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Surface Sample Acquisition and Caching Device (SSACD) is an underway equipment which is designed for the upcoming Chinese Lunar Exploration Stage III: lunar sample return. Considering the characteristics of lunar environment and soil, the scoop of SSACD is a bionic design which would have lower digging resistance and higher efficiency. The unlocking mechanism is driven by motor and wire rope directly...
Lake monitoring sensors are important for maintaining the safe environment around the lake. Those sensors float on a lake and have to carry their own battery. However, the limited battery life in sensors is a critical problem, because it affects the operation time of the system. In this paper, we address the lake monitoring sensors distribution under water flow field in a lake. We propose a controller...
The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg...
As a representation of muscle activation dynamics, electromyograms (EMG) signals can reflect muscle contraction status. The status has some relationship with body movements under certain circumstance. This paper is aimed at upper limb elbow joint continuous prediction using EMG signals. Unlike the conventional pattern recognition method, a more quantitative relationship between EMG signals and joint...
Totally different from conventional rigid robot, bioinspired soft robot has characteristics of deformable body, flexibility, continuous changeability and high active adaptability. It has become a new evolution in robotics. In this context, a flexible pneumatic robotic actuator FPA was proposed to act as both driver and executor for soft robot configration. The structure, principle and mathematic model...
High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the...
This paper presents a wire-driven robot fish with a pair of pectoral fins. The fish tail is a wire-driven flapping caudal fin. It is made of 7 vertebras, an elastic backbone and a fin plate. The tail is actuated by two servomotors via two pairs of wires. The wires control the tail flapping like a real fish. The pectoral fin can make two Degrees-Of-Freedom (DOF) motions, i.e. flapping (roll) and feathering...
China is launching the lunar exploration mission, namely "Chang'e" project. In the third phase of the project, a probe will be sent to the moon to acquire the lunar regolith through automated drilling device. The drilling sample is expected to be sealed into a storing container which will be brought back to the earth by return capsule. Drilling sample should be pulled out from the drill...
The basilisk lizard's function of running on water is used to analyse the dynamical mechanism of the biped robot which has the same function. The movement trajectories of the a Watt-I six-bar linkage are brought out by combining the movement equations of the four bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and...
This paper focuses on output properties of cellular artificial actuator. The actuator is built from small actuator cells with structural elasticity. These cells are connected together in series to form fibers, which are in turn connected in parallel to form the whole actuator. These cells are controlled to determine whether to be in a contracted, or ON, state or a relaxed, or OFF, state. Arranging...
This paper presents a new Automatic Guided Vehicle (AGV) system, in which unique compact and heavy-payload under-cart design, high precision hybrid-mode stopping, modularized software and distributed AGV-caller system, are integrated to provide a reliable and worker-friendly AGV system for the flexible production Une. Besides, the results of a series of in-field tests validate the payload and precise...
The paper presents a method of infrared communication link maintaining for multiple mobile microrobots, so as to enlarge their whole inspection range. A carrier sense multiple access protocol of infrared communication is employed. A motion control model based on virtual spring-damper system is established to avoid communication network splitting by monitoring infrared link quantity information among...
Projectile is an important part of the anchoring system for landing on small bodies. It penetrates into the small bodies and supplies anchoring force to avoid flowing away of the lander. In order to advance the anchoring force of the projectile, a structural changing projectile is designed. Structural changing modes are discussed, and then a projectile is designed. The anchoring performances of the...
This paper presents an electrical powered transfemoral prosthesis. The knee joint is actuated by a motor-driven ball screw assembly and the ankle joint is motioned by a series elastic actuator. An undirectional spring is attached paralleled with the SEA to store energy during dorsiflexion and bias load of ankle torque. To mimic biomechanical gait data and make the prosthesis compact and anthropomorphic,...
Current self-adaptive hands are always complex in mechanical structure and they have only fixed grasping mode and cannot be adjusted easily. To overcome these disadvantages, this paper proposed a novel scheme of making use of close loop in lower controller to fulfill coupled and self-adaptive grasp. A 2-DOF Electronic Coupled and Self-adaptive finger, E-COSA finger was designed in this paper. E-COSA...
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position...
The Pneumatic Artificial Muscle (PAM) provides many advantages over conventional actuators, especially pneumatic cylinders. It provides light weight, simple structure, high output force to weight ratio, low cost and so on. Despite of these advantages, there are also challenges in using a PAM actuator, such as the behavior of nonlinearity and high hysteresis. To get optimum design and usage, it is...
A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrical spiral structure, which have more compact volume, completely symmetrical mechanical structure, quick response, forward-backward motions and can clean the dirt adhering to the inner...
Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation Intelligent Training System (RITS) for restoration of motor function. The system has advantages of small size, less weight and interaction during the rehabilitation process. Furthermore, this system mainly consists of...
This paper describes the design and development of a miniature 3-axis distal force sensor which can be applied in tissue palpation during minimally invasive surgery (MIS). The sensing principle is based on resistive sensing method that utilizes gauges to measure the strain of a flexible platform when exposed to a force. A novel tripod structure is designed and optimized as the flexible platform, it...
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