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
Research on Categorizing Innovation of Speed Reducers,Optimization Algorithm for Robotic Belt Surface Grinding Process,Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot＇s Joint
Organized by Consiglio Nazional delle Ricerche (CNR), Gruppo Nedonale diIdraulice(GNI) with the support of the Ministry of Public Works and under the auspices of theCoastal Engineering Research Council(CERC) of the Am...Organized by Consiglio Nazional delle Ricerche (CNR), Gruppo Nedonale diIdraulice(GNI) with the support of the Ministry of Public Works and under the auspices of theCoastal Engineering Research Council(CERC) of the American Society of CivilEngineering(ASCE), and co-sponsored by the international Association for Hydraulic of Navi-gation Congress(PIANC) and by the Associazione di Ingegneria Offshore e Marina(AIOM).Aim展开更多
Vol. 47, No. 11, 2011 DOI: 10.3901/JME.2011.11.001 Linear Motion Control of Two-pendulums- driven Spherical Robot 1 ZHAO Bo WANG Pengfei SUN Lining LI Mantian (State Key Laboratory of Robotics and System, Harbin Inst...Vol. 47, No. 11, 2011 DOI: 10.3901/JME.2011.11.001 Linear Motion Control of Two-pendulums- driven Spherical Robot 1 ZHAO Bo WANG Pengfei SUN Lining LI Mantian (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China)展开更多
Recent Research Advances and Expectation of Mechanical Engineering Science in China;Research Progress of Friction Behavior during Powder Forming;Review of Vehicle State Estimation Problem under Driving Situation;Fau...Recent Research Advances and Expectation of Mechanical Engineering Science in China;Research Progress of Friction Behavior during Powder Forming;Review of Vehicle State Estimation Problem under Driving Situation;Fault Diagnosis Method Based on Acoustic Holography;Effect of Track Structure Parameters on Rolling Contact Stresses of Wheel-rail展开更多
Review on Key Technology of Hydrodynamic and Hydrostatic High-frequency Motor Spindles XIONG Wanli YANG Xuebing LV Lang YUAN Julong （National Research Center for High Efficiency Grinding, Hunan University, Changsh...Review on Key Technology of Hydrodynamic and Hydrostatic High-frequency Motor Spindles XIONG Wanli YANG Xuebing LV Lang YUAN Julong （National Research Center for High Efficiency Grinding, Hunan University, Changsha 410082, China） Abstract： High-speed spindles supported by hydrodynamic and hydrostatic hybrid bearings are widely applied in the field of high-speed precision machine tools due to highrotation accuracy, high dynamic stiffness, high vibration damping and long life. But some technical problems caused by integrated structure and high speed, including temperature rise control and motor performance optimization, are yet to be resolved when the integration of hybrid bearings and motor are developed to meet the requirements of ultra-high speed and ultra-precision machining Also major scientific problems involved in the dynamic and thermal characteristics of hybrid journal bearings and the mechanism of electromagnetic losses of high-frequency motor are to be further studied.展开更多
Effect of Kinematic Behavior of Caudal Fin on Fishlike Robot Propulsion during Steady Swimming CHEN Weishan XIA Dan LIU Junkao SHI Shengjun （State Key Laboratory of Robotics and System, Harbin Institute of Technol...Effect of Kinematic Behavior of Caudal Fin on Fishlike Robot Propulsion during Steady Swimming CHEN Weishan XIA Dan LIU Junkao SHI Shengjun （State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China）Abstract： The speed convergence algorithm is applied in the numerical simulation of a fishlike robot in self-propelled swimming. All simulations are started with the body at rest, the swimming speed is dynamically modified to converge to the steady value by verifying the fluid forces during the swimming process. The effects of kinematic behavior of caudal fin on fishlike robot propulsion are numerical investigated in the converged steady speed, while the propulsive mechanism and flow field structure are revealed. The results show that the steady speed can be predicted validly by using the speed convergence algorithm, while the relation between the kinematic behavior and the propulsion, power consumption and propulsive efficiency can be obtained through varying the phase difference and the maximum angle of attack. The effects of kinematic behavior of caudal fin on the wake structure and wake strength are clearly reflected in the three dimensional flow field structures. The fmdings are of great significance to the swimming speed prediction, effect of kinematic behavior on fishlike robot propulsion as well as the motion narameter design for fishlike robot展开更多
Research on Environment Test Voltage Loading Method of Electrical Connector in Vacuum For problems that different voltage loading method of electrical connector produces different electric field, the calculation mode...Research on Environment Test Voltage Loading Method of Electrical Connector in Vacuum For problems that different voltage loading method of electrical connector produces different electric field, the calculation model and method of electric field are set up with the electrostatic field theory in view that the decrease or breakdown of insulation resistance and dielectric strength induced by surface fiashover cause failure of electrical connector in vacuum. Then in order to quickly and accurately evaluate the insulation life of electrical connector in vacuum environment, the optimized mathe- matical model of electric field is established nnder the condition of rated voltage by regarding the largest electric field and the most uniform electric field as objectives. Through extracting comprehensive evaluation function from the objectives by using signal-to-noise ratio of electric field, genetic algorithm is used to optimize the voltage loading method by converting multi objective to single objective. The optimal results show that the electric field not only increases about 50%, but also is more uniform, which provides the reference for the reliability evaluation of electrical connector in vacuum.展开更多
Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 71004...Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, China) 1展开更多
Abstract： There are no closed-form inverse displacement solutions for 6R robots with offset wrists. These robotic offset wrists are classified as side offset, top offset, and front offset. To solve the problem of inv...Abstract： There are no closed-form inverse displacement solutions for 6R robots with offset wrists. These robotic offset wrists are classified as side offset, top offset, and front offset. To solve the problem of inverse displacement analysis of 6R robots with front offset wrists, according to the geometric character of robotic mechanisms, the robotic kinematic chain is cut into two branches at the origin of the joint coordinate or at the intersection point of the axes of the adjacent coordinates. In this way, one component of degrees of freedom for the two branches becomes decoupled at the cutoff point, so the relationships among the joint variables can be easily deduced. The transcendental equations containing 6 variables are turned into a nonlinear equation containing 1 variable, and the numerical solution for the inverse displacement analysis is obtained by using one dimensional iterative search,展开更多
Analysis of Dynamic Performance of 2-RUUS Mechanism,Five-finger Dextrous Robot Hand DLR/HIT Hand II,Orthogonal Experimental Design to Synthesize the Accuracy of Robotic Mechanism
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
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
Underground lifeline engineering (ULE for short) in modern city demands the appreciation of an active fault in buried bedrock . Generally speaking , a large number of urban geological textures of a basement may all be...Underground lifeline engineering (ULE for short) in modern city demands the appreciation of an active fault in buried bedrock . Generally speaking , a large number of urban geological textures of a basement may all be simplified into a dual geological texture model , i. e., the upper part of the basement consists of loose covering layer and the lower part consists of bedrock . The study of an active fault should include three parts of contents , i . e ., to determine the lower time limit of activity of the fault , and the time limit must be recognized by both of designing engineers and geologists ; on the basis of the studies of repetition periods of earthquake occurrence to deter mine whether the fault moves or not during the allowed time of efficacy of buildings and constructions ; for the sake of engineering practice , the active rate of the fault must be given . The fault with different active mechanism has different effects on the ULE . The authors studied the effect of lateral non-uniform overburden site on the ULE by means of the supersonic earthquake modelling . Owing to the lateral non - uniformity of the covering sediments , there occurs an obvious jump of amplitude of the seismic wave propagation near the contact surface between two different sedi ments . In addition , from the modelling experiment curves it may be seen that the different focus mechanisms and different medium characters may also exert an effect in different degrees .展开更多
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Research on Categorizing Innovation of Speed Reducers,Optimization Algorithm for Robotic Belt Surface Grinding Process,Design and Viscoelasticity Dynamics Modeling of Flexible Driven Unit for Robot＇s Joint
文摘Organized by Consiglio Nazional delle Ricerche (CNR), Gruppo Nedonale diIdraulice(GNI) with the support of the Ministry of Public Works and under the auspices of theCoastal Engineering Research Council(CERC) of the American Society of CivilEngineering(ASCE), and co-sponsored by the international Association for Hydraulic of Navi-gation Congress(PIANC) and by the Associazione di Ingegneria Offshore e Marina(AIOM).Aim
文摘Vol. 47, No. 11, 2011 DOI: 10.3901/JME.2011.11.001 Linear Motion Control of Two-pendulums- driven Spherical Robot 1 ZHAO Bo WANG Pengfei SUN Lining LI Mantian (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China)
文摘Recent Research Advances and Expectation of Mechanical Engineering Science in China;Research Progress of Friction Behavior during Powder Forming;Review of Vehicle State Estimation Problem under Driving Situation;Fault Diagnosis Method Based on Acoustic Holography;Effect of Track Structure Parameters on Rolling Contact Stresses of Wheel-rail
文摘Review on Key Technology of Hydrodynamic and Hydrostatic High-frequency Motor Spindles XIONG Wanli YANG Xuebing LV Lang YUAN Julong （National Research Center for High Efficiency Grinding, Hunan University, Changsha 410082, China） Abstract： High-speed spindles supported by hydrodynamic and hydrostatic hybrid bearings are widely applied in the field of high-speed precision machine tools due to highrotation accuracy, high dynamic stiffness, high vibration damping and long life. But some technical problems caused by integrated structure and high speed, including temperature rise control and motor performance optimization, are yet to be resolved when the integration of hybrid bearings and motor are developed to meet the requirements of ultra-high speed and ultra-precision machining Also major scientific problems involved in the dynamic and thermal characteristics of hybrid journal bearings and the mechanism of electromagnetic losses of high-frequency motor are to be further studied.
