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Transmission characteristics analysis and compensation control of double tendonsheath driven manipulator 期刊论文
Sensors (Switzerland), 2020, 卷号: 20, 期号: 5, 页码: 1-17
Authors:  Wu HT(吴浩廷);  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Han W(韩伟)
Adobe PDF(3097Kb)  |  Favorite  |  View/Download:102/22  |  Submit date:2020/03/22
tendon-sheath drive  robot  compensation control  trajectory tracking  
Compliant Control of Single Tendon-Sheath Actuators Applied to a Robotic Manipulator 期刊论文
IEEE Access, 2020, 卷号: 8, 页码: 37361-37371
Authors:  Yin M(尹猛);  Wu HT(吴浩廷);  Xu ZG(徐志刚);  Han W(韩伟);  Zhao ZL( 赵志亮)
Adobe PDF(3974Kb)  |  Favorite  |  View/Download:141/46  |  Submit date:2020/04/01
Tendon-sheath actuators  robotic manipulator  compliant control  position transmission model  parameter identifications  series elastic actuators  transmission characteristic  
基于套索传动的五指灵巧手设计与主从控制研究 期刊论文
中国机械工程, 2020, 页码: 1-11
Authors:  尹猛;  徐志刚;  赵志亮;  韩伟
View  |  Adobe PDF(1137Kb)  |  Favorite  |  View/Download:30/8  |  Submit date:2020/08/22
套索传动  五指灵巧手  关节机构  工作空间  主从控制  
Mechanism and Position Tracking Control of a Robotic Manipulator Actuated by the Tendon-Sheath 期刊论文
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2020, 页码: 1-14
Authors:  Yin M(尹猛);  Xu ZG(徐志刚);  Zhao ZL( 赵志亮);  Wu HT(吴浩廷)
View  |  Adobe PDF(6501Kb)  |  Favorite  |  View/Download:31/9  |  Submit date:2020/09/12
Tendon-sheath transmission  Robotic manipulator  Position tracking  Fuzzy PID control  Time-delay estimation  
Kinematic optimization of tendon-sheath actuated hand 会议论文
IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, December 6-8, 2019
Authors:  Yin M(尹猛);  Han W(韩伟);  Xu ZG(徐志刚);  Wu HT(吴浩廷);  Zhao ZL( 赵志亮)
Adobe PDF(1995Kb)  |  Favorite  |  View/Download:77/14  |  Submit date:2020/02/23
Dexterous hand  Decoupling degrees of freedom  Minimum singular value  Relative shape closure  
管道焊接机器人轨道设计与研究 学位论文
硕士, 沈阳: 中国科学院沈阳自动化研究所, 2015
Authors:  金玉章
Adobe PDF(2354Kb)  |  Favorite  |  View/Download:203/11  |  Submit date:2015/08/20
管道焊接机器人  轨道设计  支撑设计  拓扑优化  尺寸优化  刚柔耦合  疲劳分析  
Load equivalent simulation method of ultra-large moment of inertia of space station redocking manipulator 期刊论文
Journal of Information and Computational Science, 2015, 卷号: 12, 期号: 2, 页码: 431-441
Authors:  Xu ZG(徐志刚);  Bai XL(白鑫林);  Yang MY(杨明毅);  Wang JY(王军义)
View  |  Adobe PDF(1177Kb)  |  Favorite  |  View/Download:392/71  |  Submit date:2015/03/17
Space Station Redocking Manipulator  Ultra-large Moment Of Inertia Simulation  Equivalent Dynamics  Equivalent Moment Of Inertia  
超大惯量模拟方法在空间转位装置中的应用研究 期刊论文
机械设计, 2014, 卷号: 31, 期号: 12, 页码: 21-25
Authors:  哈乐;  房立金;  徐志刚
View  |  Adobe PDF(491Kb)  |  Favorite  |  View/Download:218/39  |  Submit date:2015/02/04
空间转位  惯量模拟  Lagrange方程  动力学仿真  
Robotic three-dot force feedback to suppress surface contact slipping in robot drilling 会议论文
Applied Mechanics and Materials, Singapore, July 27-29, 2013
Authors:  Li CJ(李晨杰);  Qu RX(屈润鑫);  Li SQ(李树强);  Zhu SJ(朱思俊);  Yao, Jun
Adobe PDF(406Kb)  |  Favorite  |  View/Download:381/87  |  Submit date:2013/12/26
Bits  Manufacture  
Study on Measurement of Spatial Motion Trajectory Based on Laser Tracing Measurement System 会议论文
Advanced Engineering Forum, Shenyang, China, August 16-19, 2011
Authors:  Guo DZ(郭大忠);  Zou YY(邹媛媛);  Zhu SJ(朱思俊);  Zhao MY(赵明扬)
View  |  Adobe PDF(173Kb)  |  Favorite  |  View/Download:807/174  |  Submit date:2012/06/06
Non-contact Measurement  Laser Tracing Measurement System  Measurement Of Spatial Motion Trajectory  Laser Interferometer