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Permanent Magnet Shape Optimization Method for PMSM Air Gap Flux Density Harmonics Reduction

CES Transactions on Electrical Machines and systems 2021年第4期5卷 284-290页

作者： Chengsi Liu Yongxiang Xu Jibin Zou Guodong Yu Liang Zhuo School of Electrical Engineering and Automation of HIT Department of Electrical Engineering Harbin Institute of Technology the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology and National Engineering Research Center for Small and Special Precision Motors Guizhou Aerospace Linquan Motor Co.Ltd

This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calculated the magnetization length of the permanent in the case of parallel magnetization,and took the influence of the permanent magnet relative permeability into *** on these works,for a given sinusoidal air gap flux density waveform,the corresponding structural parameters can be calculated,so as to achieve the optimization of the permanent *** using this method to optimize the shape of the magnet,the fundamental wave of the air gap flux density can be retained to the greatest extent,so as to eliminate harmonics and maintain the output capacity at the same *** feasibility and accuracy of the method have been verified by finite element analysis(FEA)and prototype machine *** method is simple and time-saving,and has a satisfactory accuracy,which provides a reference method for permanent magnet optimization of PMSM.

关键词： Permanent magnet synchronous motor(PMSM) analytical method finite element analysis(FEA) magnet shape optimization.

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Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Development and motion control of a symmetric high-precision 2-DOF linear piezoelectric platform

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Smart Materials and Structures 2025年第6期34卷 065019-065019页

作者： Wenhui Yu Jie Deng Xiang Gao Junkao Liu Shijing Zhang Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 People’s Republic of China

In the field of precision positioning and micro-manipulation, achieving high-precision motion with minimal hysteresis remains a significant challenge. In this paper, a symmetric high-precision 2-degree-of-freedom linear piezoelectric platform (PEP) is proposed to address this issue. A single bonded-type piezoelectric actuator, utilizing fewer piezoelectric ceramic slices, drives the flexible stage to achieve two-dimensional motion with reduced hysteresis. The symmetric structural design eliminates long-term unbalanced loading, thereby enhancing mechanical stability. A hysteretic dynamics hybrid model of the PEP is established, and it is used to design the feedforward controller to achieve high accuracy. A prototype PEP has been fabricated for tests to verify its performances. The open-loop experiment results show that the proposed PEP has low hysteresis (7% hysteresis rate), high displacement resolution (3 nm), and can output ±9.7 μm × ±9.7 μm stroke. The closed-loop experimental results show that the repeated positioning precision of the PEP is ±6 nm, the hysteresis rate is 0.1%, and the relative trajectory tracking error is less than 0.07%. This work can broaden the application prospects of the PEP in precision positioning and micro-manipulation.

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Kinematic modeling and optimization design of morphing leading edge with flexible skin and rigid linkage coupling

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Aerospace Science and Technology 2025年 165卷

作者： Fan Yang Guang Yang Runchao Zhao Rongqiang Liu Hong Xiao Hongwei Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 People's Republic of China

Variable camber wings have great potential to enhance the flight efficiency of aircraft due to their smooth and seamless surfaces. Nevertheless, how to address the precise deformation of the skin and the coordinated movement between the mechanism and the structure poses a significant challenge. In this study, an optimization design method for the rigid-flexible coupled morphing leading edge is proposed, and a quasi-static kinematic model of the leading edge is established by combining the geometrically nonlinear deformation computational model of the flexible skin with the internal rigid driving mechanism equations of motion. The multi-objective optimization problem of the structural parameters of the rigid mechanism is solved with the optimization objectives of the highest driving accuracy and minimum driving force. The constitutive parameters were determined according to the ideal point method and verified by finite element simulation and ground test. The results show that the average error between the deformed shape of the optimized leading edge and the desired shape is 1.14 mm, and the maximum error is 3.51 mm, which proves the effectiveness of the proposed method in the design of morphing leading edges.

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Directional sliding of water:biomimetic snake scale surfaces

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Opto-Electronic Advances 2021年第4期4卷 35-46页

作者： Yizhe Zhao Yilin Su Xuyan Hou Minghui Hong Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3117576Singapore State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent *** by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water *** mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.

