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2005 Vol. 31, No. 07

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Mechanism design and control method of reconfigurable tracked robot
Wang Tianmiao, Zou Dan, Chen Diansheng
2005, 31(07): 705-708.
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The reconfigurable tracked robot was developed for all-terrain recon. Based on the unique characters of reconfigurable robot, modular mechanical and electrical structure and control method were discussed. The tracked robot was composed of four basic locomotion modules, three connecting rods and two ...
Trial voyage of SPC-II fish robot
Liang Jianhong, Zou Dan, Wang Song, Wang Ye
2005, 31(07): 709-713.
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The SPC-II fish robot prototype is an experimental platform which validates the stability, high efficiency and maneuverability by utilizing the caudal fin propulsion mechanism. SPC-II doesn't simply mimic the shape of certainkind of real fish, but takes the swimming stability as the primary factor o...
Conceptual design of compliant leveling mechanism
Yu Zhiwei, Yu Jingjun, Sun Minglei, Zong Guang
2005, 31(07): 714-717.
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In the process of aligning two wafers, leveling them is a very important means to ensure a high aligning precision. A practical and compliant leveling mechanism to smooth away the faults existing in present leveling mechanisms was proposed in the course of microfabrication. This mechanism has the ad...
Mechanism and kinematics analysis of climbing robot for complex curved surfaces
Xu Zhenxiang, Liu Rong, Heng Jin, Shi Long
2005, 31(07): 718-721.
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A robot mechanism for complex curved surface with rail was proposed in order to enable the robot to move fast on the complex curved surface. An idea of modularity mechanism designing based on function separate was applied because of the environment with complex constraint. The robot functions consis...
Motion mapping in master-slave grasp for dexterous hands
Li Jiting, Zhang Yuru
2005, 31(07): 722-725.
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Grasp planning is one of the key issues of the dexterous hand research. At present master-slave grasp is a feasible solution. The core problem is to map the human grasp into that of the dexterous hands reasonably. Aiming at the anthropomorphic dexterous hands, the method of mapping human hand motion...
Method to avoid dynamic singularity for flexible manipulators
Gao Zhihui
2005, 31(07): 726-729.
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When the natural frequency of the flexible manipulators is equal to the frequency of the mode force and the mode force is stronger, the dynamic singularity will happen. The structure parameter and kinetic parameter of the flexible manipulator are the factors which influence the natural frequency of ...
Study on wrist dexterity of minimally invasive surgical robot
Liu Da, Hu Lei
2005, 31(07): 730-734.
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In order to implement robot path planning according to the surgery optimum pose, the wrist dexterity of minimally invasive surgical robot was geometrically investigated. According to the structure and characteristic of minimally invasive surgical robot tools, wrist dexterity was analyzed by using an...
Omnidirectional kinematics analysis on bi-driver spherical robot
Sun Hanxu, Xiao Aiping, Jia Qingxuan, Wang Liangqing
2005, 31(07): 735-739.
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A new type of mobile spherical robots, which are based on a nonholonomic system and takes two motors as impetus sources, was developed. The developed spherical robot has only two input parameters while a sphere rolling on a plane has three degrees of freedom, thus the spherical robot is under actuat...
Analysis and application of large-deformation flexible hinge
Jia Ming, Bi Shusheng, Yu Jingjun, Xu Yicun
2005, 31(07): 740-743.
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Flexible hinge transfers motion and force by deformation of flexible element, the stiffness of which made by metal material can be calculated on the premise of Hooke’s law. While the stress-strain relation of hyperelastic material is unconformable to Hooke’s law, it must be derived by stress-energy ...
Analysis of moving capability of a spherical mobile robot
Zhan Qiang, Jia Chuan, Ma Xiaohui, Chen Ming
2005, 31(07): 744-747.
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The special structure of spherical mobile robots makes them very suitable to be used in harsh environments where human interventions are hard to reach, such as outer planets and fields. When a spherical mobile robot moves in such environments, moving capability is a key to decide whether the robot c...
Analysis of kinematics and dexterity for new surgery robot
Tang Can, Yun Chao
2005, 31(07): 748-752.
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Based on the requirement of clinical application, the structure characteristic of minimally invasive neurosurgery assisted robot was analyzed. Space kinematics model of robot was founded. The fact that reverse solution of the robot has analytic solution was confirmed. The correctness of reverse solu...
Reverse driving character of 2-DOF closed chain haptic device
Guo Xin, Guo Weidong, Zhang Yuru
2005, 31(07): 753-756.
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Reverse driving character plays an important role in evaluating the performance of haptic device, and it’s the primary rule in the mechanical design. The problem of 2-DOF haptic device design for improving reverse driving character was investigated. A 2-DOF closed chain haptic device was designed an...
Manufacturing error analysis of compliant planar 3-DOF micro robot
Chao Daihong, Liu Rong, Wu Yuemin, Shi Long
2005, 31(07): 757-761.
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In the fields of micro/nano positioning application, error analysis is an effective way to enhance the precision of such micromanipulators. Manufacturing imperfections, which are inevitable, are the most important factors influencing the accuracy. Thus, various manufacturing errors were studied by t...
Residual stress simulation and analysis of milling process
Dong Zhaowei, Zhang Yidu, Liu Shengyong
2005, 31(07): 762-765.
