张文增
博士 副教授 博士生导师
清华大学 机械工程系
机器人手;机器人视觉;机械设计与制造;机器人教育;科技创新项目指导;科研训练指
个性化签名
- 姓名:张文增
- 目前身份:在职研究人员
- 担任导师情况:博士生导师
- 学位:博士
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学术头衔:
- 职称:高级-副教授
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学科领域:
计算机辅助制造
- 研究兴趣:机器人手;机器人视觉;机械设计与制造;机器人教育;科技创新项目指导;科研训练指
1999年、2005年在清华大学机械工程系分别获得学士、博士学位,留校任教,2010年晋升副教授,2012年在美国西北大学做访问学者一年,2017年担任清华大学机器人技术创新创业辅修专业联合主任。学术兼职:中国教育发展战略学会人工智能与机器人教育专业委员会理事、安徽工业大学工创中心兼职教授、中央电视台科教频道科学顾问、中国机械工程学会高级会员,中国焊接分会机器人与自动化专业委员,中国机器人分会委员,国际期刊IJPEM、TIWM、JAME编委等。发表SCI/EI收录论文160余篇,获发明专利授权220余项。主要研究机器人手、机械设计与制造、自动化装备、焊接自动化、机器人视觉等。
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10699
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成果阅读
1800
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成果数
29
【期刊论文】A universal robot gripper based on concentric arrays of rotating pins
An Mo, Wenzeng Zhang, An Mo, Wenzeng Zhang
Science China Information Sciences,2019,62(5):1-3
2019年05月01日
Advanced service robots and flexible production lines demand more versatile grippers than conventional ones. The traditional industrial gripper with two set of pin arrays fails to grasp some objects. This paper presented a novel universal gripper with concentric rotation pin array, CRPA gripper. It is capable of grasping various objects with only one actuator, which drives two sets of multiple concentric rings rotate at opposite directions. Analytical model of force transmission is built. Simulation results verify the feasibility of the gripper design. A functional prototype validates the predicted performance.
gripper, universal grasp, pin array, shape adaption
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【期刊论文】The Development of a Soft Robot Hand with Pin-Array Structure
Hong Fu, Wenzeng Zhang, Hong Fu, Wenzeng Zhang
Applied Sciences,2019,9(5):1-23
2019年05月01日
This paper proposes a soft robot hand with pin-array structure and self-adaptive function, CTSA-II hand, where CTSA is the Cluster tube self-adaption. The CTSA-II hand is designed with a quite concise struc ure and consists of bases, a pin array, a spring array, and a membrane. When the CTSA-II hand grasps an object, the pins will slide along the trajectory to conform to the profile of the object under the reaction force applied by the object, and thus the outer membrane will form a specific shape, and then the vacuum drives the CTSA-II hand to grasp the object. Theoretical analysis shows that the CTSA-II hand can generate enough grasping force and get good stability. Moreover, the optimization of its structure is achieved by studying the effects of specific parameters. The capture experimental results of the prototype show that the CTSA-II hand can realize self-adaptive grasping of different sizes and shapes with a high degree of fit and a high success rate. A series of research experiments show the influence of various factors on the grasping force, which verifies the results of the theoretical analysis with the CTSA-II hand. Compared to the traditional robot hand, the CTSA-II hand has good crawl performance, concise structure, small volume, and easy assembly.
soft robot hand, self-adaptive gripper, underactuated hand, pin-array
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【期刊论文】VGS Hand: A Novel Hybrid Grasping Modes Robot Hand with Variable Geometrical Structure
Chao Luo, Wenzeng Zhang, Chao Luo, Wenzeng Zhang
Applied Sciences,2019,9(8):1-14
2019年08月01日
Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects on a flat surface. In order to overcome the bottleneck of traditional hands and enlarge the application possibility of robot hands, this paper develops a novel hybrid grasping modes hand with the variable geometrical structure (called VGS hand). The hand consists of 4-DOF (degree of freedom), two actuators and two fingers. It can perform both linear-parallel and self-adaptive grasping modes. Kinematics, dynamics, and contact forces analysis are conducted to provide a theoretical reference for the design. A prototype was manufactured for grasping experiments; the results of the experiments indicate that the hand has a good grasping performance and can meet dierent application requirements.
robot hand, mechanism design, hybrid grasping modes, underactuated hand, kinematics
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【期刊论文】A Worm-Inspired Robot Flexibly Steering on Horizontal and Vertical Surfaces
Wenhao Yang, Wenzeng Zhang, Wenhao Yang, Wenzeng Zhang
Applied Sciences,2019,9(10):1-20
2019年10月01日
Based on the motion principle of bionic earthworms, we designed and fabricated a novel crawling robot driven by pneumatic power. Its structure is divided into four segments, and its motion process is periodic with high stability. Due to the pneumatic suction cups mounted on its feet, it is able to crawl on smooth horizontal, inclined, or vertical walls. On this basis, we designed a novel underactuated steering mechanism. Through the tendons on both sides and the springs installed on the side of the robot, we accurately controlled the steering motion of the robot. We analyzed the steering process in detail, calculated the influence of external parameters on the steering process of the robot, and simulated the trajectory of the robot in the steering process. The experimental results validated our analysis. In addition, we calculate the maximum thrust that each segment of the robot can provide, and determine the maximum load that the robot can bear during climbing motions.
earthworm-inspired, climbing robot, steering mechanism, pneumatic robot
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Siyun Liu, Jie Sun, Wenzeng Zhang, Siyun Liu, Jie Sun, Wenzeng Zhang
Industrial Robot-The International Journal of Robotics Research and Application,2019,46(5):660-671
2019年05月01日
Purpose – Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly selfadaptive finger. Design/methodology/approach – CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings – To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value – CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. A double-linkage-slider mechanism is designed as the switch device.
