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Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint

Design, Kinematic and Variable Stiffness Analysis of a Tense...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wu, Jinlong Liu, Gang Li, Ke Zhang, Niansong Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two circular frames, and is connected by three surrounding pneumatic muscles and an intermediate spring. The stiffness of the joint is changed by inflating and releasing air to the pneumatic muscles, which is also the principle of the joint's variable stiffness. Firstly, a detailed kinematic analysis of the proposed tensegrity joint was carried out to explore its position change in multi-axis motion. Secondly, the stiffness analysis was carried out to evaluate the deformation response and stiffness characteristics of the joint under different loads, which provided an important reference for its design optimization. Finally, the performance of the model is verified by simulation analysis, and the reliability and practicability of the model in dynamic work are verified by comparison with actual data. This study provides a theoretical and experimental basis for the promotion of new tensegrity joints in robot applications, and provides new design ideas and methods for the development and innovation of future robotics technology. © 2024 IEEE.

关键词： Collaborative robots

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Study on the Electromechanical Thrust Vector Control System of Solid Rocket Motor Nozzle Based on Fuzzy Immune PID Technolgy 18th

Study on the Electromechanical Thrust Vector Control Syste...

引用

18th Chinese Intelligent Systems Conference, CISC 2022

作者： Xu, Zhishu Yue, Zongshuai Mou, Pengtao Shi, Chenhong Li, Rui Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Beijing Aerosapce Propulsion Institute Beijing100076 China

ISBN: (纸本)9789811962028

The thrust vector control system of solid rocket motor nozzle is a high order, multivariable and strong coupling nonlinear system, classical PID algorithm control is difficult to reconcile the contradiction between system rapidity, overshoot and anti-interference. In this paper, a fuzzy immune PID control algorithm is proposed. The experimental results show that the fuzzy immune PID control strategy can improve the rapidity of the system and reduce the overshoot of the system. Under the premise of ensuring the stability of the system, the load torque fluctuation of the system is smaller and the response time of tracking load change is shorter. When the load torque changes suddenly, the fuzzy immune PID algorithm can guarantee the stability of the system with smaller load torque fluctuation range and faster response time. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Rocket engines

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A Method of Simulating SPI Interface Based on General GPIO 1

引用

18th Chinese Intelligent Systems Conference, CISC 2022

作者： Zhao, Qing Chen, Xudong Zhang, Jianguo Li, Pengfei Zhang, Junning Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China China Academy of Launch Vehicle Technology Beijing100076 China

ISBN: (数字)9789811962035

ISBN: (纸本)9789811962028

SPI is a commonly used full-duplex serial communication technology, which is widely used in intelligent mechanical systems. With the continuous upgrading of mechanical intelligence, the demand of SPI interface is increasing, but the special SPI interface equipped by common microprocessor chips is limited. In order to solve the problem, this paper proposes a method of simulating SPI interface based on general GPIO. This method can simulate the function of the special SPI interface by changing hardware configuration, simulating communication clock and realizing the reading and writing algorithm of communication data, to expand the SPI interface. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Clocks

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Design and Test of Lightweight Long-life Electric Mechanism without Controller 7

Design and Test of Lightweight Long-life Electric Mechanism ...

引用

2021 7th International Conference on Mechanical Engineering, Materials and Automation Technology, MMEAT 2021

作者： Jiyuan Moupengtao Macuijuan Quanyunqing Liguoqiang Beijing Institute of Precision Mechatronics and Controls Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing China

The traditional airborne electric mechanism is mostly controlled by mechanical switch, which seriously restricts the life and reliability of the system. This paper introduces a design method of a lightweight electric mechanism without a controller. The electric mechanism drives the motor directly by receiving the instructions of the control system, acts directly on the switch of the pipeline valve through the decelerator, breaks down the lock after reaching the specified position, and feeds back the current position signal. It is a high reliability, long life, compact structure, and widely used EMA product, which can adapt to all kinds of extreme environments required by the airborne equipment. And it has good maintainability. © Published under licence by IOP Publishing Ltd.

关键词： Design

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High-Performance Continuous Control Set-Model Predictive Control for Three-Phase Two-Level Power Converters

High-Performance Continuous Control Set-Model Predictive Con...

引用

International Conference on Electrical Machines and Systems (ICEMS)

作者： Hao Lin Yufei Zhao Jing Zhang Chong Qi Hui Zhao Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing P. R. China

Three-phase two-level power converter has become one of the most commonly used converters in industrial applications due to its high efficiency, bidirectional power flow and simple structure. In this paper, a simple and efficient high-performance continuous control set-model predictive control strategy is proposed for the three-phase two-level converter, which improves the quality of phase currents with suppressed power oscillation, disturbance rejection ability and dynamic performance. Through the simulation comparison with different strategies in different conditions, the feasibility and superiority of the proposed strategy are validated.

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Optimal Design of Frame Structure of Center Axle Trailer Under Heavy Load Conditions 8th

Optimal Design of Frame Structure of Center Axle Trailer Und...

