检索结果-南通市图书馆

research on Micromanipulating robot Based on Micro Parts Assembly

在线全文

学校读者我要写书评

暂无评论

High Technology Letters 2001年第4期7卷 85-91页

作者：荣伟彬 robot research Institute Harbin Institute of Technology Harbin 150001 China

At present, micro parts assembly is one of the key problems in the fields of micromachine and micro electro mechanical system (MEMS). Performing microassembly by micromanipulating robots is put forward in this paper. Thus based, the general structure of a micromanipulating robot is analyzed briefly. A micro telemanipulating robot developed by the authors with visual monitoring and bilateral force feedback is introduced. The peg in hole task of 0 2mm has been finished successfully by telemanipulation. The operator has gained durative and stable contacting force perceiving.

关键词： Microassembly Micromanipulation Telemanipulation robot

Design and Analysis for a Three-Rotational-DOF Flight Simulator of Fighter-Aircraft

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2018年第3期31卷 48-59页

作者： Chang-Chun Zhou Yue-Fa Fang robot research Center Beijing Jiaotong University

Most of researchers focused on traditional six degrees of freedom(DOF) Stewart flight simulator,which can not be adaptive in fighter?aircraft flight simulator. A three rotational DOF flight simulator of fighter?aircraft based on dou?ble parallel manipulator and hybrid structure is presented. The flight simulator is composed of two identical 3?RRS(revolute?revolute?spherical) spherical parallel manipulators and one cabin,called Twins. The cabin has an additional independent DOF for 360° continuous rotation,so it can be applied as a flight simulator for a fighter?aircraft to achieve spin maneuvering. Because of the introduction of the hybrid structure and double parallel manipulator of themechanism,the redundancy exists with respect to both kinematics and actuation. Kinematics is carried out and Jaco?bian matrix is established by means of screw theory. The inverse kinematics is given out by the analytical method. 64 groups inverse solutions are showed in a table by permutation. Forward kinematics is solved by an e ectively numeri?cal method. The forward numerical method is realized based on the analytically inverse kinematics and Jacobian matrix. The numerical examples show that the forward numerical method can be used in real?time control. The rollingmotion is considered in forward kinematics and a numerical example is given out. The proposed flight simulator can spin and there are three rotational DOF with a hybrid structure so that the novel flight simulator can be used in the field of the fighter?aircraft for pilots to train.

关键词： Parallel manipulator Hybrid mechanisms Actuation redundancy Flight simulator Kinematics Screw theory Jacobian matrix

research of 6-DOF Serial-Parallel Mechanism Platform for Stability Training of Legged-Walking robot

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2014年第2期21卷 75-82页

作者： Wei-Guo Wu Wen-Qian Du Humanoid and Gorilla robot & Its Intelligent Motion Control Lab Harbin Institute of Technology

The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.

关键词： 6-DOF serial-parallel mechanism forward kinematics stability training legged-walking robot

Fuzzy reasoning model using fuzzy Petri Nets for the monitoring of robotic assembly

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2007年第5期14卷 668-673页

作者：赵杰高胜蔡鹤皋 robot research Institute Harbin Institute of Technology

This paper presented a fuzzy Petri net model to deal with the monitoring of robotic assembly. Based on the fuzzy Petri net model, an efficient composite reasoning mode was proposed to perform fuzzy reasoning automatiealy. It can determine whether there exists an antecedent-consequence relationship between two contact states. Furthermore, various types of sensor signals can be converted to the same form of real values between zero and one, and the contradiction among large number, high degree of truth and importance of input conditions can be resolved very well by introducing the weight factors and priorities for sensor signals. Finally, a peg- in-the-hole example was given to illustrate the reasonability and feasibility of the proposed model.

关键词： fuzzy Petri nets robotic assembly process control contact states monitoring peg-in-the-hole

Study on algorithm of dynamic uncalibrated eye-in-hand visual servoing system

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2007年第4期14卷 445-449页

作者：赵杰李牧闫继红李戈曹宇 robot research Institute Harbin Institute of Technology

Currently, most visual servoing system must be calibrated, while it is impossible to calibrate cameras and robot models precisely in industrial practice, so a novel dynamic uncalibrated eye-in-hand visual servoing system of tracking a moving target is proposed. The method does not require calibration of camera and robot kinematic models. Vision guided algorithm for tracking dynamic image is developed through minimizing nonlinear objective function. For the large residual has not been approximated in dynamic environment and the change of composite image Jacobian with time increment has not been computed in visual servoing system now,large residuals are dynamic approximated and the change of composite image Jacobian at each iterative step is computed. Simulation results demonstrate the validity of these approaches.

关键词： uncalibrated visual servoing composite image Jacobian approximation large residual estimation change of Jacobian with time

Modeling for integrated micromanipulator

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2003年第4期10卷 371-375页

作者：荣伟彬曲东升孙立宁楼朝飞蔡鹤皋 robot research Institute Harbin Institute of Technology

According to the principle of a piezoelectric scanner, a three degree-of-freedom (D.O.F) micromanipulator driven by piezoelectric tubes was developed to realize the integration of mechanism and *** the static analysis of the deflection of piezoelectric tube into four quadrants, a formula has been establish for the relationship between micro-displacement and driving voltage and accordingly, the angular error is analyzed. Experiments show that the micro-displacement calculated using the formula is in good agreement with the measurements. The relative error is less than 5%. Some performances of the micromanipulator show that it can be applied to some micromanipulations.

关键词： micromanipulator piezoelectric scanner piezoelectric tube modeling

Adaptive genetic algorithm for path planning of loosely coordinated multi-robot manipulators

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2003年第1期10卷 72-76页

作者：高胜赵杰蔡鹤皋 robot research Institute Harbin Institute of Technology

Adaptive genetic algorithm A SA GA, a novel algorithm, which can dynamically modify the parameters of Genetic Algorithms in terms of simulated annealing mechanism, is proposed for path planning of loosely coordinated multi robot manipulators. Over the task space of a multi robot, a strategy of decoupled planning is also applied to the evolutionary process, which enables a multi robot to avoid falling into deadlock and calculating of composite C space. Finally, two representative tests are given to validate A SA GA and the strategy of decoupled planning.

关键词： multi robot path planning adaptive genetic algorithm simulated annealing decoupled planning

Study on a 7-DOF anthropomorphic weld arm

在线全文

学校读者我要写书评

暂无评论

China Welding 2001年第2期10卷 67-73页

作者：董春富历新朱勇蔡鹤皋 robot research Institute Harbin Institute of Technology Harbin 150001 China

A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld arm, the real-time selection of a redundant join (R-joint) is done and its equivalent virtual torque is obtained, thus the redundant joint can be controlled with whose force feedback. An inverse kinematics solution of a 6-DOF robot is applied to other six joints of the arm. Simulation experiments indicate the new inverse kinematics solution has perfect collision avoidance effect, and it is well simplified. Therefore, it can be applied to a welding task in complex operation space.

关键词： anthropomorphic weld arm virtual force field inverse kinematics welding task

Cartesian impedance control of dexterous robot hand

在线全文

学校读者我要写书评

暂无评论

Journal of Harbin Institute of Technology(New Series) 2005年第3期12卷 239-244页

作者：姜力刘宏蔡鹤皋 robot research Institute Harbin Institute of Technology Harbin 150001 China

Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.

关键词： cartesian impedance control sliding mode control dexterous robot hand