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An Untethered Soft-Swallowing robot with Enhanced Heat Resistance,Damage Tolerance,and Impact Mitigation

Chinese Journal of Mechanical Engineering 2024年第6期37卷 456-465页

作者： Haili Li Xingzhi Li Pan Zhou Jiantao Yao Zhejiang Provincial Key Laboratory of Part Rolling Technology School of Mechanical Engineering and MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Soft robotics focuses on addressing the locomotion problem in unstructured environments and the manipulation problem of non-cooperative objects,which inevitably leads to soft robots encountering multiple uncertainties and ***,improving the robustness of soft robots in hostile environmental conditions has always been a *** methods usually improve this robustness through damage isolation,material elasticity,and self-healing *** contrast to existing methods,this paper proposes a method to improve the robustness of an untethered soft-swallowing robot based on the physical properties of fluids,such as the high specific heat capacity of water,the viscosity of soft glue,and the shear thickening of non-Newtonian *** on this method,we developed a soft-swallowing robot with enhanced heat resistance,damage tolerance,and impact mitigation capability by only replacing its fluid working *** show that the developed soft-swallowing robot can withstand high temperatures above 600°C,maintain high performance even after enduring hundreds of damages,and protect grasped object from more than 90%of external *** principle extends beyond the three fluids used in this *** fluids,such as magnetic fluid,can increase adhesion to metal materials,whereas oily fluids can reduce frictional resistance between soft ***,other solid materials with elasticity and compliance can serve as alternative working mediums for the soft-swallowing *** work contributes an effective method for fluid-dependent soft robotic systems to resist the damage from uncertain factors in harsh environments.

关键词： Soft gripper Untethered design Heat resistance Damage tolerance Impact mitigation

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Finite-step-integration:An original method for the forward kinematics analysis of parallel manipulators

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Frontiers of Mechanical Engineering 2025年第1期20卷 129-146页

作者： Yuan JIANG Bo HAN Xiaohan LIU Meng HAN Jiantao YAO Yongsheng ZHAO School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China College of Information Science and Engineering Northeastern UniversityShenyang 110819China

In today’s society,parallel manipulators(PMs)are widely used in industrial production,aerospace,and other fields,where their forward kinematic analyses often serve as the foundation for various tasks,such as design,calibration,and *** the past few decades,this issue has seemingly been repeatedly addressed using various numerical methods,intelligent algorithms,and algebraic *** it is undeniable that solving the equations is easier with current technology,the problem of“how to formulate solvable equations”is often *** analysis issue typically involves establishing non-linear,multi-parameter,high-dimensional,and strong-coupled mathematical equations,which,from a geometric perspective,is also considered a process of solving a spatial *** considering the temporal dimension of motion between two isomorphic polytopes,based on calculus theory,it has been found that this non-linear problem can be transformed into the superposition of multiple iteratively linear ***,we propose an original method for the forward kinematic analysis of PMs,namely the finite-step-integration(FSI)*** this study,the mathematical principles and modeling methods of the FSI method are elucidated,and the modeling and programming processes of the FSI method are demonstrated using general 6-UPS and 3-UPS/S manipulators as *** the analysis of its unique algebraic structure,the methods for singularity determination and motion tracking characteristic analysis are *** method addresses the long-standing challenges in the forward kinematic modeling of PMs,which is applicable for design,calibration,and control,while also offering novel insights for modeling and solving certain non-linear engineering problems.

关键词： finite-step-integration forward kinematic analysis parallel manipulator singularity determination motion tracking

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A 0.5-meter-scale,high-load,soft-enclosed gripper capable of grasping the human body

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Science China(Technological Sciences) 2023年第2期66卷 501-511页

作者： LI HaiLi ZHANG Shuai ZHANG XuanHao ZHAO WuMian YAO JianTao Zhejiang Provincial Key Laboratory of Part Rolling Technology Faculty of Mechanical Engineering&MechanicsNingbo UniversityNingbo 315211China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China

Developing large,soft grippers with high omnidirectional load(above 40 kg)has always been *** address this challenge by developing a powerful soft gripper that can grasp the human body based on a soft-enclosed grasping structure and a soft-rigid coupling *** envelope size of the proposed soft gripper is 611.6 mm×559 mm×490.7 mm,the maximum grasping size is 417 mm,and the payload on the human body is more than 90 kg,which has exceeded most existing soft ***,the grasping force prediction of the gripper is achieved through theoretical *** primary contribution of this work is to overcome the size and payload limits of current soft grippers and implement a human-grasping experiment based on the soft-grasping method.

关键词： soft gripper large size high-load soft-enclosed grasping

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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-parallel Hybrid Bionic Wheel-Legged Quadruped robot

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved;Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective;Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots. © 2023 IEEE.

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Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable Tracking robot on USV 23rd

Type Synthesis and Analysis of Rigid-Flexible Hybrid Stable ...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Erwei, Li Ruijie, Lu Tieshi, Zhao Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao463400 China Ministry of Education of China Qinhuangdao China

ISBN: (纸本)9789811993978

With the increasing demand for offshore USV-UAV cooperation, the autonomous safe landing of UAV on USV has become a key issue. The USV bears multi-dimensional swaying motion under the influence of wind, waves and currents when sailing, which poses a great challenge to the take-off and landing of UAV. Aiming at the above challenge, this paper proposes a stable tracking robot consisting a PM (parallel Mechanism) and a planar CDPM (Cable-Driven parallel Mechanism). Firstly, according to the DOF (degree of freedom) requirements of the stable tracking robot, a hybrid mechanism with 2R1T PM and 1R2T planar CDPM was constructed on the basis of the principle of DOF distribution and the existing mechanism. Secondly, the process of assisting the take-off and landing of the UAV was determined, and the kinematics and dynamics of the stable tracking robot were carried out based on the screw algebra. Finally, the simulation experiment of the rigid-flexible hybrid stable tracking robot to assist the take-off and landing of the UAV was carried out, which verifies the correctness of the kinematics and dynamics models established, and lays a foundation for the subsequent prototype design and control. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Design and Analysis of Single-drive Space Deployable Metamorphic Capture Manipulator

