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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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Structural Design and Dynamic Characteristic Analysis of Short-column Micro Piezoelectric Power Actuator

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Recent Patents on Mechanical Engineering 2024年第2期17卷 143-156页

作者： Li, Huaiyong Gao, Shijie Chen, Zhong Yin, Yonghua Jiangsu Key Laboratory of Advanced Manufacturing Technology Huaiyin Institute of Technology Jiangsu Huai’an China

Background: With the rapid development of science and technology, industrial prod-ucts continue to develop towards the direction of lightweight and miniaturization, and the demand for power sources to drive micromachinery is increasing, so the patents related to microactuators are also increasingly valued. The microactuator based on a piezoelectric drive converts the deformation energy of the piezoelectric body into the kinetic energy of the transmission mechanism to drive the output shaft rotation. The stator and the rotor of the existing actuator are the surface contact with a certain preload force. After working for a long time, the contact surface will be lost due to friction, which will reduce the response speed and rotation accuracy and even cause the rotor to slip, affecting the actuator operating life. Objective: In order to solve the above technical problems, the author innovates the driving mode between stator and rotor and proposes a novel short-column micro piezoelectric actuator based on multi-tooth alternating meshing transmission. Methods: Firstly, the structure and operating principle of short-column micro piezoelectric power actuator, which can realize linear motion into rotary motion, and has three main advantages: com-pactness in size, multi-tooth meshing drive and large driving torque, are proposed and elucidated. Secondly, the structure size of each component of the actuator is determined to complete the 3D structure design. Thirdly, the modal analysis and the harmonic response analysis of the actuator are studied. The frequency range of the sawtooth wave voltage excitation signal applied to the actuator is determined. Finally, the prototype is made, and the performance test is carried out. Results: In this paper, a micro piezoelectric power actuator different from the existing patent is proposed, which is assembled by a drive module, a transmission module, an elastic element, an output shaft, a base module and a shell. The results show that whe

关键词： Stators

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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Rapid and controllable in-situ self-assembly of main-group metal nanofilms for highly efficient CO_(2)electroreduction to liquid fuel in flow cells

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Nano Research 2024年第6期17卷 5718-5725页

作者： Miao Wang Huaizhu Wang Yaoda Wang Junchuan Liang Mengfei Zhu Jiarui Li Zuoxiu Tie Zhong Jin State Key Laboratory of Coordination Chemistry MOE Key Laboratory of Mesoscopic ChemistryMOE Key Laboratory of High Performance Polymer Materials and TechnologyJiangsu Key Laboratory of Advanced Organic MaterialsTianchang New Materials and Energy Technology Researc

The electrocatalytic reduction of CO_(2)is a promising pathway to generate renewable fuels and ***,its advancement is impeded by the absence of electrocatalysts with both high selectivity and ***,we present a scalable in-situ thermal evaporation technique for synthesizing series of Bi,In,and Sn nanofilms on carbon felt(CF)substrates with a high-aspect-ratio *** resulting main-group metal nanofilms exhibit a homogeneously distributed and highly exposed catalyst surface with ample active sites,thereby promoting mass transport and ad-/desorption of reaction *** from the unique fractal morphology,the Bi nanofilms deposited on CF exhibit optimal catalytic activities for CO_(2)electroreduction among the designed metal nanofilms electrodes,with the highest Faradaic efficiency of 96.9%for formate production at−1.3 V *** hydrogen electrode(RHE)in *** an industrially relevant current density of 221.4 mA·cm−2 in flow cells,the Bi nanofilms retain a high Faradaic efficiency of 81.7%at−1.1 V(***)and a good long-term stability for formate ***,a techno-economic analysis(TEA)model shows the potential commercial viability of electrocatalytic CO_(2)conversion into formate using the Bi nanofilms *** results offer a green and convenient approach for in-situ fabrication of stable and inexpensive thin-film catalysts with a fractal structure applicable to various industrial settings.

