Basic Principles, Main Characteristics and Development Tendency of Methods for Robot Mechanism Structure Synthesis Abstract： Basic principles and characteristics of three structural synthesis methods （based on scre...Basic Principles, Main Characteristics and Development Tendency of Methods for Robot Mechanism Structure Synthesis Abstract： Basic principles and characteristics of three structural synthesis methods （based on screw theory, displacement subgroup and position orientation characteristics（POC） respectively） for robot mechanism are described and compared. This comparative study shows that the method based on POC has the following notable advantages：展开更多
Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, She...Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.展开更多
Through the development in the past 20 years, the compliant mechanism has become an important branch of modern mechanisms and is widely applied in such fields as precision engineering and robotics. Although a series o...Through the development in the past 20 years, the compliant mechanism has become an important branch of modern mechanisms and is widely applied in such fields as precision engineering and robotics. Although a series of design methods and theories of compliant mechanism have emerged, its design problem is still facing challenge. A comprehensive overview of design methods is provided for compliant mechanisms used for precision applications, usually called flexure mechanisms. Several main approaches to analysis and design of flexure mechanisms, including pseudo-rigid-body model, structural matrix model,展开更多
Sensitivity Analysis of Cup-shaped Flexible Gear Parameters to Its Stress Based on ANSYS 1 GAO Haibo1, 2 LI Zhigang1, 2 DENG Zongquan1, 2 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology...Sensitivity Analysis of Cup-shaped Flexible Gear Parameters to Its Stress Based on ANSYS 1 GAO Haibo1, 2 LI Zhigang1, 2 DENG Zongquan1, 2 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 2. Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense, Harbin Institute of Technology, Harbin 150001, China)展开更多
文摘Basic Principles, Main Characteristics and Development Tendency of Methods for Robot Mechanism Structure Synthesis Abstract： Basic principles and characteristics of three structural synthesis methods （based on screw theory, displacement subgroup and position orientation characteristics（POC） respectively） for robot mechanism are described and compared. This comparative study shows that the method based on POC has the following notable advantages：
文摘Cooperative Reconfiguration for a Reconfigurable Mobile Robot LIU Tonglin, WU Chengdong, LI Bin, LIU Jinguo （1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School, Chinese Academy of Sciences, Beijing 100049, China; 3. School of Information Science ＆ Engineering, Northeast University, Shenyang 110004, China）Abstract： A main characteristic of the reconfigurable mobile robot AMOEBA-1 is that it has diverse configurations, but some reconfigurations are difficult to realize under the influence of ground conditions. A cooperative reconfiguration method is proposed to reduce reconfiguration resistance and enhance the adaptability of the robot to the environment. The mathematical model is established correspondingly. The kinematics and mechanical properties of each section of the robot are analyzed. A part of resistance is transformed into active force of reconfiguration, and transforms are actualized among five specific configurations. Further, the linearization of model based on a perturbation analysis method is used to reduce the computational complexity. Finally, an evaluation criterion is proposed for AMOEBA-I＇s cooperative reconfiguration performance. The validity of the cooperative reconfiguration method is proved by simulations and experiments.
文摘Through the development in the past 20 years, the compliant mechanism has become an important branch of modern mechanisms and is widely applied in such fields as precision engineering and robotics. Although a series of design methods and theories of compliant mechanism have emerged, its design problem is still facing challenge. A comprehensive overview of design methods is provided for compliant mechanisms used for precision applications, usually called flexure mechanisms. Several main approaches to analysis and design of flexure mechanisms, including pseudo-rigid-body model, structural matrix model,
文摘Sensitivity Analysis of Cup-shaped Flexible Gear Parameters to Its Stress Based on ANSYS 1 GAO Haibo1, 2 LI Zhigang1, 2 DENG Zongquan1, 2 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 2. Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense, Harbin Institute of Technology, Harbin 150001, China)