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2025年第1期61卷 30-43页

作者： Han, Bo Yang, Ming Luo, Mingyan Li, Mingyang Yao, Jiantao Zhao, Yongsheng School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China

In order to improve the problems of large volume and complex driving of grasping mechanism in space non-cooperative target capture task, a single-drive space deployable truss capture manipulator is proposed. Based on the scissor mechanism and metamorphic principle, the structure of the deployable basic unit is designed, and the deployable unit is connected by the synchronous hinge to realize the synchronous drive of each deployable unit on the single-branch truss. The characteristics of changing the axis of the revolute joint at a specific position can be realized by using the metamorphic joint in the unit, so that the unfolding motion of the manipulator is transformed into the turning motion of the platform, and the capture action of the manipulator is completed. On the basis of considering the friction, the dynamic model of the basic deployable unit is established by using the Lagrange equation. The position, velocity and acceleration of each connecting rod are obtained by vector operation, and the relationship between the driving force and the equivalent torque is obtained. The single-branch manipulator truss is equivalent to a 4R mechanism, and the dynamic model of the manipulator truss combination is further carried out by Newton-Euler recursive method, and the correctness of the model is verified by software simulation. The proposed space capture manipulator has the advantages of expandable, metamorphic, and small number of drives, which can provide theoretical guidance and reference for the research of related technical fields. © 2025 Chinese Mechanical Engineering Society. All rights reserved.

关键词： Trusses

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An End-Traction Lower Extremity Rehabilitation robot: Structural Design, Motion Analysis, and Experimental Validation 23rd

An End-Traction Lower Extremity Rehabilitation Robot: Struct...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Bian, Hui Yang, Fan Sun, Zhaoliang Li, Jiachen Ding, Jiebin Li, Shuai Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Hebei Qinhuangdao066004 China

ISBN: (纸本)9789811993978

An end-traction lower extremity rehabilitation robot named ETLER is designed to meet the rehabilitation needs of patients with lower extremity dysfunction at all stages of recovery, while taking into account the ease of operation for the patient. A single robot can meet the needs of a hemiplegic patient on either side for the designed end-change structure. The robots can also be used in pairs for patients with spinal cord injuries. Meanwhile, the adjustable ankle joint limit design provides customized training programs for the ankle joint. To carry out the trajectory planning of the rehabilitation robot, kinematic analysis and control strategy modeling of the robot and human–machine system are carried out. The functionality and universality of the rehabilitation robot are verified through comparative tests. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine design

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Design and Analysis of a Novel Ring Truss Deployable Antenna Mechanism 16th

Design and Analysis of a Novel Ring Truss Deployable Antenna...

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

作者： Han, Bo Yuan, Zhantu Zhou, Yuanzhi Liu, Feng Yao, Jiantao Zhao, Yongsheng Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9789819965038

With the development of astronautics, satellite antenna as an important communication equipment has also gradually developed to large scale. In this paper, a novel ring truss deployable antenna mechanism is proposed. The mechanism has three layers of installation points with height differences between them, which can be used to ensure that all the installation points will be distributed on the profile of the cable network, and this characteristic ensures the mechanism can be utilized to the maximum. Then the degrees of freedom (DOF) and kinematics of the ring truss deployable mechanism are analyzed using screw theory, where the analysis shows that the DOF of the overall ring truss deployable mechanism is equal to one. Following that, the dynamics model about the mechanism unit is established using the second type of Lagrange equations. Based on this dynamic model, the effect of torsion spring stiffness on the deployment process is discussed and the conclusion is verified by simulation. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trusses

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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-parallel Hybrid Bionic Wheel-Legged Quadruped robot*

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

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IEEE International Conference on robotics and Biomimetics

作者： Shanshan Li Hongbo Wang Dong Li Minghao Li Lianqing Li Yu Tian Jianye Niu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System and Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education of China Yanshan University Qinhuangdao China

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved; Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective; Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots.

关键词：

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Type Synthesis Method of Unconstrained SRCPR Based on Actual Workspace for Serial robots 2021

Type Synthesis Method of Unconstrained SRCPR Based on Actual...

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2021 International Conference on robotics and Control Engineering, RobCE 2021

作者： Qi, Lizhe Shan, Yu Zhang, Jie Zhao, Yanzhi Li, Erwei Sun, Yunquan Fudan University Academy for Engineering and Technology China Liren College of Yanshan University China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University China

ISBN: (纸本)9781450389471

In the field of industrial serial robots, the main problems existing at present are how to get the overall configuration of the serial robot and how to choose the optimal configuration of the serial robot. Aiming at these problems, this paper discussed the type synthesis problems of serial robots with prismatic pairs (P pairs) and rotational pairs (R pairs), and proposed a type synthesis method of unconstrained SRCPR (the serial robot configuration (SRC) with P pairs and R pairs) based on actual workspace for industrial robots. First, the "structural cell"of the serial robot SRCPR was proposed, and their topological relations were illustrated. Meanwhile, the dimensions of SRC were defined. Then, the relationships between the dimension of actual workspace and the dimension of SRC were founded. Finally, the type synthesis theoretical method of SRCPR was obtained by using the relationships. © 2021 ACM.

关键词： Industrial robots

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