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Design, Analysis and Experimental Performance of a Bionic Piezoelectric Rotary Actuator

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Journal of Bionic Engineering 2017年第2期14卷 348-355页

作者： Shupeng Wang Weibin Rong Lefeng Wang Zhichao Pei Lining Sun State Key laboratory of robotics and System Harbin Institute of Technology Harbin 150080 China

This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.

关键词： bionic foot piezoelectric rotary actuator centipede foot stick-slip

Hybrid task priority-based motion control of a redundant free-floating space robot

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Chinese Journal of Aeronautics 2017年第6期30卷 2024-2033页

作者： Cheng ZHOU Minghe JIN Yechao LIU Zongwu XIE Hong LIU State Key laboratory of robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.

关键词： Base attitude control Hybrid task-priority motion planning Multiple constraints Redundant space robot

Design and Characterization of Magnetically Actuated Helical Swimmers at Submillimeter-scale

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Journal of Bionic Engineering 2017年第1期14卷 26-33页

作者： Lefeng Wang Huichao Xu Wenhe Zhai Bensong Huang Weibin Rong State Key laboratory of robotics and System Harbin Institute of Technology Harbin 150080 China

Bacteria with helical flagella show an ideal mechanism to swim at low Reynolds number. For application of artificial mi- croswimmers, it is desirable to identify effects of structural and geometrical parameters on the swimming performance. In this study, a double-end helical swimmer is proposed based on the usual single-end helical one to improve the forward-backward motion symmetry, The propulsion model of the artificial helical microswimmer is described. Influences of each helix parameter on the swimming velocity and propulsion efficiency are further analyzed. The optimal design for achieving a maximum propulsion velocity of submillimeter scale swimmers is performed based on some constraints. An experimental setup consisting of three-pair of Helmholtz coils is built for the helical microswimmers. Experiments of microswimmers with several groups of parameters were performed, and the results show the validity of the analysis and design.

关键词： double-end helical microswimmers magnetic actuation swimming velocity optimal design

Chaotic CPG Based Locomotion Control for Modular Self-reconfigurable Robot

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Journal of Bionic Engineering 2016年第1期13卷 30-38页

作者： Jizhuang Fan Yu Zhang Hongzhe Jin Xiaolu Wang Dongyang Bie Jie Zhao Yanhe Zhu State Key laboratory of robotics and System Harbin Institute of Technology Harbin 150001 China

The most important feature of Modular Self-reconfigurable Robot （MSRR） is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator （CPG） is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.

关键词： chaotic CPG self-reconfigurable robot environment adaptability locomotion control model

Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

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Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key laboratory of robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词：平行操纵者前面的 kinematics 全球 Newton-Raphson 即时系统

An Untethered Miniature Soft Jumping Robot Inspired by Quadrupeds

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Journal of Bionic Engineering 2023年第4期20卷 1467-1480页

作者： Tianliang Zhong Fanan Wei Zhushan Zhai Wenguang Yang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350108China School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005ShandongChina State Key laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016LiaoningChina

In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research *** the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft *** these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their ***,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow ***,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping ***'s more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward *** motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.

关键词： Wireless Magnetically controlled Soft robot Jumping Bidirectional motion

A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic Systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key laboratory of robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

A Survey of Underwater Multi-Robot Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

Design,Mobility Analysis and Gait Planning of a Leech-like Soft Crawling Robot with Stretching and Bending Deformation

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Journal of Bionic Engineering 2023年第1期20卷 69-80页

作者： Manjia Su Rongzhen Xie Yu Qiu Yisheng Guan Biomimetic and Intelligent robotics Lab(BIRL) School of Electromechanical EngineeringGuangdong University of TechnologyHEMCGuangzhou510006GuangdongChina

Soft climbing/crawling robots have been attracting increasing attention in the soft robotics community,and many prototypes with basic locomotion have been *** existing soft robots achieve locomotion by planar bending deformation and lack sufficient *** the mobility of soft climbing/crawling robots is still an open and challenging *** this end,we present a novel pneumatic leech-like soft robot,Leechbot,with both bending and stretching deformation for *** a morphological structure,the robot consists of a three-chambered actuator in the middle for the main motion,two chamber-net actuators that act as ankles,and two suckers at the ends for anchoring on *** peristaltic motion for locomotion is implemented by body stretching,and direction changing is achieved by body *** to the novel design and two deformation modes,the robot can make turns and transit between different surfaces;the robot,hence,has excellent *** development of the robot prototype is presented in detail in this *** control its motion,tests were carried out to determine the relationship between step length and air pressure as well as the relationship between motion speed and periodic delay time.A kinematic model was established,and the kinematic mobility and surface transitionability were *** planning based on the inflating sequence of the actuating chambers is presented for straight crawling,turn making,and transiting between surfaces and was verified by a series of experiments with the *** results show that a high mobility in soft climbing/crawling robots can be achieved by a novel design and by proper gait planning.

关键词： Biomimetic robot-Soft robot Climbing robot-Bio-inspiration-Kinematic mobility Gait planning