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A General Arthropod Joint Model and its Applications in Modeling Human robotic Joints

IEEE ACCESS 2021年 9卷 7814-7822页

作者： Liang, Renghao Xu, Guanghua Teng, Zhicheng Li, Min Zhang, Sicong Zheng, Xiaowei Zhang, Kai He, Bo Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Peoples R China Xi An Jiao Tong Univ State Key Lab Mfg Syst Engn Xian 710049 Peoples R China

Bearings are common rotational units, but these monocentric units do not realize high bio-imitability in exoskeleton robots. A common way to realize bionic motion is with an n-bar linkage mechanism within bearings, but the resultant joints can become complex. Herein, we propose a joint model based on the anatomy of grasshopper joints that consists of a pair of conjugate surfaces and a flexible connection body. An anatomical experiment involving crabs and lobsters reveals that the proposed joint model exists among crustaceans, which makes it a general joint structure for arthropods. After measuring the kinematic properties of crab and lobster joints, we have modified the joint model for robotics applications. An optimization algorithm is proposed for the design of the joint. A prototype of a bionic joint is fabricated and its kinematic characteristics are verified. The arthropod joint model is a promising mechanical unit in bionic robots.

关键词： Exoskeleton joint model arthropods bionic robot

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A caterpillar climbing robot with spine claws and compliant structural modules

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robotICA 2016年第7期34卷 1553-1565页

作者： Wang, Wei Wu, Shilin Beihang Univ Inst Robot Sch Mech Engn & Automat Beijing 100191 Peoples R China

This paper proposes a modular caterpillar climbing robot using spines as the attaching tools. To improve the reliability of the spines' engagement and disengagement, this paper discusses the reasonable trajectory of the spine and designs a driving mechanism of the spine based on the compliant mechanism theory. Then some compliant modules are designed and realized to build the caterpillar climbing robot. A climbing gait is designed to avoid collisions between the spines and the wall, and allows the robot to climb on a stucco-like wall with a 72 degrees incline. The real tests reveal that the deformation of the compliant toes reduces the sliding forces between the spines and the wall, and improve the climbing action obviously.

关键词： Caterpillar robot Climbing robot bionic robot Compliant module Spine claws

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Optimal design of a parallel bionic eye mechanism

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2019年第2期33卷 879-887页

作者： Cheng, Yuanhao Wang, Sun'an Yu, Dehong Xi An Jiao Tong Univ Sch Mech Engn Xian 710049 Shaanxi Peoples R China

To obtain a large viewing angle and fast, smooth tracking of the target for a robot in an unknown environment, the vertebrate extraocular muscles are imitated in this paper, the configuration with a large field of view and high motion precision is studied, and then, a smallsized "inverted-tricept" parallel bionic eye mechanism is designed. For the "inverted-tricept" mechanism, the large inclination will make the mechanism more "slender", whereas the high precision requires the mechanism to be "stout". Thus, there is a contradiction between these two indexes. To ensure a large field of view and high eye movement accuracy simultaneously, the non-dominated sorting-based genetic algorithm-II (NSGA-II) is adopted under the constraints of the overall dimensions, driver stroke and hinge deflection to optimize the moving platform inclination and kinematic performance. Thus, the structural parameters are obtained. According to the optimization results, the dynamic simulation analysis of the system is conducted, and the rationality of the structural parameters is verified. In addition, the experimental prototype is built accordingly. It is shown from the actual measurement results that the designed parallel bionic eye has a distortion-free field of view of up to 200.95 degrees and an eye movement accuracy of 0.01 degrees, which lay a foundation for the wide range search and high-precision ranging of the subsequent binocular stereo vision system.

关键词： bionic robot Extraocular muscles Parallel bionic eye mechanism Multi-objective optimization NSGA-II

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Design and performance analysis of a novel closed-chain elastic-bionic leg with one actuated degree of freedom

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MECHANISM AND MACHINE THEORY 2021年 165卷 104444-104444页

作者： Wu, Jianxu Guo, Long Yan, Shaoze Li, Yezhuo Yao, Yan-an Beijing Jiaotong Univ Sch Mech Elect & Control Engn Beijing 100044 Peoples R China Tsinghua Univ Dept Mech Engn Beijing 100084 Peoples R China

