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Workspace,stiffness analysis and design optimization of coupled active-passive multilink cable-driven space robots for on-orbit services

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Chinese Journal of Aeronautics 2023年第2期36卷 402-416页

作者： Jianqing PENG Haoxuan WU Tianliang LIU Yu HAN School of Intelligent Systems Engineering Shenzhen Campus of Sun Yat-sen UniversityShenzhen 518109China Guangdong Provincial Key Laboratory of Fire Science and Technology Guangzhou 510006China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China

The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent ***,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of *** coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space ***,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the *** deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of ***,the multi-coupling kinematics relationships among the joint,cables and the end-effector are *** on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is ***,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive ***,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking *** proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.

关键词： Coupled active–passive(CAP) Hybrid series-parallel Multilink cable-driven space robot(MCDSR) Nonlinear optimization(NOP) On-orbit services(OOSs) Robotics Space

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Effect of Cu and Mg Content on Microstructure and Mechanical Properties of Cast Al-Si-Cu-Mg Alloy 75

Effect of Cu and Mg Content on Microstructure and Mechanical...

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75th World Foundry Congress, WFC 2024

作者： Zhang, Ning Feng, Yicheng Fu, Yuanke Wang, Lei Guo, Erjun School of Materials Science and Chemical Engineering Harbin University of Science and Technology Harbin150040 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

The wide application of traditional cast Al-Si alloy in related industries is seriously restricted because of its low room temperature strength and high temperature performance attenuation. By adding Cu and Mg elements, the effect of Cu and Mg element content on the type and morphology of the second phase in cast Al-8.5Si-xCu-yMg alloy was systematically studied, and its mechanical properties were tested. The results show that when the content of Mg is constant, with the addition of Cu, blocky Q-Al5Cu2Mg8Si6 phase and reticular θ-Al2Cu phase appear in the alloy. When the Cu content is constant, with the increase of Mg content, the size and number of reticular and blocky θ-Al2Cu phases in the alloy decrease, while the blocky Q-Al5Cu2Mg8Si6 phase changes from a small blocky phase to a large flake phase, and the number increases. The tensile strength of Al-8.5Si-2Cu-0.9Mg at room temperature and 250 ℃ is 335.3 MPa and 170.3 MPa, respectively. The yield strength is 254.6 MPa and 147.2 MPa, respectively. The elongation after breaking is 4.0% and 8.8%, respectively. © 2024 75th World Foundry Congress, WFC 2024. All rights reserved.

关键词： Copper alloys

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Effect of Al Content on Microstructure and Mechanical Properties of As-Cast Mg-Gd-Y-Yb-Zn Alloys 75

Effect of Al Content on Microstructure and Mechanical Proper...

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75th World Foundry Congress, WFC 2024

作者： Wang, Yamin Feng, Yicheng Fu, Yuanke Wang, Lei Guo, Erjun School of Materials Science and Chemical Engineering Harbin University of Science and Technology Harbin150040 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

Grain refinement is an effective method to enhance the mechanical properties of cast Mg-RE alloys. Zr is the most commonly used magnesium alloy refiner, but the high cost and sedimentation of Zr refiner limits its application, and the Al refiner solves these determinations, and the grain refinement effect is almost the same as that of Zr. This paper study the effect of Al contents on the microstructure and mechanical properties of Mg-6Gd-2Y2Yb-1Zn alloy, which were investigated by optical microscopy (OM), scanning electron microscopy (SEM), X-ray diffraction (XRD), and a universal tensile testing machine. The results of microstructure analyses showed that the addition of Al changed the morphology of second phase from single blocky phase to a combination of blocky, granular, needle-like, and plate-like phases. The addition of Al also refined the grain size of alloys, and with the increase of Al content from 0% wt. % to 2.0 wt. %, the average grain size was reduced from 300 μm to 41 μm. The results of mechanical properties tests showed that with the increase of Al content, the strength of alloys increased and then decreased, the optimum mechanical properties occurred at the Al addition of 2.0 wt. %. The yield strength, tensile strength, and elongation of alloy with 2.0 wt. % Al are 169.0 MPa, 265.0 MPa, and 23.75%, respectively, which improved 8.3%, 61.3%, and 125.9%, respectively compared to alloy without Al. © 2024 75th World Foundry Congress, WFC 2024. All rights reserved.

关键词： Tensile testing

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Control strategy of mode switching for Three Port Converter 11

Control strategy of mode switching for Three Port Converter

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11th International Conference on Power Electronics - ECCE Asia, ICPE 2023-ECCE Asia

作者： Wang, Hao Zhou, Wei You, Jiang Hu, Kaiwei Zhao, Junli Harbin Engineering University College of Intelligent System Science and Engineering Harbin150000 China Beijing Research Institute of Mechanical and Electrical Technology Beijing10083 China

ISBN: (纸本)9788957083505

The three active bridge (TAB) converter has several operation modes in independent power supply system, these operation modes should be switched flexibly according to system state and practical condition. However, direct switching is not allowable in some cases. The characteristics of different modes are summarized and the essential reason for direct switching and not-direct switching is illustrated from control point of view. Control strategy for designing transition control to realize flexible switching is proposed. The simulation and experiment results are presented to validate the correctness and effectiveness of the method. © 2023 The Korean Institute of Power Electronics.

