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Type Synthesis of Fully Decoupled Three Translational parallel Mechanism with Closed-Loop Units and High Stifness

Chinese Journal of Mechanical Engineering 2023年第5期36卷 231-247页

作者： Shihua Li Sen Wang Haoran Li Yongjie Wang Shuang Chen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China

In order to solve the problem of weak stifness of the existing fully decoupled parallel mechanism, a new synthesis method of fully decoupled three translational (3T) parallel mechanisms (PMs) with closed-loop units and high stifness is proposed based on screw theory. Firstly, a new criterion for the full decoupled of PMs is presented that the reciprocal product of the transmission wrench screw matrix and the output twist screw matrix of PMs is a diagonal matrix, and all elements on the main diagonal are nonzero constants. The forms of the transmission wrench screws are determined by the criterion. Secondly, the forms of the actuated and unactuated screws can be obtained according to their relationships with the transmission wrench screws. The basic decoupled limbs are generated by combination of the above actuated and unactuated screws. Finally, a closed-loop units construction method is investigated to apply the decoupled mechanisms in a better way on the high stifness occasion. The closed-loop units are constructed in the basic decoupled limbs to generate a high-stifness fully decoupled 3T PM. Kinematic and stifness analyses show that the Jacobian matrix is a diagonal matrix, and the stifness is obviously higher than that of the coupling mechanisms, which verifes the correctness of the proposed synthesis method. The mechanism synthesized by this method has a good application prospect in vehicle durability test platform.

关键词： Screw theory Three translational parallel mechanism Full decoupled Closed-loop units High stifness

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Configuration Design and Size Optimization of a High-Precision Novel parallel Pointing Mechanism Based on Interference Separation

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 365-386页

作者： Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China

Pointing mechanism is widely used in aerospace field,and its pointing accuracy and stability have high *** pointing mechanism will be affected by external interference when it *** order to eliminate the impact of interference forces on the output accuracy of the mechanism,firstly,this paper proposes a design method for highprecision pointing mechanisms based on interference separation,aiming at the high-precision pointing requirements of pointing *** on the screw theory,a synthesis method for inner compensation mechanisms has been *** a new type of double-layer parallel mechanism has been designed to compensate for interference ***,the kinematics and dynamics of the mechanism are carried *** evaluation index for compensating external interference forces is *** interference compensation analysis is conducted for the pointing *** correctness of the proposed interference force compensation coefficient is ***,in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism,multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization *** provides a theoretical basis for the prototype design of the subsequent double-layer parallel *** double-layer parallel mechanism combines the advantages of large load-bearing capacity,large workspace,and high output *** can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

关键词： Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization

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6D pose annotation and pose estimation method for weak-corner objects under low-light conditions

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Science China(Technological Sciences) 2023年第3期66卷 630-640页

作者： JIANG ZhiHong CHEN JinHong JING YaMan HUANG Xiao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

In unstructured environments such as disaster sites and mine tunnels,it is a challenge for robots to estimate the poses of objects under complex lighting backgrounds,which limit their *** to the shadows produced by a point light source,the brightness of the operation scene is seriously unbalanced,and it is difficult to accurately extract the features of *** is especially difficult to accurately label the poses of objects with weak corners and *** study proposes an automatic pose annotation method for such objects,which combine 3D-2D matching projection and rendering technology to improve the efficiency of dataset annotation.A 6D object pose estimation method under low-light conditions(LP_TGC)is then proposed,including(1)a light preprocessing neural network model based on a low-light preprocessing module(LPM)to balance the brightness of a picture and improve its quality;and(2)a 6D pose estimation model(TGC)based on the keypoint *** typical datasets are constructed to verify our method,the experimental results validated and demonstrated the effectiveness of the proposed LP_TGC *** estimation model based on the preprocessed image can accurately estimate the pose of the object in the mentioned unstructured environments,and it can improve the accuracy by an average of~3%based on the ADD metric.

