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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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A Geometric Approach for the Bifurcation Modeling and Analysis of Plane-Symmetric Bricard Mechanisms

A Geometric Approach for the Bifurcation Modeling and Analys...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Yuliang Lu Siyue Yao Yanjun Wang Hao Wang Genliang Chen Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Meta Robotics Institute Shanghai Jiao Tong University (SJTU) Shanghai P.R. China SJTU Institute of Marine Equipment Shanghai P.R. China State Key Laboratory of Mechanical Systems and Vibration SJTU Meta Robotics Institute Shanghai P.R. China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

As a classical type of overconstrained linkages, the spatial 6R single-loop Bricard mechanisms have long attracted researchers' attention. In our previous work, a comprehensive geometric approach is established for the kinematics analysis of general plane-symmetric Bricard mechanisms, with an intuitive interpretation of kinematic properties. In this paper, this novel approach is further extended for the bifurcation analysis of the plane-symmetric Bricard mechanisms. Owing to the geometric representation, the condition of bifurcations can be interpreted as a continuous intersection of two coplanar ellipses, including their degeneration. All possible scenarios are analyzed in detail, based on which the corresponding kinematic conditions can be specified to distinguish Bricard mechanisms with bifurcations. A comprehensive categorization is provided to classify the can-didates into different categories according to various conditions. Case studies are made to enumerate all categories of kinematic bifurcations, in an intuitive way, with the geometric illustration of mobility in these special configurations.

关键词： Couplings Analytical models Kinematics Bifurcation Robots

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Real-Time Deformation Simulation of Kidney Surgery Based on Virtual Reality

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Journal of Shanghai Jiaotong university(Science) 2021年第3期26卷 290-297页

作者： JING Mengjie CUI Zhixin FU Hang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai200240China

Virtual reality-based surgery simulation is becoming popular with the development of minimally invasive abdominal surgery,where deformable soft tissue is modelled and *** mass-spring model(MSM)and finite element method(FEM)are common methods used in the simulation of soft tissue ***,MSM has an issue concerning accuracy,while FEM has a problem with *** achieve higher accuracy and efficiency at the same time,we applied a co-rotational FEM in the simulation of a kidney with a tumour inside,achieving a real-time and accurate deformation *** addition,we set a multi-model representation for mechanical simulation and visual *** implicit Euler method and conjugate gradient method were adopted for setting and solving the linear *** a realistic simulation of surgery,constraints outside the kidney and between the kidney and tumour were set with two series of mechanical properties for the two *** were conducted to validate the accuracy and real-time performance.

关键词： computer-assisted surgery virtual reality real-time simulation finite element method(FEM) corotation FEM

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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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Ultrahigh energy density and rapid response dielectric elastomer for advanced soft robots

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Chemical Engineering Journal 2025年 515卷

作者： Du, Chengzhen Yan, Peinan Zou, Jiang Guo, Yutong Pang, Zimo Li, Sijia Chen, Yujie Fan, Qunfu Liu, Hezhou State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai200030 China

Dielectric elastomer actuators (DEAs) require high energy density to simultaneously achieve high mechanical output while enabling compact and lightweight actuator design. However, the realization of high energy density is constrained by the high driving electric field and the significant hysteretic relaxation. Herein, we present a DE featuring a bimodal-network structure and multiple hydrogen bonds interactions, which possesses outstanding properties, including a low Young's modulus, optimal dielectric properties, and low mechanical loss. The DE achieves a maximum actuation strain of 200 % at a low driving electric field of 60 V μm−1 with a rapid response. Remarkably, it exhibits an output force of 0.95 N and an ultrahigh specific energy of 283 J kg−1, approximately 7 times that of natural muscle. A series of soft robots with different structures and functions are fabricated to showcase the immense potential of our DE in various applications. This work provides a novel strategy to fabricate high performance artificial muscles for soft robotics. © 2025 Elsevier B.V.

关键词： Dielectric properties of solids

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A Flexible Piezoelectric-based Tactile Sensor for Dynamic Force Measurement 4

A Flexible Piezoelectric-based Tactile Sensor for Dynamic Fo...

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4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Xiang, Guiyao Wang, Xiaoxin Cheng, Nengyuan Hu, Liang Zhang, Hongwei Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

Force measurement is important in the robotic manipulation tasks, and it is an essential property of specific tactile sensor. An increasing number of studies demonstrated the capacity of tactile sensor in force measurement. However, most of the works focus on the static force measurement, the precise track of dynamic force is hard to be accomplished. Compared with traditional piezoresistive sensors, piezoelectric-based tactile sensors have advantages in low energy consumption and high sensitivity. This paper developed a flexible multi-layer piezoelectric-based tactile sensor inspired by the structure of skin. The size of sensor with a 3×3 sensing element array was designed to match that of a finger. The signal processors and logical algorithms were integrated to sense and distinguish the size, location and pattern of different external force stimuli in real time, including pressure intensity and vibration frequency. Two experiments about pressure sensing and vibration sensing show that the proposed tactile sensor with finger-like force range, high sensitivity and fast response time. The range of measured force amplitude and frequency were 0.1N-2N and 0.1Hz-100Hz. Another characteristic, the response time, was less than 50ms. In addition, the sensor array has a spatial resolution of 4 mm. This work has driven the development of tactile sensor for dynamic force measurement in real-Time robotic grasping. © 2022 IEEE.

关键词： Energy utilization

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Cable Length Estimation for a Hyper-Redundant Robot Based on Cable Hole Clearance Calculation

Cable Length Estimation for a Hyper-Redundant Robot Based on...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ziqing Li Jiangqin Deng Yang Zheng Chao Liu 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

For the cable-driven hyper-redundant robot, most of the current drive cable length estimation methods consider that the cable always passes through the center of the hole, and do not consider the effect of cable-hole clearance, resulting in a large motion error. In this paper, we propose a cable length estimating method by considering cable-hole clearance. Based on the simplified space model of the cable hole, it uses the recursive algorithm to obtain the approximate solution of the actual drive cable length. The algorithm can meet the requirements of real-time control while ensuring calculation accuracy. The correctness of the approximate solution is verified by using the interior point penalty function method. Taking a 24DoF hyper-redundant manipulator with joint angle closed-loop control as an example, the effectiveness of the proposed method is proved by comparing the theoretical calculation results with the actual drive cable length.

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Yehui Zhang Zhaoying Wang Wei Dong State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model.

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Acoustically Activated Nozzle for Microdroplet Generation and Dispensing

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Physical Review Applied 2023年第2期20卷 024067-024067页

作者： Qiu Yin Xiuyuan Li Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No. 800 Dongchuan Road Shanghai 200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications, such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are fundamental. Acoustic based droplet control has shown advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50–641 µm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis.

关键词： Drops

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Jiangqin Deng Ziqing Li Yang Zheng Guoying Gu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion.

关键词： Motion segmentation Biomimetics Biological system modeling Soft robotics Aerospace electronics Manipulators Planning

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