusting input signals, and be suitable for more coordinated loading control in multi-channel system.

关键词： Control systems Force control Valves Vehicles Petroleum Intelligent robots robotics and automation Laboratories Neural networks Iterative methods

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Adhesion Theory of Frication Model and Characteristics of Hybrid Transducer Type Ultrasonic Motors

Adhesion Theory of Frication Model and Characteristics of Hy...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

High torque as one important characteristic of longitudinal-torsional hybrid transducertype ultrasonic motor (HTUSM) is mainly caused of discontinuous-surface-connect mode between the stator and the rotor which is different from the many-pointconnect mode of traveling wave motors. Therefore, it is important that one connect friction model is proposed to analyze this connect mode between the stator and the rotor. In this paper, according to the adhesion theory of friction, an advanced equivalent circuit of the motor which contains both the longitudinal vibrator and torsional vibrator is proposed. Based on this model, design method of a longitudinal-torsional hybrid transducer-type ultrasonic motor (HTUSM) aimed at practical uses of the motor is presented. All factors that influence the mechanical characteristics are analyzed, and low-efficient of this type motor is explained. Based on this study, mechanical characteristics of the motor such as the maximum torque, efficiency and the no-load speed and preload are determined.

关键词： Ultrasonic motor Adhesion theory of friction Mechanical characteristics

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Parametric effect of large impulse current excited coil on electromagnetic force in coil-sheet system

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中国有色金属学会会刊：英文版 2009年第S3期19卷 806-810页

作者：许威方洪渊曹军丁文斌单平 School of Material Science and Engineering Tianjin University Technology Department of Offshore Oil Offshore Oil Engineering Company Ltd. Research Center of China Offshore Oil Corporation State Key Laboratory of Advanced Welding Production Technology Harbin Institute of Technology

Based on the method of controlling welding stress with trailing, the electromagnetic force in coil-sheet system was simulated with finite element software ANSYS. The effect of parameters of coil on the electromagnetic force density fy was analyzed. The results show that the maximum electromagnetic force density fy, max in sheet appears in the position near the inner radius of single-turn coil. The position is independent of section shape of coil. fy, max for flat coil is larger than that for long coil and the coil with wedge shape section, while section areas of all coils are equal to each other. The effect of turn number of multiple-turn coil on fy is dependent on the loop resistance in circuit. The kind of coil with more turns and larger inductance is commended while there is larger loop resistance in circuit. fy increases in a certain magnitude while a magnetic core is located in coil. However, the magnitude of fy is limited by saturating magnetic flux of the core.

关键词： electromagnetic force parameters of coil impulse current sheet

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Modeling and Simulation on the Contact Deformation Distribution in a Wire Race Ball Bearing

Modeling and Simulation on the Contact Deformation Distribut...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Weishan Chen Tao Xie Xiaobiao Shan Lili Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China College of Science Northeast Forestry UniversityHarbin 150040China

ISBN: (纸本)9781424447749

A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the ball was obtained. The finite element simulation was carried out to demonstrate the validity of the mathematical model and numerical method. It shows that the results by the numerical method are in good agreement with those by the simulation. The present work provides a significant support for studying the stiffness of the wire race ball bearing, and for boosting the application in the large scale rescue robot.

关键词： ELECTRIC WIRE BEARING BALLS Contact deformation Numerical methods Mathematical Model FINITE ELEMENT Disaster relief simulating CONTACT AREA Racial Stocks Modeling MATLAB

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A modified genetic algorithm for global path planning of searching robot in mine disasters

A modified genetic algorithm for global path planning of sea...

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IEEE International Conference on Mechatronics and Automation

作者： Jie Zhao Lei Zhu Gangfeng Liu Gang Liu Zhenfeng Han State Key Laboratory of Robotic Technology and System Harbin Institute of Technology Harbin Heilongjiang China

A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information system) which can be obtained from the mine in advance. Using the position information feedback from the Ant Colony Optimization and priority grouping, we present a new efficient method to generate the initial population. Four traditional genetic operators and a fitness function are designed to find the optimum path planning. To avoid the premature, we make some changes to the mutation operators, and self-adaptively adjust the probabilities of crossover and mutation. The simulation is carried out in MATLAB, and the result verifies that it can acquire better collision-free path in higher speed.

关键词： Genetic algorithms Path planning Mobile robots Genetic mutations robotics and automation Intelligent robots Laboratories Geographic Information systems Ant colony optimization MATLAB

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Design of the Force Sense Unit for Space Robot End-effector

Design of the Force Sense Unit for Space Robot End-effector

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Fenglei Ni Qingli Zhang Yingyuan Zhu Yongbin Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Mechanics & Electricity Beijing 100076China Institute of Robotics and Mechatronics German

ISBN: (纸本)9781424447749

In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit was integrated into the robot end-effector, which enhanced the reliability, reduced the installing and debugging difficulty. The structure of sensor's elastomer was modeled, and then it was analyzed by the FEA software Patran/Nastran. At last, inherence frequency of the sensor was figured out from mode analyzing, and a number of object capture tests were carried out. Experimental results showed that degree of non-linearity (1.7％), delicacy (0.0025 V/N) and stability of the sensor unit was significantly accorded with the design targets of space robot end-effector.

关键词： Force sensor FEA analyzing sensor demarcate space robot end-effector

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The research on a novel PZT actuated precise tilt positioning system

The research on a novel PZT actuated precise tilt positionin...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Bing Shao Liguo Chen Weibin Rong Min Xu Changhai Ru School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Automation College Harbin Engineering University China

The need for precise fast positioning technique draws attention on space inter-satellite optical communication. This paper presents a novel PZT actuated precise tilt positioning system (PTPS), which consists of the control module, the PZT driving module, the precise tilt positioning mechanism (PTPM), and the precise displacement measure module. It provides a fast and precise control in tilt movements. Firstly, the structure analysis and design of PTPM are accomplished. Then the control module is developed and the current/ voltage composite driving method is investigated in detail. Finally, following the experimental results which confirm the validity of the design and theoretical analysis of the PFPS.

关键词： Actuators Communication system control Materials science and technology Space technology Voltage Microwave communication robotics and automation Optical fiber communication Control systems Position measurement

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