引用

8th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2023

作者： Gao, Dongyu Ma, Jinyu Zheng, Huisai Zhang, Menzhe Zhao, Jingyi China Academy of Launch Vehicle Technology Beijing100076 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Hebei Key Laboratory of Special Delivery Equipment Yunshan University Qinhuangdao066004 China Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789819718757

In recent years, the mid axle train has gradually entered the transportation market because of its large loading capacity and flexible steering. The static simulation of full load bending, full load torsion and full load braking were carried out for the upper and lower platforms of the trailer frame, and the stress and deformation were obtained. Through the topology optimization design, the pseudo density cloud image with material removal as the optimization objective was obtained. The response surface optimization method was used to adjust the main optimization parameters of the frame platform, and the sensitivity value of its influence on the strength, stiffness and mass of the lightweight frame was analyzed. Finally, the actual value of the optimization parameters was determined. The results showed that the strength, stiffness, and stability of the lightweight frame met the requirements, and the total weight loss of the lightweight frame is 437.07 kg, and the weight loss ratio reached 14.51%. Finally, the static strength test of the lightweight frame was carried out, and the results showed that the lightweight frame met the use requirements. © The Author(s) 2024.

关键词： Stiffness

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Measurement System Design for a Novel Aerospace Electrically Actuator 17th

Measurement System Design for a Novel Aerospace Electrically...

引用

17th Chinese Intelligent Systems Conference, CISC 2021

作者： Hu, Baoyan Fu, Jian Fu, Yongling Zhang, Peng School of Mechanical Engineering and Automation Beihang University Beijing100191 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100191 China

ISBN: (纸本)9789811663239

Variable displacement fixed speed electro-hydrostatic actuator (VDFM-EHA) is one type of electrically actuators, which has great application prospect in aerospace. This paper presents a novel type of VDFM-EHA, in which the swash plate is controlled by an electro-mechanical-hydrostatic actuator (EMHA) instead of the conventional rotating mechanism. The measurement system is designed to verify the basic function and performance of the EMHA. The hardware architecture contains a computer as the host and a programmable multi-axis motion controller (PMAC) as the servo controller. The real-time software system is established based on the LabVIEW platform, a human-computer inter-action interface to monitor the work status of EMHA. The technology of calling library function (CLF) realized the communication between the host and slave computers. The experimental results show this measurement system can be used for testing the high-precision and high-dynamic EMHA, the command and characteristic variables are optionally displayed. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Hydraulics

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TensWheBot: A Double Wheeled Rolling Robot Based on Tensegrity Structures

TensWheBot: A Double Wheeled Rolling Robot Based on Tensegri...

引用

2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Niansong Liu, Gang Li, Yiqing Li, Ke Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin Nanjing University of Science and Technology School of Mechanical Engineering Nanjing210094 China Chengdu Aeronautic Polytechnic School of Automotive Engineering Chengdu610100 China Harbin Institute of Technology School of Mechatronics Engineering and Automation Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Shandong University School of Control Science and Engineering Jinan250061 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration. © 2024 IEEE.

关键词： Wheels

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Grasping position recognition of spatial non-cooperative targets based on active light detection 2

Grasping position recognition of spatial non-cooperative tar...

引用

2021 2nd International Conference on mechatronics Technology and Intelligent Manufacturing, ICMTIM 2021

作者： Chen, Zhihong Lin, Junqin Wang, Yanbo Liang, Binyan Wang, Yao Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

The current mainstream operation methods are mainly oriented to cooperation goals and pre-designed signs, which are difficult to meet the needs of complex tasks. Taking the non-cooperative target as the research object, this paper proposes a method of active light source detection combined with different multi-source data processing networks. When the image brightness is relatively high, the residual convolutional neural network is used to identify the target capture area in the multi-source data;when the image brightness is dark, the PointNet++ network is used to identify the capture area from the point cloud data, thereby adaptively achieving a better segmentation effect. The final experiment proved the effectiveness of this method. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Light sources

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Design and optimization of 2DOF humanoid dual cross four-bar mechanism for knee joint of an exoskeleton

Design and optimization of 2DOF humanoid dual cross four-bar...

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IEEE International Conference on Robotics and Biomimetics

作者： Hongbing Zeng Bo Zeng Guifang Yuan Xuliang Liu Zhiyuan Yu Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (纸本)9781665481106

A 2 degrees of freedom (DOF) humanoid dual cross four-bar for a knee joint is designed, based on the instantaneous center of rotation (ICR) axis motion of a human knee joint. The two DOFs of the joint are flexion/extension and internal /external rotation. The DOF of flexion/extension is realized by the cross four-bar mechanism, and the DOF of internal/external rotation is realized by a set of adaptive roller mechanisms. There is the same humanoid configuration for both the lateral and medial cross four-bar mechanism. The structural parameters are optimized aiming to minimize the displacement trajectory error between the mechanism ICR axis and the human knee ICR axis by the genetic algorithm. The self-adaptive roller mechanism is composed of 3 groups of movable rollers to realize the internal/external rotation of the exoskeleton shank on the tight shank bandage so that it can adapt to different leg shapes. The simulation results show that the ICR synthesis tracking error of the humanoid cross four-bar mechanism is no more than 0.77mm. The wearing experiment shows the motion of the exoskeleton joint can well align that of the human knee joint, verifying the effectiveness of the proposed mechanism.

关键词： Knee Legged locomotion Tracking Shape Simulation Exoskeletons Humanoid robots

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