Grippers, Humanoid robots, Robot design, Coupled finger, Grasping mechanism, Multi-fingered hand, Indirectly self-adaptive finger, Underactuated finger
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引用
张文增, 陈强, 都东, 孙振国, 张国贤
清华大学学报. 2007, 47(8): 1270-1273,-0001,():
-1年11月30日
为改善激光焊接机器人的运动轨迹精度,提出一种基于视觉的机器人轨迹跟踪控制方法。该方法将摄像机安装于工业机器人末端构成视觉反馈的控制系统,采用阈值分割方法检测出激光焦点,利用灰度投影积分方法快速检测出焊缝线,然后以修正的线-线匹配和立体视觉技术计算出激光焦点和焊缝线的空间位置,得到激光焦点相对于焊缝线的误差,再结合机器人运动学原理控制机器人实时运动以消除此误差。实验结果表明该方法能够有效提高机器人轨迹精度。
机器人技术, 工业机器人, 轨迹精度, 视觉反馈
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张文增, 陈念, 陈强, 孙振国
焊接学报. 2010,31(3):1-4,-0001,():
-1年11月30日
为了同时实现钨极惰性气体保护焊(GTAW)中弧长控制和焊缝跟踪,该文提出一种基于钨极倒影的焊缝位置检测新方法. 该方法将所研制的视觉传感器固接于焊枪上,从侧前方观测熔池,拍摄得到的图像包含有钨极前端、熔池前部、焊缝棱边以及钨极在熔池中所成的像等元素. 通过所提出的基于实际钨极中心线约束的弧长算法和基于熔池水平约束的钨极左右偏差算法,计算得到焊缝相对钨极的三维位置,以此为控制量可以实现三维精密焊缝跟踪. 试验结果表明,该方法是有效的,检测精度达到0.1mm,满足精密焊接应用要求.
焊接自动化, 钨极惰性气体保护焊, 焊缝跟踪, 钨极偏差检测, 弧长控制
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张文增, 马献德, 黄源文, 邱敏, 陈强
清华大学学报(自然科学版). 2009, 49(2): 194-197,-0001,():
-1年11月30日
为了实现自适应抓取效果、拟人化外观和末端强力抓取功能,采用带轮传动、弹簧约束和活动套接的中部指段,设计了一种新型欠驱动手指机构。分析了该手指的强力抓取原理。由此设计了拟人机器人手——TH-3手。TH-3手外观、尺寸和动作模仿人手,有5个独立驱动手指、15个关节自由度、6个驱动电机,模块化程度高,结构紧凑,控制容易,重量轻,成本低,对所抓物体的形状、大小自动适应,可以实现末端强力抓取,适合安装在拟人机器人上使用。
机器人技术, 拟人机器人手, 欠驱动, 自适应, 末端强力抓取
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【期刊论文】The Development of a Directly Self-adaptive Robot Hand with Pulley-belt Mechanism
张文增, Guoxuan Li, Bowen Li, Jie Sun, Wenzeng Zhang, Zhenguo Sun, Qiang Chen
Int. Journal of Precision Engineering and Manufacturing. 2013, Vol. 14, No. 8: 1361-1368,-0001,():
-1年11月30日
Directly self-adaptive under-actuated (DSUA) hands have great potential to stably grasp different objects in unstructured environments. This paper develops a DSUA Hand based on multi-pulley-belt mechanism, which consists of 5 fingers and has 14 DOF. Self-adaptation is designed as the main function of it. The stability of DSUA hand’s grasping process does not highly depend on control algorithm, sensors or control system. This DSUA fingers are based on multi-pulley-belt mechanism. A mathematical model of the 3-joint finger’s contact force is given. Contact force analyses of the DSUA finger are discussed in detail. DSUA Hand weighs 0.94 kg and can grasp objects up to 0.6 kg. The grasping adaptation of DSUA hand is certified by grasping experiments of different objects.
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【期刊论文】Two-DCoupled and Self-adaptive (COSA) Finger: A Novel Under-Actuated Mechanism
张文增, Wenzeng Zhang, Deyang Zhao*, Haipeng Zhou*, Zhenguo Sun, Dong Du, Qiang Chen
Int. J. of Humanoid Robotics. 2013, 10(2): 1330001,-0001,():
-1年11月30日
Large amount of efforts have been devoted to design better under-actuated robot hands. The most widely adopted approaches include rigid coupled hands and self-adaptive hands. The objective of this research is to design a robot finger which combines advantages of both traditional ways and overcomes their disadvantages. The concept of Coupling and Self-Adaptation (COSA) was introduced. A linkage-based 2-DOF (Degree of Freedom) COSA robot finger was designed, optimized and studied in this paper. The theoretical analysis and the experiments on the finger show that it is able to execute human-like motion and adaptive grasps in multiple patterns. The research exposes a promising novel under-actuated mechanism for hands design with wide applications.
Robot hand,, under-actuated finger,, coupling mechanism,, self-adaptation
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