文摘Effect of Kinematic Behavior of Caudal Fin on Fishlike Robot Propulsion during Steady Swimming CHEN Weishan XIA Dan LIU Junkao SHI Shengjun （State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China）Abstract： The speed convergence algorithm is applied in the numerical simulation of a fishlike robot in self-propelled swimming. All simulations are started with the body at rest, the swimming speed is dynamically modified to converge to the steady value by verifying the fluid forces during the swimming process. The effects of kinematic behavior of caudal fin on fishlike robot propulsion are numerical investigated in the converged steady speed, while the propulsive mechanism and flow field structure are revealed. The results show that the steady speed can be predicted validly by using the speed convergence algorithm, while the relation between the kinematic behavior and the propulsion, power consumption and propulsive efficiency can be obtained through varying the phase difference and the maximum angle of attack. The effects of kinematic behavior of caudal fin on the wake structure and wake strength are clearly reflected in the three dimensional flow field structures. The fmdings are of great significance to the swimming speed prediction, effect of kinematic behavior on fishlike robot propulsion as well as the motion narameter design for fishlike robot
文摘Research on Environment Test Voltage Loading Method of Electrical Connector in Vacuum For problems that different voltage loading method of electrical connector produces different electric field, the calculation model and method of electric field are set up with the electrostatic field theory in view that the decrease or breakdown of insulation resistance and dielectric strength induced by surface fiashover cause failure of electrical connector in vacuum. Then in order to quickly and accurately evaluate the insulation life of electrical connector in vacuum environment, the optimized mathe- matical model of electric field is established nnder the condition of rated voltage by regarding the largest electric field and the most uniform electric field as objectives. Through extracting comprehensive evaluation function from the objectives by using signal-to-noise ratio of electric field, genetic algorithm is used to optimize the voltage loading method by converting multi objective to single objective. The optimal results show that the electric field not only increases about 50%, but also is more uniform, which provides the reference for the reliability evaluation of electrical connector in vacuum.
文摘Vol.43,No.3,2007 NEXT GENERATION LITHOGRAPHY——IMPRINT LITHOGRAPHY DING Yucheng LIU Hongzhong LU Bingheng LI Dichen (State Key Laboratory of Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, China) 1
文摘Abstract： There are no closed-form inverse displacement solutions for 6R robots with offset wrists. These robotic offset wrists are classified as side offset, top offset, and front offset. To solve the problem of inverse displacement analysis of 6R robots with front offset wrists, according to the geometric character of robotic mechanisms, the robotic kinematic chain is cut into two branches at the origin of the joint coordinate or at the intersection point of the axes of the adjacent coordinates. In this way, one component of degrees of freedom for the two branches becomes decoupled at the cutoff point, so the relationships among the joint variables can be easily deduced. The transcendental equations containing 6 variables are turned into a nonlinear equation containing 1 variable, and the numerical solution for the inverse displacement analysis is obtained by using one dimensional iterative search,
文摘Analysis of Dynamic Performance of 2-RUUS Mechanism,Five-finger Dextrous Robot Hand DLR/HIT Hand II,Orthogonal Experimental Design to Synthesize the Accuracy of Robotic Mechanism
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)
基金The paper is one Part of a project supported by National Education Commitce Funds for Doctoral Faculty
文摘Underground lifeline engineering (ULE for short) in modern city demands the appreciation of an active fault in buried bedrock . Generally speaking , a large number of urban geological textures of a basement may all be simplified into a dual geological texture model , i. e., the upper part of the basement consists of loose covering layer and the lower part consists of bedrock . The study of an active fault should include three parts of contents , i . e ., to determine the lower time limit of activity of the fault , and the time limit must be recognized by both of designing engineers and geologists ; on the basis of the studies of repetition periods of earthquake occurrence to deter mine whether the fault moves or not during the allowed time of efficacy of buildings and constructions ; for the sake of engineering practice , the active rate of the fault must be given . The fault with different active mechanism has different effects on the ULE . The authors studied the effect of lateral non-uniform overburden site on the ULE by means of the supersonic earthquake modelling . Owing to the lateral non - uniformity of the covering sediments , there occurs an obvious jump of amplitude of the seismic wave propagation near the contact surface between two different sedi ments . In addition , from the modelling experiment curves it may be seen that the different focus mechanisms and different medium characters may also exert an effect in different degrees .
