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 me...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.展开更多
Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexter...Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
Gonghe bridge is a double level cable-stayed concrete bridge with a single-cable-plane of single cable tower. Its span is 114+120 m and a whole length of 236 m. The gliding scaffold equipment is used for the first tim...Gonghe bridge is a double level cable-stayed concrete bridge with a single-cable-plane of single cable tower. Its span is 114+120 m and a whole length of 236 m. The gliding scaffold equipment is used for the first time in the long span cable-stayed bridge construction to reduce the construction time limit. In the process of construction, to make sure a safe connection among concrete objects with different ages, the single-supporting and single-suspension system is adopted before the concrete pouring. While the double-supporting and single-suspension system is applied after con- crete pouring. These construction systems with gliding scaffold equipment are first introduced in long span ca- ble-stayed bridge and presented in detail[1]. The practice shows that these gliding scaffold systems have many advan- tages over the traditional ones.展开更多
The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high...The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.展开更多
文摘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.
文摘Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘Gonghe bridge is a double level cable-stayed concrete bridge with a single-cable-plane of single cable tower. Its span is 114+120 m and a whole length of 236 m. The gliding scaffold equipment is used for the first time in the long span cable-stayed bridge construction to reduce the construction time limit. In the process of construction, to make sure a safe connection among concrete objects with different ages, the single-supporting and single-suspension system is adopted before the concrete pouring. While the double-supporting and single-suspension system is applied after con- crete pouring. These construction systems with gliding scaffold equipment are first introduced in long span ca- ble-stayed bridge and presented in detail[1]. The practice shows that these gliding scaffold systems have many advan- tages over the traditional ones.
文摘The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.