关键词： 6D object pose estimation 6D pose annotation low-light conditions

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Design and fabrication of a gecko-inspired surface for improving the grasping ability of a humanoid dexterous hand

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Science China(Technological Sciences) 2023年第3期66卷 784-792页

作者： JIANG ZhiHong SHEN MingHui MA YiFan CHE JiangTao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China China Electronics Standardization Institute Beijing 100007China

Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively ***,a wedged slanted structure with a curved substrate suitable for humanoid dexterous fingers was designed and manufactured via ultraprecision machining and replica *** adhesion and friction properties of the wedged slanted structure show obvious anisotropic characteristics in the gripping and releasing directions,and the influence of structural parameters and motion parameters on the adhesion and friction was systematically *** humanoid dexterous fingers with gecko-inspired surfaces greatly increased the grasping force limit(increase to 4.02 times)based on the grasping of measuring cups with different volumes of water and improved the grasping stability based on the picking up of smooth steel balls of different *** study shows that this process,based on ultraprecision machining and replica molding,is a green,high-efficiency,and low-cost method to fabricate large-area biomimetic surfaces that has potential applications in dexterous humanoid hands to improve grasping ability,stability and adaptability.

关键词： gecko-inspired surface curved substrate ultraprecision machining friction humanoid dexterous hand

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Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling 5

Design of an Impact-resistant Elbow Mechanism for Wheel-legg...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Ma, Xiaoshuai Gao, Junyao Qiu, Xuejian Zhao, Lingxuan Chen, Xuechao Yu, Zhangguo Huang, Qiang Beijing Institute of Technology School of Mechatronic Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9798350307320

Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. Therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. The torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, The experiments conducted validate the elbow mechanism's capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism's effective enhancement of the arm's impact-resistant ability. © 2023 IEEE.

关键词： Linear actuators

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From the Yoshimura Origami Pattern to Foldable Structures: Optimizing Crease Design for Scalability

SSRN

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SSRN 2023年

作者： Xu, Dongyang Zhao, Yanzhi Han, Zhen Song, Linquan Key Laboratory of Parallel Robots and Mechatronic Systems Yanshan University Hebei066104 China Key Laboratory of Advanced Forging Technology and Science Ministry of Education Yanshan University Hebei066104 China

Crease design is crucial to the function and application scope of origami projects, yet for the Yoshimura origami pattern, the connection between origami two-dimensional (2D) creases and three-dimensional (3D) forms has not been established, which greatly limits the research and application of origami structures. In this paper, a crease design theory based on the Yoshimura origami pattern is proposed to create 3D foldable origami structures. Afterwards, the flat origami folding process is described, and the corresponding end trajectory equations are derived from the crease chain folding analysis performed on the element block and the expansion block. Next, the positional and angular constraint equations for single-variable, double-variable, and triple-variable foldable forms with only element blocks are systematically discussed. Finally, a detailed folding simulation analysis is performed based on the positional and angular constraint equations, and the foldable form family diagrams with the corresponding angular eigenvalue intersection curve constraints are summarized. This work provides an effective theory for the design of origami creases and provides extensive guidance for the study of Yoshimura-based tubular origami engineering structures. © 2023, The Authors. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Progress and Development Trend of Space Intelligent Robot Technology

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Space(Science & Technology) 2022年第1期2022卷 286-296页

作者： Zhihong Jiang Xiaolei Cao Xiao Huang Hui Li Marco Ceccarelli School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry Beijing Institute of TechnologyBeijing 100081China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

Since space intelligent robots are not restricted by physiological conditions,it is an attractive choice for the development of automation technology to use them for space exploration and *** is currently the key development direction of the major space powers over the *** paper first investigates the robotic manipulators and humanoid robot systems for space station applications and reviews theories and methods for robots to achieve large-range stable motion and intelligent dexterous ***,the intelligent robot systems for on-orbit satellite maintenance are reviewed,and the related technologies of multirobot collaboration are ***,we investigate the intelligent robot systems for on-orbit assembly of large-scale spatial structures and summarize the technologies of modular assembly and on-orbit ***,this paper reviews the technological progress and development trends of space robots,which provides a good reference for further technical research in this field.