关键词： Electric load flow

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The mechanisms,evaluation and estimation of anti-skid performance of snowy and icy pavement:A review

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Journal of Road engineering 2023年第3期3卷 229-238页

作者： Yiqiu Tan Jilu Li Huining Xu Zhiwei Li Heru Wang School of Transportation Science and Engineering Harbin Institute of TechnologyHarbin 150090China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China

The anti-skid performance of snowy and icy pavements is a popular research topic among road *** and ice are pollutants on a road *** significantly reduce the skid resistance of pavements,and thus,cause traffic *** research progress on the skid resistance of snowy and icy pavements was reviewed and summarized in this *** formation and classification of snowy and icy pavements were described on the basis of the state of snow and *** friction mechanisms between tires and snowy and icy pavements were *** methods and their applicability to the skid resistance of snowy and icy pavements were *** that affect the skid resistance of pavements were discussed from the perspectives of pavement,environment,and *** addition,models of snowy and icy pavement resistance were classified into experience,mechanical,and numerical *** advantages and disadvantages of these models were then compared and *** suggestions regarding snowy and icy pavements were presented in accordance with the aforementioned information,including the development of efficient testing tools,the quantification of skid resistance under the coupling effects of multiple factors,the establishment of unified evaluation standards,and the development of more effective skid resistance models.

关键词： Pavement engineering Snowy and icy pavement Skid resistance Test approach Friction estimation

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Dynamic Route Optimization for Multi-Vehicle systems with Diverse Needs in Road Networks Based on Preference Games

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Computers, Materials & Continua 2025年第6期83卷 4167-4192页

作者： Jixiang Wang Jing Wei Siqi Chen Haiyang Yu Yilong Ren School of Transportation Science and Engineering Beihang UniversityBeijing100191China School of Electrical and Control Engineering North China University of TechnologyBeijing100144China Hangzhou Innovation Institute Beihang UniversityHangzhou310023China The State Key Lab of Intelligent Transportation System Beijing100191China

The real-time path optimization for heterogeneous vehicle fleets in large-scale road networks presents significant challenges due to conflicting traffic demands and imbalanced resource *** existing vehicleto-infrastructure coordination frameworks partially address congestion mitigation,they often neglect priority-aware optimization and exhibit algorithmic bias toward dominant vehicle classes—critical limitations in mixed-priority scenarios involving emergency *** bridge this gap,this study proposes a preference game-theoretic coordination framework with adaptive strategy transfer protocol,explicitly balancing system-wide efficiency(measured by network throughput)with priority vehicle rights protection(quantified via time-sensitive utility functions).The approach innovatively combines(1)a multi-vehicle dynamic routing model with quantifiable preference weights,and(2)a distributed Nash equilibrium solver updated using replicator sub-dynamic *** framework was evaluated on an urban road network containing 25 intersections with mixed priority ratios(10%–30%of vehicles with priority access demand),and the framework showed consistent benefits on four benchmarks(Social routing algorithm,Shortest path algorithm,The comprehensive path optimisation model,The emergency vehicle timing collaborative evolution path optimization method)showed consistent *** showthat across different traffic demand configurations,the proposed method reduces the average vehicle traveling time by at least 365 s,increases the road network throughput by 48.61%,and effectively balances the road *** approach successfully meets the diverse traffic demands of various vehicle types while optimizing road resource *** proposed coordination paradigm advances theoretical foundations for fairness-aware traffic optimization while offering implementable strategies for next-generation cooperative vehicle-road systems,particularly in smart city deployments r

关键词： Preference game vehicle road coordination large-scale road network different needs dynamic route selection

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Microstructure Evolution of the Al-Zn-Mg-Cu Alloy During Solidification under Electric Pulse 75

Microstructure Evolution of the Al-Zn-Mg-Cu Alloy During Sol...

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75th World Foundry Congress, WFC 2024

作者： Kang, Kaijiao Wang, Shengsong Jiang, Shunde Li, Dayong Feng, Yicheng School of Materials Science and Chemical Engineering Harbin University of Science and Technology Harbin150040 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

In the non-equilibrium solidification process of Al-Zn-Mg-Cu alloy, the distribution of temperature field and flow field is not uniform, which leads to coarse solidification structure and serious component segregation. It is an effective means to further improve the properties of the alloy by refining the solidification structure and improving the segregation degree of the alloy with electric pulse. The effects of pulse current, pulse frequency and pulse application stage on solidification microstructure and properties of Al-Zn-Mg-Cu alloy were studied. The results show that the grain refinement effect and properties of Al-Zn-Mg-Cu alloy solidified under the effect of electric pulse are improved to varying degrees. With the increase of pulse current and pulse frequency, the columnar crystals gradually change to fine equiaxed crystals. The average grain size decreased from 140.3 μm to 102.9 μm after treatment with pulse current of 700 A and pulse frequency of 50 Hz. The tensile strength of the alloy was increased to 210.5 MPa, which is 20.6 % higher than that of conventional solidification. © 2024 75th World Foundry Congress, WFC 2024. All rights reserved.