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In the milling procedure, the distribution of stress inside material is uneven, which makes the work-piece deformed and affects shape and dimension precision. Adopting the analysis of finite element method(FEM) , the elastic-plastic constitutive equation was established with the theory of incrementa...
Sectional model involving two Weibull distributions for CNC lathe failure probability
Chen Diansheng, Wang Tianmiao, Wei Hongxing
2005, 31(07): 766-769.
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To quantificationally analyze failure distribution law of CNC(computerized numerical control) lathes, and to provide the theoretical basis for improving their reliability level, the failure data from 14 CNC lathes over two years were collected, and the failure probability character of CNC lathes was...
Visual planning and estimating of multi-process routes
Qian Xianzhi, Zheng Lianyu, Wei Li
2005, 31(07): 770-774.
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To meet the requirements of human machine engineering and alternative selection of process routes in CAPP, an approach to visually plan and estimate the multi-process routes based on graphic components and process nets was put forward. According to the elements of process route, common and typical g...
Embedded autopilot design of micro-robots
Wang Song, Li Xinjun, Liang Jianhong, Pu Li
2005, 31(07): 775-779.
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The autopilot requirement of different micro-robots was analyzed. A method of autopilot based on advanced RISC microprocessor (ARM) and μCOS-II was put forward. The design process was presented from requirement analysis, function design, system structure, hardware design and software design, to cont...
Locating cross-shaped image feature with subpixel accuracy based on NCCO
Sun Minglei, Li Dazhai, Yu Zhiwei, Zong Guanghua
2005, 31(07): 780-784.
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Normalized cross correlation operator (NCCO) was used for image matching to localize popular cross-shaped features in machine vision. Distribution feature of similarity function around peak zone was found to be four symmetry hyperboloid planes(FSHP). An approach of subpixel localization based on hyp...
Haptic rendering algorithm based on discrete energy optimization method of preparation of human tooth
Wang Yuhui, Zhang Yuru, Wang Dangxiao
2005, 31(07): 785-788.
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Fidelity and stability are two keys of performance of virtual reality haptic interaction system. In virtual reality haptic interaction system of dental preparation, force acting on dentist who receives training is a key factor of training effect. Volumetric model of human tooth was constructed based...
Study on working path of microarrayer
Zhou Qiang, Yu Bao, Bi Shusheng
2005, 31(07): 789-793.
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Microarrayer is the key instrument for biochip fabrication. The working process and system configuration of microarrayer were studied. Special attention was paid to the computation method of the microarrayer working path in biochip fabrication. On the condition of given parameters, such as sample va...
Integration of microsensor for microsurgery robot's end-effector
Hu Yida, Li Dazhai, Yang Yang, Sun Xuguang
2005, 31(07): 794-798.
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In order to enhance the effect of robotic microsurgery, the microsensors were integrated on the robot’s end-effector. On the basis of requirements presented for the integration design, measuring mechanism for the robotic end trephine’s force and cutting depth was studied. Force microsensor and posit...
Algorithm of fast calculate exact contacted position among virtual objects
Chen Xuewen, Liu Jinghua, Chou Wusheng, Wang Tianmiao
2005, 31(07): 799-804.
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In the virtual reality interactive system of the force-feedback or touch-feedback,fast calculating exact contacted position among virtual objects is precondition of these collision detection systems. Because the model of these systems is most polygon model, the collision detection algorithm of hiera...
Orientation sensing of 3-DOF spherical motor
Kou Jinqiao, Chen Weihai, Yu Shouqian, Wang Jianhua
2005, 31(07): 805-808.
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Noncontact orientation sensing is very important for the close-loop control of a 3-DOF spherical motor. Based on the sensing principle of optical sensor with microprocessor, a sensing principle to sense 3-DOF orientation displacements for spherical motor by utilizing 2-DOF optical sensors was illust...
Position and orientation measurement using monocular camera-ultrasonic sensor configuration mounted on robot
Xie Yuwen, Ding Xilun, Liu Ying
2005, 31(07): 809-813.
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A method was proposed for measuring the position and orientation of objects using monocular CCD camera and a ultrasonic sensor. Firstly, in the image coordinate, the undistorted coordinates of the desired point on objects was obtained from one image captured by the CCD camera, from which the orienta...
Kinematic analysis and simulation for modular manipulators based on screw theory
Chen Weihai, Zhou Jie, Yu Shouqian, Wu Xingming
2005, 31(07): 814-818.
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Based on the screw theory, through analyzing the kinematic relationship of modular robots for velocity model and incremental displacement model, an inverse kinematic approach was developed for modular redundant robots. Since it can be assumed that modular robots have any possible DOFs and configurat...
Accurately locate target points using programmable sonar array
Li Baoguo, Wang Wei, Zhang Yangtian
2005, 31(07): 819-822.
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A novel programmable sonar array for mobile robots environment detecting was presented. Each sonar sensor in the array could be programmed to work as a sound emitter/receiver, or a sound receiver. When one sonar sensor was programmed to be a sound emitter/receiver, the others acted as sound receiver...
UDP based implementation of peer to peer communication
Xu Ying, Luan Sheng
2005, 31(07): 823-827.
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By exploring the temporary UDP(user datagram protocol) port-mapping time window on NAT(network address translation) devices, the principal of using UDP to work through NAT devices was presented. A detection and handshaking server was proposed to solve the detection of dynamically mapped UDP ports. W...

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