关键词： CO_(2)electroreduction non-noble metal nanofilms flow cells efficiency and selectivity techno-economic analysis

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Stabilizing porous micro-sized silicon anodes via construction of tough composite interface networks for high-energy-density lithium-ion batteries

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Nano Research 2024年第11期17卷 9737-9745页

作者： Lin Sun Yang Liu Liyan Wang Zhidong Chen Zhong Jin Key Laboratory for Advanced Technology in Envirnmental Protection of Jiangsu Province School of Chemistry and Chemical Engineering Yancheng Institute of Technology Yancheng 224051 China School of Petrochemical Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Coordination Chemistry MOE Key Laboratory of Mesoscopic Chemistry MOE Key Laboratory of High Performance Polymer Materials and Technology Jiangsu Key Laboratory of Advanced Organic Materials School of Chemistry and Chemical Engineering Nanjing University Nanjing 210023 China

Compared to nanostructured Si/C materials, micro-sized Si/C anodes for lithium-ion batteries (LIBs) have gained significant attention in recent years due to their higher volumetric energy density, reduced side reactions and low costs. However, they suffer from more severe volume expansion effects, making the construction of stable micro-sized Si/C anode materials crucial. In this study, we proposed a simple wet chemistry method to obtain porous micro-sized silicon (μP-Si) from waste AlSi alloys. Then, the μP-Si@carbon nanotubes (CNT)@C composite anode with high tap density was prepared by wrapping with CNT and coated with polyvinylpyrrolidone (PVP)-derived carbon. Electrochemical tests and finite element (FEM) simulations revealed that the introduction of CNTs and PVP-derived carbon synergistically optimize the stability and overall performance of the μP-Si electrode via construction of tough composite interface networks. As an anode material for LIBs, the μP-Si@CNT@C electrode exhibits boosted reversible capacity (∼ 3500 mAh·g^(−1) at 0.2 A·g^(−1)), lifetime and rate performance compared to pure μP-Si. Further full cell assembly and testing also indicates that μP-Si@CNT@C is a highly promising anode, with potential applications in future advanced LIBs. It is expected that this work can provide valuable insights for the development of micro-sized Si-based anode materials for high-energy-density LIBs.

关键词： micro silicon anode carbon coating carbon nanotube lithium-ion battery

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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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High areal energy zinc-ion micro-batteries enabled by 3D printing

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Journal of Materials Science & technology 2024年第29期196卷 183-189页

作者： Junbing Zhu Wenxi Hu Jiangfeng Ni Liang Li School of Physical Science and Technology Center for Energy Conversion Materials&Physics(CECMP)Jiangsu Key Laboratory of Thin FilmsJiangsu Key Laboratory of Advanced Negative Carbon TechnologiesSoochow UniversitySuzhou 215006China

Rechargeable zinc-ion micro-batteries(ZIMBs)are promising candidates for powering various microelectronic devices,although they typically exhibit low areal energy of∼0.1 mWh cm^(−2).In this study,we reported the design and assembly of zinc micro-batteries through an ink extrusion-based printing *** the process,a three-axis printer was adopted,allowing for the fabrication of microelectrodes with large areal loading and diverse *** oxide anchored with carbon nanotubes was employed as the cathode material,zinc powder was used as the anode material,and a polyacrylamide gel containing ethylene glycol was selected as the *** printed micro-batteries demonstrate an areal capacity of 0.51 mAh cm^(−2) and an energy density of 0.37 mWh cm^(−2) at a charge-discharge current of 0.2 mA,outperforming state-of-the-art zinc *** work provides a simple yet efficient solution to the development of high-energy micro-batteries.

关键词： Microbattery Zinc-ion battery 3D printing Areal energy

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Solid-liquid phase change materials microcapsules: Synthesis strategies,thermal storage and beyond

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Progress in Natural Science:Materials International 2024年第4期34卷 615-631页

作者： Yan Gao Huan Liu Haoguan Gui Chao Yao Guolin Zhang Fuxin Liang Jiangsu Key Laboratory of Advanced Catalytic Materials and Technology School of Petrochemical Engineering Changzhou University Department of Chemical Engineering Tsinghua University Liaoning Provincial Key Laboratory for Green Synthesis and Preparative Chemistry of Advanced Materials Liaoning University