The benefits of closed-chain leg mechanism with a single motor include simple control, high stiffness and full rotation driving. To utilize these benefits, a novel closed-chain elastic-bionic leg (CEL) with one actuated degree of freedom (DoF) based on spring-loaded inverted pendulum (SLIP) is proposed. First, high-speed requirements are presented in accordance with the features of the SLIP model. An eight-bar closed-chain linkage with a three-section structure is designed based on the muscle distribution and skeletal size of a cheetah leg with the insertion of sartorius and semimembranosus. Second, the desired foot trajectory is generated via kinematics analysis and dimensional synthesis. The functional relationship between the ground reaction force and driving force is then established using Lagrange's equation. Furthermore, the stiffness change of a virtual spring in the supporting phase is analyzed using an equivalence model. The simulation analysis of the movement velocity, spring deformation, vertical fluctuation, vertical force, and driving property for running gait is then conducted. The experimental prototype is fabricated and the running experiments on a treadmill are performed to assess the feasibility of the theoretical analysis.

关键词： bionic robot Closed-chain leg mechanism Spring-loaded inverted pendulum Virtual spring Running gait

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Motion analysis of an undulatory fin underwater robot

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JOURNAL OF MECHANICS 2024年第40期40卷 445-461页

作者： Lin, Yu-Chih Chung, Yu-Chen Lin, Chien-Tzu Wang, Bo-Sheng Natl Taiwan Ocean Univ Dept Mech & Mechatron Engn Keelung Taiwan

The underwater robot has gained increasing attention due to the crucial role of oceanographic surveys in monitoring and exploring resources. A bionic underwater robot offers several advantages, including enhanced environmental interaction, reduced noise, improved propulsion, a smaller turning radius, higher efficiency and greater stability. This study designs and investigates a bionic underwater robot featuring undulatory soft fins. Finite element analysis is used to compute the drag and velocity of the robot with various shape designs. Experiments are conducted to measure the velocity under varying design parameters, including kinematic parameters, hull geometric shapes and fin materials. The experimental results reveal that the Type I robot exhibits vertical oscillations that reduce its forward speed. This phenomenon may result from asymmetry between the top and bottom of the stern, generating a pitch moment that leads to lift and causes oscillation. It is also indicated from the experiments that velocity generally increases with amplitude and frequency. The robot achieves optimal velocity performance with a phase difference of 67.5 degrees (0.375 pi) and an amplitude of 60 degrees for both polyvinyl chloride and natural rubber fins. The robot with Type B at both ends performs better than the one with Type A at both ends, consistent with the finite element analysis results, though the difference is not significant in the current design. The shape design for the hull is crucial and warrants further investigation. This study provides recommendations for optimizing the shape, materials and motion parameters of bionic soft undulating fin underwater robots.

关键词： undulatory bionic robot finite element analysis

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Distributed Parameter Modeling and Boundary Control of an Octopus Tentacle-Inspired Soft robot

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2022年第3期30卷 1244-1256页

作者： Han, Zhiji Liu, Zhijie He, Wei Li, Guang Univ Sci & Technol Beijing Sch Automat & Elect Engn Minist Educ Key Lab Knowledge Automat Ind Proc Beijing 100083 Peoples R China Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing 100083 Peoples R China Queen Mary Univ London Dept Engn & Mat Sci London E1 4NS England

Inspired by soft organisms in nature, engineers have been exploring the mechanical design of soft robots manufactured by compliant materials. However, some limitations still exist in the modeling and control of soft robots. This article studies a cable-driven soft robot with shape and bending motion inspired by an octopus tentacle. By the extended Hamilton's principle, the dynamic equation of the soft robot is derived in a distributed parameter system (DPS), which is governed by a partial differential equation. The boundary control strategy for the soft robot is developed via Lyapunov-based design to achieve distributed bending angle tracking. The stability analysis of the closed-loop system is presented using LaSalle's invariance principle to show that the total energies in the system, and hence, the distributed states of the system, remain bounded and tend asymptotically to the desired values. Some simulation results are applied to demonstrate the applicability and effectiveness of the employed model and control. This study will promote the application of DPS theory in soft robots.