关键词： biomimetic hierarchical micro/nanostructures directional superhydrophobicity anisotropic friction

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A cooperative positioning approach of unmanned aerial vehicles with accuracy and robustness

A cooperative positioning approach of unmanned aerial vehicl...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhou, Ziwei Lin, Ziying Ni, Yi Dong, Wei Zhu, Xiangyang Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Electro-Mechanical Engineering Institute Shanghai201109 China

ISBN: (纸本)9781665436786

Efficient localization is crucial for the autonomous navigation of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments. Current onboard visual positioning approach may easily deteriorate with varying illumination and unpredicted obstacles. To tackle this issue, a novel cooperative positioning approach is proposed in this paper. This approach is comprised of a marker-based position estimation and an end-to-end UAV detection. For the marker-based method, a prior known pattern is attached on UAV and the Perspective-n-point (PnP)algorithm is implemented to provide an accurate estimation of the UAV's position. Meanwhile, to enhance the localization robustness, an end-to-end detection method is designed based on FCOS neural network and ultra-wideband (UWB) range measurement. Then, with an additional data fusion, the aforementioned two methods are integrated eventually. In this way, the accuracy and robustness of the localization can be enhanced accordingly. Extensive experiments under different environments are carried out to verify the effectiveness of the proposed method. Results demonstrate that the proposed method can estimate the flight trajectory of UAV with high accuracy and robustness in cluttered environments with varying illumination. © 2021 IEEE.

关键词： Data fusion

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Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983]

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Mechatronics 2024年 99卷

作者： Qingbing Chang Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China

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Design of a Tendon-Actuated Foldable Wheeled-Legged Hybrid Mobile Robot with high load-bearing capacity

Design of a Tendon-Actuated Foldable Wheeled-Legged Hybrid M...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yinan Yang Chongyang Zhang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen P.R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665476881

Mobile robots that can carry heavy loads play an important role in transporting and exploring in unstructured environment. However, there are some problems existing in conventional motor direct-drive robots such as excessive joint torque and unfoldable legs when they are under heavy loads. This paper proposes a tendon-actuated foldable wheeled-legged robot with high load-bearing capacity. A spreader is attached to the knee joint so that the output torque of the motor can be amplified by pulling the end of the spreader with a cable. The single and double fixed pulleys are used to reduce the required cable tension and avoid the interference of different cables, which can better achieve the folding of legs. In addition, the statics and kinematics of the tendon-actuated leg and the formulas for calculating the required tension and motor torque, as well as the relationship between foot velocity, joint speed, and motor speed are given. Finally, Matlab is used for simulation analysis, and it is found that the joint torques required for the tendon actuation are lower than for the direct actuation at the same joint angles.

关键词： Legged locomotion Knee Torque Pulleys Kinematics Mechanical cables Static analysis

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R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

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Expert systems with Applications 2025年 287卷

作者： Omar, Mohamed Li, Ruifeng Wang, Ke Asker, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Engineering and Applied Sciences Nile University Giza12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot's dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L0-minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm. © 2025 Elsevier Ltd

关键词： Lagrange multipliers

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A Fabric-Based Soft Elbow Exosuit with Autonomous Anchoring Straps

A Fabric-Based Soft Elbow Exosuit with Autonomous Anchoring ...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Yexun Wei Dezhi Yang Miao Feng Jianing Sun Guoying Gu Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Zhiyuan College Shanghai Jiao Tong University Shanghai China Meta Robotic Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Fabric-based soft exosuits offer promising solutions for elbow rehabilitation and assistance owing to their lightweight and flexible nature. However, existing designs usually apply continuous compression on the arm to anchor, whether actuated or not, potentially causing discomfort, numbness, and impaired blood circulation. Here, we present a fabric-based soft elbow exosuit that autonomously adjusts its compressing forces on the arm, harnessing a fabric-lattice artificial muscle (FAM) combined with two X-crossing anchoring straps (XASs) (worn on the upper arm and forearm). When the FAM is deflated, two XASs fit loosely on the arm. When the FAM is inflated, it contracts axially to assist elbow flexion and elongates laterally to actuate two XASs to anchor concurrently. Experimental results show that the FAM can output a contraction force up to 110 N, the XASs can generate a compressing force of 9.7 N (approximately 3 kPa), and the exosuit can provide a considerable torque up to 3.5 N•m, capable of assisting an elbow model to flex to 95°. These results demonstrate that our elbow exosuit provides a new approach to autonomous anchoring while achieving elbow flexion assistance effectively.

关键词： Flexible printed circuits Torque Force Buildings Arms Soft robotics Elbow Motion control Contracts Load modeling

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