Thermal energy storage is crucial in the context of achieving carbon neutrality. Phase change latent heat stands out among various thermal storage methods due to the high energy density of phase change materials(PCMs).PCMs possess unique characteristics such as tunable thermal storage or/and release processes, constant phasetransition temperatures, and changes in physical state. However, solid-liquid PCMs cannot be directly utilized due to the liquid leakage in their melted state. The encapsulation of PCM microcapsules(PCMMs) is essential for overcoming limitations and optimizing functionalities of the PCMs. Encapsulation strategies play a key role in considering factors like morphology, structure, physicochemical properties, and specific applications. Furthermore, PCMMs can expand their potential applications by incorporating functional nano-materials within their shells or introducing specific components into their cores during the synthesis process. This review examines various encapsulation strategies for PCMMs, including physical, physicochemical, and chemical methods. Various applications of PCMMs are summarized and analyzed with regards to the characteristics of PCMs in thermal storage, temperature control, and state transformation. Furthermore, the reinforcement strategies or/and design considerations of PCMMs are crucial for meeting specific requirements, such as conventional latent heat storage,thermal protection, and thermal-triggered intelligent materials. Finally, it discusses current challenges, proposed solutions, and future research directions in the field of PCMMs, particularly Janus particle modified PCMMs.

关键词： Phase change materials Microcapsule Controllable synthesis Programmable mechanical behavior Controlled payload release

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A review of existing and emerging binders for silicon anodic Li-ion batteries

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Nano Research 2023年第5期16卷 6736-6752页

作者： Yanxiu Liu Rong Shao Ruiyu Jiang Xinyu Song Zhong Jin Lin Sun Key Laboratory for Advanced Technology in Environmental Protection of Jiangsu Province School of Chemistry and Chemical EngineeringYancheng Institute of TechnologyYancheng 224051China State Key Laboratory of Coordination Chemistry MOE Key Laboratory of Mesoscopic ChmistryMOE Key laboratory of High Performance Polymer Materials and TechnologyJiangsu Key laboratory of Advanced Organic MaterialsSchool of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023China

Silicon anodes have been extensively studied as a potential alternative to graphite ones for Li-ion ***,their commercial application is limited by the issues of the poor structural and interfacial *** this regard,one of the key strategies for fully exploiting the capacity potential of Si-based anodes is to design robust conductive binder *** the amount of binder in the electrode is small,it is,however,considered as a critical component of Si-based anodes for Li-ion *** this review,a brief summary is given from the structural and functional aspects of the existing binders for Si *** particular,three-dimensional and multifunctional polymeric binders with excellent electrical conductivity,flexibility,adhesion prepared by chemical bonding,electrostatic and coordination interactions have become the focus of research,are expected to accelerate the practical application of silicon ***,some suggestions for the future development of Si anodic binders are put forward.

关键词： lithium ion battery silicon anode binder design interface cycle stability

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Tensile Properties and Wear Resistance of Mg Alloy Containing High Si as Implant Materials

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Journal of Renewable Materials 2023年第4期11卷 1977-1989页

作者： Mengqi Cong Yang Zhang Yunlong Zhang Xiao Liu Yalin Lu Xiaoping Li Key Laboratory of Advanced Materials Design and Additive Manufacturing of Jiangsu Province Jiangsu University of TechnologyChangzhou213001China

Magnesium alloy has been considered as one of the third-generation biomaterials for the regeneration and support of functional bone *** a regeneration implant material with great potential applications,in-situ Mg_(2)Si phase reinforced Mg-6Zn cast alloy was comprehensively studied and expected to possess excellent mechanical properties via the refining and modifying of Mg_(2)Si *** present study demonstrates that the primary and eutectic Mg_(2)Si phase can be greatly modified by the yttrium(Y)*** size of the primary Mg_(2)Si phases can be reduced to~20μm with an addition of 0.5 wt.%*** phenomenon is mainly attributed to the poisoning effect of the Y ***,wear resistance and tensile properties of the ternary alloy have also been improved by the Y ***-6Zn-4Si-0.5Y alloy exhibits optimal tensile properties and wears *** ultimate tensile strength and the elongation of the alloy with 0.5 wt.%Y are 50%and 65%higher than those of the ternary alloy,*** Y addition(1.0 wt.%)deteriorates the tensile properties of Mg-Zn-Si *** improvement of the tensile properties is mainly due to the modification of primary and eutectic Mg_(2)Si phases as well as the solid solution strengthening of the Y *** study provides a certain implication for the application of Mg-Zn-Si alloys containing Y elements as regeneration implants.

关键词： Magnesium alloys Mg2Si phase microstructure regeneration mechanical properties

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