关键词： Copper alloys

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A Review on Wire-Driven Flexible Robot Manipulators

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Recent Patents on engineering 2023年第3期17卷 37-57页

作者： Tang, Dedong Cheng, Chao Xiao, Limei Tang, Chunyang Lv, Xin Wang, Gang School of Mechanical and Power Engineering Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China Library Harbin University of Science and Technology Harbin150040 China Department of Automation Tsinghua University Beijing100084 China

Background: At present, with the rapid development of technology in medical treatment and rescue, how to reduce the operational complexity caused by limited space has become one of the hot topics. For example, in search and rescue, it is difficult for people to enter these high-risk areas due to various restricted geographic environments. During some medical treatment processes, minimally invasive surgery is difficult to operate on because of its small incision. In order to solve these problems, a kind of Wire-Driven Flexible Robot Manipulator (WDFRM) has been developed. The WDFRMs have better flexibility and greater degrees of freedom (DOF) than the traditional rigid manipulators and play an important role in these extreme operation fields. Objective: The paper aims to report the latest progress in the studies of the WDFRMs, and provides a reference for readers in this field. Methods: By summarizing various productions and patents related to the WDFRMs, the structural characteristics, differentiations, and applications of the WDFRMs are proposed. Results: Different types of WDFRMs are compared, analyzed, and classified according to their structural characteristics and supporting mode. The technical problems of the WDFRMs are point-ed out, and the future development direction of this research field is predicted. Conclusion: According to their structural characteristics, the research shows that WDFRMs can be divided into Wire-Driven Serpentine Flexible Robot Manipulators (WDSFRMs) and Wire-Driven Continuum Flexible Robot Manipulators (WDCFRMs). WDFRMs will have more applications in medical treatment, rescue, and military affairs. The structure, stiffness, and accuracy of the WDFRMs still need to be improved continuously. © 2023 Bentham science Publishers.

关键词： Degrees of freedom (mechanics)

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Optimal control for 2-D systems under malicious attacks 41

Optimal control for 2-D systems under malicious attacks

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第41届中国控制会议

作者： Lingling Li Rongni Yang Ligang Wu College of Intelligent Systems Science and Engineering Harbin Engineering University School of Control Science and Engineering Shandong University School of Astronautics Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper investigates the H control problem for the cyber-physical systems（CPS s） described by two-dimensional（2-D） Roesser model subject to denial-of-service（DoS） *** of all,the DoS attacks are characterized by the concepts of DoS frequency and DoS ***,according to the intermittent characteristic of DoS attacks,the original 2-D CPSs are rewritten as a class of switched ***,by means of Lyapunov theory for switched systems,the exponential stability and H noise attenuation performance for the resultant 2-D closed-loop dynamic are *** conditions for the existence of desired H controller are established in terms of linear matrix inequalities（LMIs）,and then the design scheme of the corresponding controller is transformed into a convex optimization ***,a simulation example is provided to illustrate the effectiveness of the proposed method.

关键词： Cyber-physical systems(CPSs) denial-of-service(DoS) attacks H_∞ control 2-D Roesser model

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Effect of Heat Treatment on the Microstructure and Mechanical Properties of Cast Mg-5Y-3Nd-3Zn-0.6Zr Alloy 75

Effect of Heat Treatment on the Microstructure and Mechanica...

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75th World Foundry Congress, WFC 2024

作者： Wang, Haojie Feng, Yicheng Wang, Tao Fu, Yuanke Wang, Lei Guo, Erjun School of Materials Science and Chemical Engineering Harbin University of Science and Technology Harbin150040 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China

The microstructure evolution and mechanical performance of cast, solid solution, and aging Mg-5Y-3Nd3Zn-0.6Zralloywere systematically investigated by the scanning electron microscope (SEM), X-ray diffractometer (XRD), transmission electron microscope (TEM), differential scanning calorimeter (DSC) and electronic universal testing *** this work. The microstructure analyses show that the cast Mg-5Y-3Nd-3Zn-0.6Zr alloy consist of α-Mg, LPSO phase and W phase. After the solid solution of 510 ℃ × 12h, the reticular W phase can be transformed into spherical W phase. The precipitation sequences of the alloy aged at 210℃ is β"(DO19)→β'(BCO) →β(FCC), and the streaks sequences of the alloy is SF → 14H-LPSO. The peak-agingoccurred at 16h due to the high volume fraction of β' phase. The mechanical properties test shows that the tensile strength of cast and solid solution alloys are 196.3MPa and 209.5MPa, the elongation of cast and solid solution alloys are 5.8% and 7.1%. © 2024 75th World Foundry Congress, WFC 2024. All rights reserved.

关键词： Tensile strength

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