This paper presents some theoretical aspects and a set of experiments concerning the climbing of a straight staircase by a hexapod robot. For the theoretical foundation, a suitable strategy was first defined, later in...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of r...
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Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.
Holonomic drives are gaining popularity in many fields due to their versatility in various industrial applications. The ability of the holonomic drive robots to move in all directions makes it distinct from other driv...
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In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal co...
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Human arm movement analysis is an important process in upper limb rehabilitation which helps in the restoration of motor function post injury. This will help in framing the strategies for rehabilitation with the aim o...
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Advancements in artificial intelligence (AI) have transformed robotics by enabling systems to autonomously execute complex tasks with minimal human involvement. Traditional methods, however, often depend on costly har...
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Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processabi...
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Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g
DC Electric metamaterials are interesting for electronics, sensors, and actuators by enabling steering of current. In this article, we realize such dc electric metamaterials with fused filament fabrication (FFF) by tu...
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This article presents a novel approach to enhancing the stability and performance of impedance control in robotic systems through improved acceleration estimation. The focus is on Series Elastic Actuators (SEAs), whic...
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Since the pioneering deployment of Canadarm in 1981,various on-orbit servicing (OOS) concepts have been flourishing and are continuously demonstrated by space agencies worldwide[1].This novel access to extend human cu...
Since the pioneering deployment of Canadarm in 1981,various on-orbit servicing (OOS) concepts have been flourishing and are continuously demonstrated by space agencies worldwide[1].This novel access to extend human curiosity in space is empowered by the remarkable OOS progress achieved by missions like the Robot Technology Experiment (ROTEX),Engineering Test Satellite-Ⅶ(ETS-Ⅶ),
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