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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

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

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

On Flexible Trajectory Description for Effective Rigid Body motion Reproduction and Recognition

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Journal of Shanghai Jiaotong university(Science) 2023年第3期28卷 339-347页

作者：杨健鑫郭遥 Institute of Medical robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

Recognizing and reproducing spatiotemporal motions are necessary when analyzing behaviors andmovements during human-robot interaction. Rigid body motion trajectories are proven as compact and informativeclues in characterizing motions. A ﬂexible dual square-root function (DSRF) descriptor for representing rigid bodymotion trajectories, which can offer robustness in the description over raw data, was proposed in our previousstudy. However, this study focuses on exploring the application of the DSRF descriptor for effective backwardmotion reproduction and motion recognition. Speciﬁcally, two DSRF-based reproduction methods are initiallyproposed, including the recursive reconstruction and online optimization. New trajectories with novel situationsand contextual information can be reproduced from a single demonstration while preserving the similarities withthe original demonstration. Furthermore, motion recognition based on DSRF descriptor can be achieved byemploying a template matching method. Finally, the experimental results demonstrate the effectiveness of theproposed method for rigid body motion reproduction and recognition.

关键词： human-robot interaction rigid body motion trajectory trajectory description motion reproduction and recognition

A Geometrically Exact Formulation for Three-Dimensional Numerical Simulation of the Umbilical Cable in A Deep-Sea ROV System

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China Ocean Engineering 2015年第2期29卷 223-240页

作者：全伟才张竺英张艾群张奇峰田宇 State Key laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences

This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle（ROV） system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current.

关键词： umbilical cable cable dynamics deep-sea ROV dynamic modeling

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

Combined Use of FSR Sensor Array and SVM Classifier for Finger motion Recognition Based on Pressure Distribution Map

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Journal of Bionic Engineering 2012年第1期9卷 39-47页

作者： Nan Li Dapeng Yang Li Jiang Hong Liu Hegao Cai State Key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

For controlling dexterous prosthetic hand with a high number of active Degrees of Freedom （DOF）, it is necessary to reliably extract control volitions of finger motions from the human body. In this study, a large variety of finger motions are discriminated based on the diversities of the pressure distribution produced by the mechanical actions of muscles on the forearm. The pressure distribution patterns corresponding to the motions were measured by sensor array which is composed of 32 Force Sensitive Resistor （FSR） sensors. In order to map the pressure patterns with different finger motions, a multiclass classifier was designed based on the Support Vector Machine （SVM） algorithm. The multi-subject experiments show that it is possible to identify as many as seventeen different finger motions, including individual finger motions and multi-finger grasping motions, with the accuracy above 99% in the in-session validation. Further, the cross-session validation demonstrates that the performance of the proposed method is robust for use if the FSR array is not reset. The results suggest that the proposed method has great application prospects for the control of multi-DOF dexterous hand prosthesis.

关键词： finger motion recognition dexterous hand support vector machine sensor array pressure distribution map

Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

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Chinese Physics B 2014年第1期23卷 159-169页

作者：高娃查富生宋宝玉李满天 State Key laboratory of robotics and System Harbin Institute of Technology Department of Mechanical Design Harbin Institute of Technology

This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

关键词： fast filtering vibration system neural information exchange micro motion robot

Research on the influences of torsional deformation on contour precision of the crank pin

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Advances in Manufacturing 2015年第2期3卷 123-129页

作者： Jing Li Hui Qian Biao Li Nan-Yan Shen Shanghai Key laboratory of Intelligent Manufacturing and robotics School of Mechatronics Engineering and AutomationShanghai University

The span and length to diameter ratio of the large-scale crankshaft are big, and the structure and the distribution of crank pins are complex. Thus it is easier for crankshaft to generate biggish torsional deflection which finally influences the contour precision of the crank pin in tangential point tracing grinding. Based on the analyses of force and torsional deformation of the crankshaft under different crankshaft driving modes of the headstock and the tailstock, the relationship between torsional deformation and rotation angle error of the crankshaft in tangential point tracing grinding is discussed in this paper. According to crankshaft rotational motion and wheel frame coordinated motion in tangential point tracing grinding, contour error of the crank pin caused by torsional deflection is established under different crankshaft driving modes. The simulation results show that minimum contour error of the crank pin can be obtained when crankshaft is synchronously driven by both the headstock and the tailstock, and speed error does not exist in tangential point tracing grinding.

关键词： Crank pin Torsional deflection - Rotationangle error Contour precision