关键词： robot Robot attractive

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Moving Object Flexible Grasping Based on Deep Reinforcement Learning 8

Moving Object Flexible Grasping Based on Deep Reinforcement ...

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8th International Conference on Control, Automation and Robotics, ICCAR 2022

作者： Tu, Zhangpeng Yang, Canjun Wu, Xin Zhu, Yuanchao Wu, Weitao Jia, Ningbo Zhejiang University State Key Laboratory Of Fluid Power And Mechatronic Systems Hangzhou China Training Platform Of Robots And Intelligent Manufacturing From Polytechnic Institute Zhejiang University Hangzhou China

ISBN: (纸本)9781665481168

High manipulability can improve the movement ability of the robot end-effector in various degrees of freedom when it is engaged in autonomous grasping. In this paper, we propose a flexible grasping method based on deep reinforcement learning for moving objects. We use the deep deterministic policy gradient (DDPG) algorithm to train and control a six degrees of freedom manipulator, and introduce the manipulability index to optimize the grasping pose of the manipulator. A moving ball grasping mission was conducted using the Robot Operating System (ROS) and the Gazebo simulator to verify the effectiveness of the method. Compared with the DDPG algorithm without optimizing manipulability and the traditional tracking method, experimental results indicate that the proposed method maintains the high manipulability of the manipulator. © 2022 IEEE.

关键词： Reinforcement learning

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Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling

Design of an Impact-resistant Elbow Mechanism for Wheel-legg...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Xiaoshuai Ma Junyao Gao Xuejian Qiu Lingxuan Zhao Xuechao Chen Zhangguo Yu Qiang Huang School of Mechatronic Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to crawling motion mode, wheeled-legged robots, which are underactuated systems, are susceptible to falling and potential damage. Additionally, the elbow joint requires a high torque during robot crawling. Therefore, we designed an elbow mechanism driven by a linear actuator for BIT- W robot. The torque requirement of the elbow joint is analyzed by constructing a crawling model of the robot. Subsequently, a novel optimization method is proposed to enhance impact resistance by optimizing the mechanical parameters. Finally, The experiments conducted validate the elbow mechanism’s capability to provide stable support for crawling and motion mode switching. Moreover, the impact mitigation factor (IMF) results substantiate the mechanism’s effective enhancement of the arm’s impact-resistant ability.

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Configu ation Design and Size Optimization of a High-Precision Novel parallel Pointing Mechanism Based on Interference Separation

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 384-405页

作者： Sen Wang Shihua Li Xueyan Han Jiahao Wei Xueyuan Gao Hongyu Xu Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan University School of Mechanical Engineering Yanshan University

Pointing mechanism is widely used in aerospace field, and its pointing accuracy and stability have high *** pointing mechanism will be affected by external interference when it works. In order to eliminate the impact of interference forces on the output accuracy of the mechanism, firstly, this paper proposes a design method for highprecision pointing mechanisms based on interference separation, aiming at the high-precision pointing requirements of pointing mechanisms. Based on the screw theory, a synthesis method for inner compensation mechanisms has been proposed. And a new type of double-layer parallel mechanism has been designed to compensate for interference forces. Then, the kinematics and dynamics of the mechanism are carried out. An evaluation index for compensating external interference forces is proposed. The interference compensation analysis is conducted for the pointing mechanism. The correctness of the proposed interference force compensation coefficient is ***, in order to find the optimal solution for the workspace and interference force compensation coefficient of the pointing mechanism, multi-objective optimization design of the structural parameters of the mechanism was carried out based on the particle swarm optimization algorithm. This provides a theoretical basis for the prototype design of the subsequent double-layer parallel mechanism. This double-layer parallel mechanism combines the advantages of large load-bearing capacity, large workspace, and high output accuracy. It can be better applied in the aerospace field where high-precision pointing and force interference compensation are integrated.

关键词： Pointing mechanism Interference separation Double-layer parallel mechanism Force compensation coefficient Multi-objective optimization

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