关键词： Soft robotics Mathematical model robots Bending Analytical models Aerospace electronics Task analysis bionic robot boundary control distributed parameter system (DPS) soft robot

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Screw theory based motion analysis for an inchworm-like climbing robot

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robotICA 2015年第8期33卷 1704-1717页

作者： Yao, Jianjun Gao, Shuang Jiang, Guilin Hill, Thomas L. Yu, Han Shao, Dong Harbin Engn Univ Coll Mech & Elect Engn Harbin 150001 Peoples R China Univ Bristol Dept Mech Engn Bristol BS8 1TR Avon England

To obtain better performance on unstructured environments, such as in agriculture, forestry, and high-altitude operations, more and more researchers and engineers incline to study classes of biologically inspired robots. Since the natural inchworm can move well in various types of terrain, inchworm-like robots can exhibit excellent mobility. This paper describes a novel inchworm-type robot with simple structure developed for the application for climbing on trees or poles with a certain range of diameters. Modularization is adopted in the robot configuration. The robot is a serial mechanism connected by four joint modules and two grippers located at the front and rear end, respectively. Each joint is driven by servos, and each gripper is controlled by a linear motor. The simplified mechanism model is established, and then is used for its kinematic analysis based on screw theory. The dynamics of the robot are also analyzed by using Lagrange equations. The simulation of the robot gait imitating the locomotion of real inchworm is finally presented.

关键词： bionic robot Climbing robot Screw theory Multi degrees of freedom Gripper Gait

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

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Frontiers of Mechanical Engineering 2021年第1期16卷 32-45页

作者： Yuwang LIU Dongqi WANG Shangkui YANG Jinguo LIU Guangbo HAO State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Engineering-Electrical and Electronic Engineering University College CorkCorkIreland

Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased *** passive variable stiffness joints rely mainly on sensors and special control algorithms,resulting in a bandwidth-limited response speed of the *** propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot *** new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical *** variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload,and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human *** response speed is high because sensors and control algorithms are not *** variable stiffness principle is explained,and the design of the variable stiffness mechanism is analyzed.A prototype is fabricated,and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism stiffness self-regulation bionic robot modeling

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Fabrication of bionic Linear Actuator and Application Study Based on 3D Printing

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JOURNAL OF BIOMIMETICS BIOMATERIALS AND BIOMEDICAL ENGINEERING 2016年第1期26卷 13-18页

作者： Zhao, Gang Sun, Zhuangzhi Li, Lingli Ge, Yang Harbin Engn Univ Coll Mech & Elect Engn Harbin 150000 Peoples R China

In this manuscript, a bionic linear actuator was developed base on the ionic actuator: ionic polymer metal composites, and the mainly fabrication method was presented in the current investigation. Subsequently, a bionic robot was developed using 3D printing technique to fabricate the skeleton structure and the presented Bi-IPMC(assembled by two segmented IPMC strip) linear actuator as the driving power. After a mathematical model of bionic robot, a experimented bionic robot was manufactured to investigate. The results founded that our bionic robot behaved a maximum bounce height arrived at 22mm under applied 5V direct current, and the bounce height can keep on the values of 18mm over the applied voltage of 4V.

关键词： IPMC Linear actuator 3D printing bionic robot

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Development and experimental characterization of a robotic butterfly with a mass shifter

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Biomimetic Intelligence & robotics 2022年第4期2卷 39-47页

作者： Haifeng Huang Wei He Ze Chen Tao Niu Qiang Fu School of Intelligence Science and Technology University of Science and Technology BeijingBeijing 100083China Institute of Artificial Intelligence University of Science and Technology BeijingBeijing 100083China

The development of biomimetic aerial robots has emerged as a new solution for studying the flight mechanisms of flying *** study designs a biomimetic robotic butterfly steered via a mass shift mechanism named USTButterfly-II and investigates its flight characteristics using an optical tracking ***,a planar fourbar linkage was used to drive the flapping of the designed butterfly-like artificial ***,an innovative tailless steering control method was proposed based on a mass shift ***,the wing kinematics and motion trajectory of the USTButterfly-II were measured using a multi-camera motion capture system,and some difficult-to-measure flapping aerodynamic parameters,such as the instantaneous net lift and thrust coefficients,were *** findings present a novel experimental framework that not only provides effective data support for the design and improvement of the robotic butterfly but also benefits the study of biological butterfly flight mechanisms.

关键词： robotic butterfly Flapping-wing aerial robot bionic robot Tailless control

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