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Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

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Different Height Stairs Climbing Pattern Generation for Humanoids

Different Height Stairs Climbing Pattern Generation for Huma...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Ming Tian, Dingkui Xu, Minjia Li, Feng Sun, Jianquan Shang, Weiwei Wu, Xinyu University of Science and Technology of China Hefei230026 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Daqing Vocational College Daqing163255 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9798350327182

Climbing stairs has been an indispensable ability for humanoids. This paper presents a novel and practical problem: climbing stairs of varying heights. In this study, the humanoid is modeled as an inverted pendulum and set the pelvis trajectory on the vertical axis, representing the center of mass (CoM), as a quadratic function. We also use a polynomial to design the ZMP and CoM trajectory on the horizontal plane. To generate the CoM trajectory, the sliding mode controller is utilized to track the reference trajectory. To eliminate chattering of the sliding mode controller, the universal approximation property of the radial basis function (RBF) network is leveraged to approximate the switching law. Finally, simulation experiments are performed in CoppeliaSim, and the biped robot is capable of walking stably and quickly. © 2023 IEEE.

关键词： Stairs

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Comprehensive Performance Optimization of a Novel Anthropomorphic Dexterous Hand

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IEEE robotics and Automation Letters 2025年第7期10卷 6816-6823页

作者： Ma, Yifan Shang, Weiwei Zhang, Fei Pang, Shunxiang Dai, Shuqing Yi, Zhengkun Li, Guotao Cong, Shuang University of Science and Technology of China Department of Automation Jinzhai Road 96 Hefei 230027 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen 518055 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing 100190 China

Grasp and in-hand manipulation of dexterous hands are essential for daily operational tasks. In this study, an optimized design method for a novel anthropomorphic dexterous hand is proposed, which improves the comprehensive performance of grasp and manipulability of the dexterous hand. The constraints of multi-fingered contact force and kinematics are established with full consideration of the applicability to the objects of different sizes and the shape characteristics of finger contact surface. The performance index of in-hand manipulation ability is proposed, and the optimization problem is constructed through the technique for order preference by similarity to ideal solution (TOPSIS) to achieve multi-objective optimization of precision grasp and in-hand manipulation. Finally, simulation and experiment verify the feasibility of our prototype and optimization method. The results show that the in-hand translation space and in-hand rotation range are increased by 20% and 8.5%, respectively. Our dexterous hand has excellent abilities of multi-fingered interaction and in-hand manipulation, which can perform 33 grasp gestures and two/three-fingered in-hand manipulation. This study provides a valuable reference for the design of dexterous hands with anthropomorphic functions. © 2016 IEEE.

关键词： design optimization Dexterous manipulation multifingered hands precision grasp

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A Fault Detection Method Based on Bearing Dynamics with Multi-frequency Sinusoidal Signal 41

A Fault Detection Method Based on Bearing Dynamics with Mult...

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第41届中国控制会议

作者： Xiaohong Li Zhicheng Li Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineeringand the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in UniversitiesSouthern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bearing is a common and important component in the industry,and it is crucial to detect and diagnose its working *** to the characteristic the motion process of the bearing that is a periodic nonlinear system with sinusoidal input,a bearing fault detection method based on the nonlinear system with multi-frequency sinusoidal input is *** the dynamics modeling of the motion for the bearing,it is found that its input and output have the characteristics of almost periodic *** the periodogram-based asymptotic local fault detection method,the fault detection problem is transformed into a hypothesis test problem,and a threshold is obtained by the given confidence and the degree of freedom of a specific frequency *** method can effectively and quickly monitor the early minor faults in strong noise *** realization and performance of this bearing detection method are illustrated by the simulated vibration signal of the bearing.

关键词： Bearing dynamics model fault detection sinusoidal signal statistical methods

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shi, Qiuyu Liu, Fajiang Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested. © 2024 IEEE.

关键词： Shape optimization

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Cam Profile Optimization for a Piezoelectric-Based Sole Energy Harvester

Cam Profile Optimization for a Piezoelectric-Based Sole Ener...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liao, Haisu Ren, Zhongliang Wang, Yidi Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Harvesting energy from the human body to extend the operational time for low-power has gained significant attention. Recently, researchers have focused on biomechanical energy harvesting from human feet while walking. This paper presents an optimization of the cam profile for a piezoelectric-based sole energy harvester designed to be worn on the bottom of shoes to power electronic devices. Specifically, cams with linear polynomial and exponential functions were designed to actuate the piezoelectric transducers (PZTs). Force analysis revealed that the exponential function cam induces more significant deformation in the PZTs than the linear polynomial cam. Preliminary tests on a healthy subject validated this design, showing that the exponential function cam produced an average output power of 0.16mW at a walking speed of 5.5 km/h, indicating a 78% improvement over the linear polynomial cam. Moreover, the optimization rate increased with the growing walking speed. © 2024 IEEE.

关键词： Piezoelectric transducers

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Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

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Analysis of the Obstacle-Crossing Capability for a Coupled Parallelogram Leg 16th

Analysis of the Obstacle-Crossing Capability for a Coupled P...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Chen, Junpeng Pan, Yang Li, Mi Zhu, Renjie Gao, Meng Wang, Kun Xiao, Xinyu Deng, Lizi Dai, Jian S. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education Centre for Advanced Mechanisms and Robotics Tianjin University Tianjin300350 China Centre for Robotics Research King’s College London LondonWC2R 2LS United Kingdom

ISBN: (纸本)9783031457692

This paper presents the kinematic analysis of a coupled parallelogram leg (CPL) used for locomotion in a hexapod robot. The ability to cross obstacles is a crucial functionality of legged robots, which heavily relies on their control algorithms and structural characteristics. In this study, we specifically focus on analyzing the CPL workspace and propose three performance metrics for assessing its obstacle-crossing (OC) capabilities: workspace utilization, effective obstacle-crossing area ratio, and maximum stride ratio. By calculating these metrics for two main walking directions, we thoroughly evaluate the CPL’s OC abilities. The results offer valuable insights into the maximum stride and the starting and ending footholds in each direction, providing a solid theoretical foundation for the development of flexible OC strategies. Prototype experiments successfully validate the accuracy of these calculations, further confirming the effectiveness of the proposed metrics. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Kinematics

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Design and Evaluation of a Novel Self-Adaptive Ankle Rehabilitation Exoskeleton with Elastic Modules 8

Design and Evaluation of a Novel Self-Adaptive Ankle Rehabil...

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8th IEEE International Conference on advanced robotics and Mechatronics, ICARM 2023

作者： Gao, Meng Chen, Junpeng Li, Mi Dai, Jian S. Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen518055 China Centre for Robotics Research King's College London LondonWC2R 2LS United Kingdom Centre for Advanced Mechanisms and Robotics Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350300178

This paper proposes a novel ankle rehabilitation exoskeleton based on the research of human gait cycle, aiming to assist patients with neurological injury to recover quickly. The mechanism consists of two frames equipped with ankle joints and toe joint. The lower limbs and musculature system are correlated to propose the model. Incorporating spring modules are provided on the instep, the bottom of toes and either sides of the ankles which cushions lower limbs and reduces energy consumption. Kinematics and stress analysis are conducted to verify the feasibility of the model. Besides, the simulation, which incorporates the elastic elements and springs, is presented. Finally, the modular facilitates could easy integration with other rehabilitation modules for a comprehensive system. Overall, this research provides theoretical and engineering technical support for developing lower limb rehabilitation robots with adaptive stability, diversified movement functions, and human-computer interaction safety and health under different conditions. © 2023 IEEE.

关键词： Stress analysis

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