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Highly stable and wide-range flexible pressure sensors with a gradient modulus and selective foaming layer

Chemical Engineering Journal 2025年 515卷

作者： Wang, Meng Li, Wendong Lv, Yadong Li, Guangxian Zhao, Zhijun Wang, Yaobing Zhou, Qinghua Pu, Wei Kong, Miqiu School of Aeronautics and Astronautics Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft Ministry of Education National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu610065 China College of Polymer Science and Engineering National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu610065 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China

The service life and stability of flexible pressure sensors vary with the interfacial toughness of these multilayered structures, which are principally fabricated by adhesive bonding, hot melting, and interconnection. However, balancing the trade-off between interface toughness and sensing performance under complex stresses remains challenging. To address this issue, a foam sandwich structure with gradient modulus is constructed by integrating a thermoplastic polyurethane (TPU)/carbon nanotube electrode with a selectively foamed TPU/ionic liquid dielectric. The synthesis is fundamentally inspired by the molecular chain entanglements and hydrogen bonds formed at the electrode/dielectric interface owing to solvent diffusion due to secondary solubilization and differential foaming temperatures. The synthesized sensing structure exhibits ultra-high toughness (3000 J/m2) and dynamic impact resistance (1 J);meanwhile, the sensor shows an ultra-wide sensing range (0.02–2000 kPa), high sensitivity (1.7 nF/kPa), and excellent service stability up to 50,000 cycles under compressive stress (100 kPa), shear stress (30 kPa), bending stress (bending radius of 1.6 mm), and complex stress of 120 kPa (compression stress of 116 kPa and shear stress of 31 kPa). Additionally, on integration into robot grippers, the sensor provides accurate feedback on multi-stage object gripping and can resist shear stress while gripping high-weight objects. This study provides a new strategy for fabricating flexible pressure sensors that can be effectively used under complex stresses. © 2025 Elsevier B.V.

关键词： Shear bands

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Modeling Method and application of Rational Finite Element Based on Absolute Nodal Coordinate Formulation

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Acta Mechanica Solida Sinica 2018年第2期31卷 207-228页

作者： Chao Ma Cheng Wei Jing Sun Bin Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Department of Aerospace Engineering Harbin Institute of Technology

In multibody system dynamics, the absolute nodal coordinate formulation （ANCF） uses power functions as interpolating polynomials to describe the displacement field. It can get accurate results for flexible bodies that undergo large deformation and large rotation. However, the power functions are irrational representation which cannot describe the complex shapes precisely, especially for circular and conic sections. Different from the ANCF representation, the rational absolute nodal coordinate formulation （RANCF） utilizes rational basis functions to describe geometric shapes, which allows the accurate representation of complicated displacement and deformation in dynamics modeling. In this paper, the relationships between the rational surface and volume and the RANCF finite element are provided, and the generalized transformation matrices are established correspondingly. Using these transformation matrices, a new four-node three-dimensional RANCF plate element and a new eight-node three-dimensional RANCF solid element are proposed based on the RANCF. Numerical examples are given to demonstrate the applicability of the proposed elements. It is shown that the proposed elements can depict the geometric characteristics and structure configurations precisely, and lead to better convergence in comparison with the ANCF finite elements for the dynamic analysis of flexible bodies.

关键词： Multibody system dynamics Absolute nodal coordinate formulation Flexible deformation Spline representation Rational finite element

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A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing

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Science China(Technological Sciences) 2021年第3期64卷 462-480页

作者： DING XiLun WANG YeCong WANG YaoBing XU Kun Robotics Institute Beihang UniversityBeijing 100191China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing 100094China

Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.

关键词： space robotic system on-orbit servicing large space manipulator humanoid space robot verification kinematics calibration

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Mechanism Design and Kinematics Analysis of an Original Cable-driving Exoskeleton Robot 2

Mechanism Design and Kinematics Analysis of an Original Cabl...

引用

2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, IMCEC 2018

作者： Ma, Ruqi Tang, Zixin Gao, Xiangyu Ni, Wencheng Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781538618035

To meet the lightweight and flexibility actual requirements of the exoskeleton robot system used for robot assisted rehabilitation;a exoskeleton system according with the motion characteristics of human upper limbs was designed based on the analysis of upper limbs structures. The shoulder and elbow joints of the exoskeleton system are driven by steel wire to realize the movement and torque transfer, which can not only realize the lightweight mechanism design of the exoskeleton by allocating the joint driving components at the robot base, but also can realize the flexible mechanism design of the joints by adjusting the stiffness of the cable-driving system. The decoupling matrix of the exoskeleton cable-driving system was given based on the analysis of the shoulder and elbow joints motion characteristic and the position and pose decoupled kinematics modal was established by using vector product method. The test experiments based on the physical prototype show that the motion range and the motion characteristics of the exoskeleton robot system can perfectly meet the needs of upper limb rehabilitation training. © 2018 IEEE.

