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2022 8th International Conference on Mechanical Engineering, Materials and Automation Technology, MMEAT 2022

作者： Gao, Jian Rong, Weibin Gao, Peng Li, Dongjie Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Harbin150080 China

The magnetically driven micro soft robot is a hot research topic in the field of micro robotics. The magnetic torque of each part of the robot rotates with its deformation, so the magnetic torque and magnetic force to which the robot is subjected are difficult to be calculated directly. The lack of physical interfaces for torque distribution in many finite element software reduces the speed and accuracy of calculating the deformation of a robot using finite element simulation methods. In this paper, a fast simulation method to convert the local magnetic torque into equivalent load density for the deformation mode of the sheet micro soft robot is proposed. A finite element model of the fabricated micro soft robot is established, and the deformation and total magnetic moment of the robot under different magnetic field strength and magnetic field gradient are simulated and calculated. Experiments are executed to verify the validity of the simulation results. © Published under licence by IOP Publishing Ltd.

关键词： Robots

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Design and motion performance of new inspection robot for steam generator heat transfer tubes

Design and motion performance of new inspection robot for st...

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2021 ieee International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Xu, Biying Li, Ge Xing, Zhenming Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin China

ISBN: (纸本)9781665436786

The reliability of the Steam Generator is a key factor affecting the overall efficiency and safety of nuclear power plant reactors. Under the influence of nuclear radiation, remote control robots are currently used for Steam Generator heat transfer tubes inspection. In this paper, a new inspection robot is designed with better structure and higher working efficiency. Structural modeling and kinematic analysis are carried out. A modular control system is designed and applied for system integration. To verify the practicality of the robot, tube sheet motion experiments and performance analysis are undertaken. It results that the proposed inspection robot efficiently moves on the tube sheet and has excellent motion performance. © 2021 ieee.

关键词： Steam generators

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Coordination Control of Power Flow Controller and Hybrid DC Circuit Breaker in MVDC Distribution Networks

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Journal of Modern Power systems and Clean Energy 2021年第6期9卷 1257-1268页

作者： Jianquan Liao Niancheng Zhou Zian Qin Pavel Purgat Qianggang Wang Pavol Bauer IEEE School of Electrical Engineering Sichuan University State Key Laboratory of Power Transmis-sion Equipment and System Security and New Technology Chongqing University Department of Electrical Sustainable Energy DC SystemsEnergy Conversion andStorage Group

The two main challenges of medium voltage direct current(MVDC)distribution network are the flexible control of power flow(PF)and fault *** this paper,the power flow controller(PFC)is introduced to regulate the PF and inhibit the fault current during the DC *** coordination strategy of series-parallel PFC(SP-PFC)and hybrid DC circuit breaker(DCCB)is *** regulating the polarity and magnitude of SP-PFC output voltage during the fault,the rising speed of fault current can be suppressed so as to reduce the breaking current of hybrid *** access mode of SP-PFC to the MVDC distribution network and its topology are analyzed,and the coordination strategy between SP-PFC and hybrid DCCB is ***,the emergency control and bypass control strategies of SP-PFC are *** this basis,the mathematical model of SP-PFC in different fault stages is *** the equivalent model of SP-PFC,the fault current of the MVDC distribution network can be calculated accurately.A simulation model of the MVDC distribution network containing SP-PFC is established in MATLAB/*** fault current calculation result is compared with the simulation result,and the effectiveness of the proposed coordination strategy is verified.

关键词： Medium voltage direct current(MVDC)distribution network fault current power flow controller(PFC) DC circuit breaker(DCCB)

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Optimal Design of Three-Dimensional Voxel Printed Multimaterial Lattice Metamaterials via Machine Learning and Evolutionary Algorithm

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Physical Review Applied 2022年第5期18卷 054050-054050页

作者： Le Dong Dong Wang Robotics Institute State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Mechanical metamaterials could exhibit tremendous design potential through synergistic material distribution and structural design. However, the existing designs mainly focus on the structures and neglect the material distributions. We propose a digital design and optimization method for lattice metamaterials using machine learning and an evolutionary algorithm taking into account both material distributions and structural design. The machine learning model is developed to predict mechanical behaviors accurately, based on the database generated by python-assisted finite-element simulations with random material and structural parameters. The optimal design is realized by the evolutionary algorithm method, which can quickly find the target mechanical responses in a broad design space. A digital voxel model is established to three-dimensionally print the designed multimaterial lattice metamaterials. The developed framework can be used to match multiple targets, such as reproducing the stress-strain and Poisson's ratio curves of biological tissues simultaneously. Lattice metamaterials with customized lateral profiles are also demonstrated. This work expands the design space of lattice metamaterials and is of great interest in flexible electronics and soft robotics.

