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Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

Journal of Bionic engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

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Modeling tactile perceived intensity for vibration from a coin eccentric rotating mass motor

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Science China(Technological Sciences) 2025年第2期68卷 125-135页

作者： Yun FANG Jingchen HUANG Yujun WU Jiaqi DONG Weichao GUO Xinjun SHENG State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Establishing the relationship between vibrotactile parameters and perceived intensity(PI)is of great significance in the regulation of desired sensations,which contribute to haptic interfaces in practical *** eccentric rotating mass(ERM)motors are routinely utilized due to their lightweight design and efficient ability to evoke strong tactile *** adjusting input voltages,ERMs can yield different stimuli,but the effects of their physical properties on PI remain ***,we developed the physical model of the ERM-skin system and optimized the parameters affecting ***,the relationship between stimulus and perception was derived based on Fechner's *** experiments were conducted on fifteen subjects(ten males and five females,aged 24.40±2.87 years)to identify the vibration parameters and corresponding PI to verify the proposed PI *** in this study were attached to phantom skin/forearm with slim adhesive tape to minimize the *** 1 performed vibration calibration with ERM attached to the skin phantom to simulate the actual ***,the relative and absolute PI of subjects on specific stimuli were acquired in Experiments 2 and *** fitting reliability of the proposed PI model was evaluated on fifteen subjects with R^(2) of 0.73±0.07 and root mean squared error(RMSE)of 1.35±***,the proposed PI model established the quantitative relationship between stimulus parameters(vibration parameters and physical parameters)and subjective PI,which provided theoretical support for ERM optimization and vibrotactile modulation.

关键词： coin ERM vibrotactile perceived intensity vibration

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Development of Pneumatic Soft Gripper for Effective Material Handling 6

Development of Pneumatic Soft Gripper for Effective Material...

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6th IEEE International Conference on Recent Advances in Intelligent Computational Systems, RAICS 2024

作者： Naveen, Shivarama Panigrahi, Sritam Vinit, Aviral Sudar, I Harihara Thomas, Mervin Joe Robotics Laboratory Dept. of Mechanical Engineering Mangaluru India

ISBN: (纸本)9798350381689

Recent times have shown a drastic transition in robotics from rigid to soft mechanisms. The reason is that soft robots offer safer human-robot interactions, reduce weight and also offer strong environmental adaptability. However, the inherent characteristics of soft materials to exhibit multiple degrees of freedom (DoF) make it challenging to control their movements. Therefore, this paper presents the development of a soft gripper with simple architecture to effectively and economically manipulate delicate objects. The gripper constructed using silicon rubber has an air cavity to actuate its opening and closing pneumatically. This paper presents the different stages of its construction and demonstrates its application on a 4 DoF robotic arm for handling delicate objects. A simulation study of the structural parameters of the proposed soft gripper is also carried out using ANSYS finite element software. The preliminary results show the superior adaptability of the soft gripper in handling objects of various shapes and sizes. The proposed system can find application in food, biomedical and electronic industries. © 2024 IEEE.

关键词： Silicones

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Understanding the Machining Process of Hierarchical Micro/Nanograting Structures Used for Optical Variable Device

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Chinese Journal of mechanical engineering 2025年第1期38卷 161-185页

作者： Yanquan Geng Wenhan Zhu Xiaosong Zhang Aoxiang Zhang Yongda Yan Hailong Cui Bo Xue Jiqiang Wang TState Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Sichuan Precision and Ultra-Precision Machining Engineering Technology Center Chengdu 610200China College of Mechanical and Electrical Engineering Northeast Forestry UniversityHarbin 150040China

Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and ***,the fabrication of hierarchical micro/nanograting structures is important for these *** this study,a strategy for machining hierarchical micro/nanograting structures is developed by controlling the tool movement trajectory.A coupling Euler-Lagrange finite element model is established to simulate the machining *** effect of the machining methods on the nanograting formation is demonstrated,and a suitable machining method for reducing the cutting force is *** height of the nanograting decreases with an increase in the tool edge ***,optical variable devices(OVDs)are machined using an array overlap machining *** schemes for the parallel column unit crossover and column unit in the groove crossover are designed to achieve high-quality machining of *** coloring of the logo of the Harbin Institute of Technology and the logo of the centennial anniversary of the Harbin Institute of Technology on the surface of metal samples,such as aluminum alloys,is *** findings of this study provide a method for the fabrication of hierarchical micro/nanograting structures that can be used to prepare OVDs.

