In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized design.Thus,a novel two-DOF ultrasonic motor(USM)is ...Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized design.Thus,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical system.The proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the earthworms.The frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are tested.The experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,respectively.Furthermore,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.展开更多
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
基金This work was supported by the National Natural Science Foundation of China(Grant No.5210051275 and Grant No.U1913215)the China Postdoctoral Science Foundation(Grant No.2021M690830)the Postdoctoral Science Foundation of Heilongjiang Province,China(Grant No.LBH-Z21018).
文摘Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized design.Thus,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical system.The proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the earthworms.The frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are tested.The experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,respectively.Furthermore,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.