关键词： Mechanical metamaterials Functional materials Triangular lattice Additive manufacturing Finite-element method Genetic algorithm Machine learning Tension tests

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Sensorless End-Effector Force Estimation of Multi-DOF Manipulators Using Semiparametric Joint Model and Generalized Momentum Observer

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ieee Sensors Journal 2025年

作者： Xing, Hongjun Ding, Liang Xia, Kerui Chen, Jinbao Gao, Haibo Deng, Zongquan Nanjing University of Aeronautics and Astronautics National Key Laboratory of Aerospace Mechanism Nanjing210016 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China International Institute for Research and Innovation Hefei230000 China

With end-effector force estimation, manipulators can safely interact with the environment or operators, eliminating the need for conventional wrist sensors that measure force and torque. This paper introduces a new approach to estimating the force exerted by the end-effector, utilizing a two-step method. The first step is to build an accurate semiparametric joint model. The joint model integrates a harmonic drive parametric model with a local Gaussian process regression (LGPR)-based learning model. A combined parametric model of the harmonic drive offers the analytical joint torque component, which is employed in the LGPR process to reconstruct the unmodeled portion. This reconstruction is based on the motor-side joint angle, the link-side joint angle, and the controlled motor current. Compared to the parametric or learning models alone, this semiparametric joint model considerably improves modeling precision. In the second step, an external force observer is developed by estimating joint torque. The force observer developed in this paper is based on generalized momentum. Multi-DOF manipulators benefit from this design because joint dynamics are separated from link dynamics, thereby reducing the complexity of dynamic modeling. In addition to joint torque sensors, a wrist force/torque sensor is utilized to compare the estimated joint torques and end-effector forces with the actual measured values. Experimental results obtained using a custom-built manipulator have demonstrated the advantages and effectiveness of this approach. © 2001-2012 ieee.

关键词： Manipulators

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets

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Chinese Journal of Mechanical Engineering 2021年第4期34卷 236-248页

作者： Jiankun Yang Chengwei Ren Chenghao Yang Youyu Wang Shumin Wan Rongjie Kang Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300350China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Beijing Institute of Spacecraft System Engineering CAST Beijing 100094China

Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined ***,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured *** this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is *** is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning ***-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness *** finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.

关键词： Non-cooperative targets Continuum arm group Wire-driven mechanism

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Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control

arXiv

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arXiv 2025年

作者： Shi, Yapeng Li, Sishu Wu, Yongqiang Liu, Junjie Leng, Xiaokun Zang, Xizhe Piao, Songhao Faculty of Computing Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This study presents an enhanced theoretical formulation for bipedal hierarchical control frameworks under uneven terrain conditions. Specifically, owing to the inherent limitations of the Linear Inverted Pendulum Model (LIPM) in handling terrain elevation variations, we develop a Piecewise Slope LIPM (PS-LIPM). This innovative model enables dynamic adjustment of the Center of Mass (CoM) height to align with topographical undulations during single-step cycles. Another contribution is proposed a generalized Angular Momentum-based LIPM (G-ALIP) for CoM velocity compensation using Centroidal Angular Momentum (CAM) regulation. Building upon these advancements, we derive the DCM step-to-step dynamics for Model Predictive Control MPC formulation, enabling simultaneous optimization of step position and step duration. A hierarchical control framework integrating MPC with a Whole-Body Controller (WBC) is implemented for bipedal locomotion across uneven stepping stones. The results validate the efficacy of the proposed hierarchical control framework and the theoretical formulation. Copyright © 2025, The Authors. All rights reserved.

关键词： Piecewise linear techniques

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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLINEARITY OF DIELECTRIC ELASTOMER ACTUATORS THROUGH CLOSED-LOOP INPUT SHAPER AND DIRECT INVERSE HYSTERESIS CONTROL 1

COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLI...

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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Zou, Jiang Gu, Guoying Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Minhan Distinct Shanghai China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

In this work, we present a control approach to remove the coupled vibration and viscoelastic nonlinearity of DEAs. To this end, we firstly characterize the dynamical responses of DEAs, demonstrating complex nonlinearities, including vibration, viscoelastic creep and hysteresis nonlinearities. Then, a closed-loop input shaper is designed to remove the vibration phenomenon and viscoelastic creep nonlinearity. Finally, based on a phenomenological hysteresis model, a direct inverse hysteresis controller is further developed to eliminate the viscoelastic hysteresis nonlinearity of the compensated system. To verify the effectiveness of the proposed control approach, several static and periodical trajectories tracking experiments are conducted. The experimental results demonstrate that: with our control approach, DEA can precisely track sinusoidal trajectories with different frequencies, and the maximum tracking error and the root mean square error decrease from 63.56% to 19.81% and 29.02% to 9.58%, respectively. This work is the early attempt to remove the coupled vibration and viscoelastic nonlinearity, which capable of improving the working bandwidth of DEAs and may pave the way for practical applications. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Hysteresis

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