关键词： Hierarchical micro/nanograting structures Optical variable devices Finite element simulation Tool trajectory controlling

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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

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Chinese Journal of mechanical engineering 2024年第5期37卷 349-364页

作者： Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200030China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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Multisource Domain Metalearning Network for Battery State-of-Health Estimation under Multitarget Working Conditions

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IEEE Transactions on Power Electronics 2025年第7期40卷 9786-9799页

作者： Miao, Mengqi Xiao, Chaoang Yu, Jianbo Tongji University School of Mechanical Engineering Shanghai201804 China Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Shanghai201804 China

State of health (SOH) estimation is important in battery health prognostics. The discrepancy in working conditions gives rise to the phenomenon of domain shift, which presents a significant obstacle to the accurate estimation of battery SOH. Domain adaptation (DA) has been widely used to solve the domain shift problem in battery SOH estimation by minimizing the distribution discrepancy between different domains. However, the multitarget domain shift problem is not be addressed well for existing methods. Most existing DAs only consider a single target domain, which means that the model needs to be retrained when new scenarios emerge, which differ from the original target working condition. In this article, multisource domain metalearning network (MSDMLN) is proposed for battery SOH estimation under multiple target working conditions. A novel metalearning method, multisource domain metalearning (MSDML) strategy is developed for enhancing the generalization of the network by diversifying battery health degradation features based on meta fusion block. Empirical mode decomposition-densely connected recurrent-convolution network is developed to extract global degradation tendency and local fluctuation features of Li-ion batteries. The effectiveness of MSDMLN is verified on the combined Li-ion battery dataset. The results demonstrate that MSDMLN achieved low mean absolute error (i.e., 0.0474) and normalized root mean square error (i.e., 0.2187) for three different target operating conditions, which is better than other state-of-the-art methods. This illustrates the outperformance of MSDMLN in generalizing the estimation of battery SOH under multitarget working conditions, due to the integration of MSDML and the meta fusion block. © 1986-2012 IEEE.

关键词： Electronic health record

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An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild 8

An Open-Source Soft Robotic Platform for Autonomous Aerial M...

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8th Conference on Robot Learning, CoRL 2024

作者： Bauer, Erik Blöchlinger, Marc Strauch, Pascal Raayatsanati, Arman Cavelti, Curdin Katzschmann, Robert K. Soft Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Switzerland

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source3 our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community. © 2024 Proceedings of Machine Learning Research.

关键词： Open source software

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Process planning and contour-based error compensation for precision grinding of miniature scalpels

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先进制造进展（英文版） 2024年第1期12卷 108-123页

作者： Cheng Fan Cao-Yang Xue Jun Zhao Wei Jiang Wen-Ge Han Lei Zhang Li-Ning Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical EngineeringSoochow UniversitySuzhou 215021JiangsuPeople's Republic of China Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical and Electrical EngineeringZhejiang UniversityHangzhou 310027People's Republic of China State Key Laboratory of Intelligent Equipment and Manufacturing School of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023People's Republic of China

Miniature scalpels are mainly used in microsur-geries such as ophthalmic and cardiovascular *** size of a miniature scalpel is only a few millimeters,and the precision of the blade shape is high,which makes pro-duction of miniature scalpels extremely *** study proposes a new sharpening process for grinding miniature scalpels on a four-axis machine tool.A post-processing algo-rithm for a four-axis grinding machine based on a kinemat-ics model is *** then propose a corresponding parameter calibration method for the parameters used in the kinematics *** of possible errors in the param-eter calibration,a contour-based error compensation method is proposed for accurate adjustments to the edge shape fol-lowing *** can solve the problem of large devia-tions between the actual edge shape after grinding and the ideal edge *** effectiveness of the proposed process planning and error compensation method is verified experi-mentally,and the grinding process parameters of the minia-ture scalpel are optimized to improve its surface processing *** sharpness of the optimized miniature scalpel is less than 0.75 N,and the blade shape is symmetrical,which meets the technical requirements of miniature scalpels.

关键词： Miniature scalpel Sharpening Kinematics Error compensation Grinding

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