关键词： Cables

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Lightweight structure of a phase-change thermal controller based on lattice cells manufactured by SLM

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Chinese Journal of Aeronautics 2019年第7期32卷 1727-1732页

作者： Hao ZHOU Xiaoyu ZHANG Huizhong ZENG Huning YANGa Hongshuai LEI Xiao LI Yaobing WANG Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijing100094China Institute of Advanced Structure Technology Beijing Institute of TechnologyBeijing100081China

Thermal controllers equipped with phase-change materials are widely used for maintaining the moderate temperatures of various electric devices used in spacecraft. Yet, the structures of amounts of thermal controllers add up to such a large value that restricts the employment of scientific devices due to the limit of rocket capacity. A lightweight structure of phase-change thermal controllers has been one of the main focuses of spacecraft design engineering. In this work, we design a lightweight phase-change thermal controller structure based on lattice cells. The structure is manufactured entirely with AlSi10 Mg by direct metal laser melting. The dimensions of the structure are 230 mm × 170 mm × 15 mm, and the mass is 190 g, which is 60% lighter than most traditional structures(500–600 g) with the same dimensions. The 3 D-printed structure can reduce the risk of leakage at soldering manufacture by a welding process. Whether the strength of the designed structure is sufficient is determined through mechanical analysis and experiments. Thermal test results show that the thermal capacity of the lattice-based thermal controller is increased by50% compared to that of traditional controllers with the same volume.

关键词： Lattice structure Lightweight Selective laser melting(SLM) spacecraft Thermal controller

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

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space(Science & technology) 2021年第1期2021卷 119-126页

作者： Rui Wang Changchun Liang Dong Pan Xiaodong Zhang Pengfei Xin Xiaodong Du Beijing Institute of Spacecraft System Engineering Beijing 100094China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing 100094China

In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is *** predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the *** overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction *** effectiveness of this method is verified by simulation and experiment.

关键词： Visual Velocity prediction

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Study on Buffering and Motion Control of Quadruped Explorer 4

Study on Buffering and Motion Control of Quadruped Explorer

引用

4th IEEE Advanced Information technology, Electronic and Automation Control Conference, IAEAC 2019

作者： Zhang, Pei Gao, Xiangyu Wei, Qingqing Wang, Chu Liu, Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Beijing China Beijing Institute of Spacecraft System Engineering Beijing100094 China

ISBN: (纸本)9781728119076

To address the problem of insufficient driving capacity of wheel explorer in rugged terrain, a quadruped explorer with 12 DOF was proposed. The dynamic model of quadruped explorer was established in gazebo, the integrated method of buffering and motion control was verified through simulation which showed that the landing impact upon explorer landing leg was significantly reduced and the explorer gait motion was both stable and flexible. © 2019 IEEE.

关键词： Motion control

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Research of Visual Servo Control system for space intelligent Robot

Research of Visual Servo Control System for Space Intelligen...

引用

2015 IEEE Advanced Information technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Liang Changchun Zhang Xiaodong Pan Dong Liu Xin Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

ISBN: (纸本)9781479919819

space intelligent robotic systems are expected to play an increasingly important role in the *** robotic onorbital service,whose key is the tracking and capturing technology,becomes research hot in recent *** this paper,the authors propose a vision servo control system for target *** manipulator will be an intelligent robotic system with large-scale movement,functional agility,and autonomous ability,and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation *** realize the autonomous movement and capture mission of SRM,a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better *** control system hierarchy is designed and reliability is considering to guarantee the abilities of control *** last,a ground experiment system is set up based on the concept of robotic control *** that,the autonomous target capturing experiments are *** experiment results validate the proposed algorithm,and demonstrates that the control system can fulfill the needs of function,real-time and reliability.

关键词： Control system On-orbital service space robot Vision servo

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Design of variable stiffness joint of manipulator

Design of variable stiffness joint of manipulator

引用

2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Ni, Wencheng Wang, Yaobing Ma, Ruqi Sun, Kang Pan, Bo Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9781510674608

In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability. In this paper, a design method of variable stiffness modular manipulator joint with large stiffness variation range is proposed, the mechanism design and variable stiffness principle of variable stiffness joint are described, and the ability of stiffness variation in large range is verified through experiments. © 2024 SPIE.

关键词： Leaf springs

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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

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space(Science & technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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