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International Conference on Mechanical Design, ICMD 2023

作者： Deng, Jie Zhang, Wenzhi School of Mechanical Engineering Inner Mongolia University of Technology Hohhot010051 China Inner Mongolia Key Laboratory of Special Service Intelligent Robotics Hohhot010051 China

ISBN: (纸本)9789819709212

The quality of welding seam images is affected by noise during the process of acquisition and propagation. The traditional image-filtering method results in the loss of the edge and detail information of the welding seam image in the denoising process. In view of these problems, in this paper, we proposed an improved wavelet filtering method for welding seam images in complex environments. Based on wavelet filtering, the proposed method processes the high-frequency and low-frequency subbands of the image. The improved filtering method can better remove the noise of welding seem images. By using a wall-climbing robot equipped with an industrial camera to capture the weld image, various traditional filtering methods and the proposed filtering method were used to denoise the welding seam image. A comparison and analysis of the experimental results revealed that the proposed an improved wavelet filtering method for weld images in complex environments is better than the traditional filtering method. This study provides guidance for accurate weld identification and defect detection. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Welds

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Additive manufacturing of high-quality tritium breeding pebbles using ceramic precursors

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Journal of the European Ceramic Society 2024年第7期44卷 4719-4730页

作者： Su, Fang Li, Yuzeng Xing, Huanhuan Liu, Yu Liu, Zhiyuan Liu, Changyong Jiang, Cho-Pei Chen, Zhangwei Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen University Shenzhen518060 China College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei10608 Taiwan State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

In this study, the fabrication of advanced lithium orthosilicate (Li4SiO4) ceramic tritium breeding pebbles through photopolymerization using ceramic precursors (i.e., SiO2 and Li2CO3) is reported for the first time. The pebbles exhibit excellent mechanical and physical properties. Through optimization of manufacturing parameters and a geometrical correction model to compensate printing deviations, the printing accuracy of the pebbles was enhanced. The resulting pebbles had a diameter of approximately 1 mm, a sphericity of 1.01, a uniformly distributed pore structure, a phase purity > 95%, and a satisfying relative density reaching 91.39%. The average crush load 25.7 ± 0.3 N, surpassed that achieved by previously reported methods. Furthermore, the thermal conductivity was enhanced compared to that of solid-phase synthesized Li4SiO4 powder, facilitating the tritium release process for fusion applications. This study may serve as a guidance for designing appropriate ceramic breeders, providing a cost-effective approach applicable to produce other high-precision ceramic components with complex compositions. © 2024 Elsevier Ltd

关键词： Lithium compounds

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Optimized Design and Experimental Study of Shank Structure of Biped Robot

Optimized Design and Experimental Study of Shank Structure o...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Qin, Meijuan Kong, Lingyu Nie, Daming Jiang, Hongjian Zhang, Yu Fu, Yili Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China The National Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350325706

Lightweight design can improve the energy efficiency of biped robots, which is significant in the field of biped robot. Topology optimization has been widely used in the field of robot. However, the existing optimization is limited to the structural space based on traditional empirical design, and the potential of topology optimization is not fully utilized. Moreover, the finite element model is too simplified, which leads to a large optimization deviation. In this paper, a method of structural innovation design for the shank structure of biped robot is proposed. In the initial stage of conceptual design, the design space of optimization object is effectively maximized. Then, the load transmission characteristics of bearings are simulated by link10 element, and the topology optimization method of multiple load cases is carried out to obtain the optimized shank structure, which reduces the weight by 14.09 % compared with the existing shank. Finally, finite element extreme strength check and experiment test are both used to verify the feasibility and availability of the structure. © 2023 IEEE.

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Hierarchical Trajectory Optimization for Humanoid Robot Jumping Motion 16th

Hierarchical Trajectory Optimization for Humanoid Robot Jump...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory Control 16th

A Locust-Inspired Energy Storage Joint for Variable Jumping ...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Yang, Yongzun Feng, Zhiyuan Jin, Cheng Tang, Lingqi Ma, Songsong Li, Yao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China

ISBN: (纸本)9789819964949

Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. The locust is good at jumping. Thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. The motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. This locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Energy storage

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hu, Longlong Tang, Lingqi Chen, Hao Li, Yao Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Machine Theory and Intelligent Unmanned Systems of Guangdong Key University Laboratory of Mechanism Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Many insects and miniature robots can traverse through narrow spaces via jumping motion;however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction =18, the velocity magnitude 3.4m/s, the body angle 30). Unlike typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements;this represents significant improvement of motion ability for small-scale mobile robots. © 2024 IEEE.

关键词： Landing

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The Development Status, Challenges and Development Trends in Rehabilitation robotics: A Review 17

The Development Status, Challenges and Development Trends in...

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17th International Convention on Rehabilitation Engineering and Assistive technology, i-CREATe 2024

作者： Zhang, Liyuan Peng, Yige Qi, Xiaoxuan Bao, Sheng Yuan, Jianjun Shanghai Ic Technology & Industry Promotion Center Shanghai210203 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai200444 China

ISBN: (纸本)9798350355154

This paper presents the research status of rehabilitation robot in detail. In order to understand the current situation of rehabilitation robots, they are divided into four categories, such as upper limb rehabilitation robots, lower limb rehabilitation robots, massage assistance robots and other rehabilitation robots. The research status and existing problems of rehabilitation robots at home and abroad in recent years are introduced in detail, and the functions of rehabilitation robots are demonstrated. Trained upper limb rehabilitation robots and lower limb rehabilitation robots have been introduced, which help patients undergo rehabilitation training and demonstrate strong recovery functions. Massage auxiliary robots provide continuous and stable massage therapy to the patient's specific muscle tissue, relieving the patient's pain. Thermal moxibustion robots and acupuncture robots provide rehabilitation treatment for patients in the way of traditional Chinese medicine. Finally, the common challenges in the research field of rehabilitation robots are discussed, and the future development trends of various rehabilitation robots are proposed. © 2024 IEEE.

关键词： Acupuncture

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Design of a Miniature Flapping-Wing Robot Capable of Quick and Energy-Efficient Takeoff

Design of a Miniature Flapping-Wing Robot Capable of Quick a...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Xu, Yi Shen, Yishi Peng, Liang Li, Qi Yu, Jin Zhang, Shi Shi, Qing Beijing Institute of Technology Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781665481090

Micro areal vehicles are widely used in civilian and military applications, but it is still challenging for them to take off in place with both high speed and energy utilization efficiency. Inspired by locusts, one solution is to integrate the flying with the jumping motion, utilizing the speed generated by jumping to provide sufficient aerodynamic forces for the flight. In this paper, we develop a miniature locust-inspired robot capable of jumping and flying. By coupling the jumpingleg mechanism and flapping-wing mechanism, the robot has a compacted size (with a body length of 15 cm and a weight of 23 g). Furthermore, we design a cascaded jump-flying controller to achieve stable transition and maneuverable flight. A series of experimental results reveal that the robot achieves a maximum jumping height of 50 cm and a minimum flying turning radius of 0.8 m. Remarkably, the robot is capable of taking off in place through controlling the hindleg and wings coordinately. © 2024 IEEE.

关键词： Microrobots

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Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

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Journal of Bionic Engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

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