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robotics & Intelligent Manufacturing Technology (ISRIMT), International Symposium on

作者： Zhengtao Chen Bochen Li Yanhao Feng Genliang Chen Hao Wang Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331528942

ISBN: (纸本)9798331528959

Acupuncture is a classic treatment method in traditional Chinese medicine. At present, it mainly relies on experienced doctors for manual treatment. The inheritance of skills and the guarantee of treatment effects require lots of training to guarantee, which is far from meeting needs. In this paper, an acupuncture robot system was designed to ensure the accuracy of acupoint positioning and safety during needle insertion, making robot-assisted acupuncture treatment a feasible alternative. The acupuncture robot has an acupoint marking and visual guidance system. According to the location of the acupoints accurately marked by the doctor on the patient's 3D reconstructed model, the robot is accurately guided to perform acupuncture treatment. The positioning error of this system is within 1.5mm, which meets the needs of acupuncture. In addition, a terminal needle-punching manipulator with compliant needle insertion force control, needle insertion depth feedback, and continuous needle insertion functions is designed. Through the closed-loop control of the needle-punching manipulator, the safety and accuracy of the acupuncture robot are fully guaranteed. Finally, an acupuncture experiment was designed to verify the accuracy and safety of the acupuncture robot.

关键词： Training Visualization Accuracy Three-dimensional displays Medical services Needles Manipulators Acupuncture Safety Force control

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Robust actuator based on photothermally responsive hydrogel with fast recovery capability 2

Robust actuator based on photothermally responsive hydrogel ...

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2022 2nd International Conference on Smart Transportation, Energy and Power, STEP 2022

作者： Hou, Guodong Zhang, Feiyu Qian, Xiaoshi State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Interdisciplinary Research Centre for Engineering Science Shanghai Jiao Tong University Shanghai China Institute of Refrigeration and Cryogenics Shanghai Jiao Tong University Shanghai China

Propulsion by deformation and oscillation is a familiar law of motion in nature. Often, these motions are signaled and driven by constant external conditions, such as the phototropism of plants. Here, we have prepared a soft photosensitive material utilizing ice templates and cryo-polymerization, which combines light absorbers and thermally responsive hydrogels and thus possesses superb photothermal conversion, mechanical deformation, and fast recovery capabilities. The soft actuator based on this material generates a dynamically balanced oscillation with intermittent shadows creating a continuous self-feedback loop, allowing the actuator to operate continuously and durably under constant illumination. Combining the modules of conjugate heat transfer, non-isothermal flow, and fluid-solid coupling, we have gained a deeper understanding of the interaction of the soft actuator with the temperature and flow fields. In the future, the soft actuator can be widely developed and combined with other conventional drive strategies in an attempt to apply in soft robotics, underwater operations, and other fields. © Published under licence by IOP Publishing Ltd.

关键词： Actuators

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Operational-space wrench and acceleration capability analysis for multi-link cable-driven robots

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Science China(Technological Sciences) 2020年第10期63卷 2063-2072页

作者： SHENG XinJun TANG Lei HUANG XinJia ZHU LiMin ZHU XiangYang GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Multi-link cable-driven robots(MCDRs)have potential advantages in confined spaces exploration because of their redundancy and *** space wrench and acceleration capability analysis of MCDRs is important for their design,manipulability optimization,and motion ***,existing works mainly focus on capability analysis in the joint *** this paper,we present a zonotope-based iterative method and a simplified capability zonotope to analyze the operational-space wrench and acceleration capability of *** the iterative method,the capability generated by some cables can be iteratively added to the initial capability zonotope based on the Minkowski *** the simplified zonotope capability representation,a threshold is put forward to reduce redundant vertices and faces with little volume ***,simulations on a 24 DOFs MCDR are performed to verify the effectiveness of the developed *** results demonstrate that our iterative algorithm can easily generate the capability zonotope with a few MB ROM,while traditional operational wrench capability evaluation without our iterative algorithm needs 18432 GB ***,our simplified representation reduces the vertices and faces from 1260 and 2516 to 88 and 172,respectively,but with only 3.3%volume loss,which decreases the constraints of the robot and is conducive to manipulability optimization and motion planning.

关键词： multi-link cable-driven robots operational space capability analysis zonotope

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Mag-Boost Mechanism for High-Power Ocean Wave Energy Harvesting

SSRN

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SSRN 2024年

作者： Tang, Tianyi Li, Yunfei Huang, Manjuan Mei, Mingqi Wang, Zizhao Zha, Fusheng Sun, Lining Liu, Huicong School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Ocean wave energy is a highly anticipated renewable energy source. However, due to the ultra-low frequency and random characteristics of ocean waves, efficient and high-power energy harvesting has been a great challenge. By ingeniously leveraging the phenomenon of sudden magnetic-torque variation in orthogonal magnetic fields, this paper proposes an innovative Mag-Boost mechanism, which is capable of converting ultra-low excitation below 1Hz to high-frequency oscillations of power-magnet more than 50Hz without direct contact. The energy conversion efficiency of this mechanism can be as high as 89.3%. By integrating four Mag-boost units into a circular array, a high-power wave energy harvester (WEH) with ultra-low frequency response capabilities has been proposed. At a frequency of 1Hz and an inclination angle of 30°, the WEH demonstrated a high output performance with power of 1.79W and power density of 1.88kW/m³, which is an order of magnitude higher than those of the previous reported ones. During the off-shore test at Yellow Sea, the WEH reached the peak open-circuit voltage of 10V, ensuring completely independent and stable power supply for wireless temperature and humidity sensors. Furthermore, the Mag-Boost mechanism also shows considerable potential for harvesting other forms of low-frequency environmental energy, including wind, vibration, and human kinetic energy. © 2024, The Authors. All rights reserved.

关键词： Water waves

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Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms

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Science China(Technological Sciences) 2020年第2期63卷 255-264页

作者： TANG Lei ZHU LiMin ZHU XiangYang GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.

关键词： cable-driven snake robot confined spaces path following prediction lookup interpolation

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Programmable soft bending actuators with auxetic metamaterials

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Science China(Technological Sciences) 2020年第12期63卷 2518-2526页

作者： PAN Qi CHEN ShiTong CHEN FeiFei ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Soft robotics has been receiving increasing attention due to its flexibility and adaptability offered by embodied intelligence. A soft robot may undergo complex motions including stretching,contraction,bending,twisting,and their intricate *** these basic motions,bending plays a central role when a robot accomplishes tasks such as locomotion,grasping and manipulation. Although a rich repertoire of bending mechanisms has been reported,a systematic and rational design framework is still lack. In this paper,we provide a novel design strategy for soft bending actuators which allows integral modeling and design optimization. Nowadays,metamaterials are emerging as a new tool for soft robots,by encoding the desired complex motions directly within the material architectures,leading to conformable monolithic systems. We combine pneumatic actuators and flexible metamaterials to provide an alternative solution to soft bending actuators,with advantages of compact design,large bending motion,and convenient fabrication. A regular pneumatic chamber is embedded inside auxetic and non-auxetic metamaterials,and bending is generated when inflated. We carry out dimensionless analysis to identify the key design variables. To provide insight into design optimization,we develop a computation framework by modeling metamaterial structures with beam elements and the inner chamber with shell elements as an integral part,allowing efficient simulation of the coupled system. We systematically investigate how the bending angle varies with the key design variables and find the optimal design *** experimental results are well in line with the simulation,and a remarkable bending motion of 0.43°/mm is achieved.

关键词： soft robotics bending actuator auxetic metamterials negative Poisson’s ratio

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Performance characterization of ionic-hydrogel based strain sensors

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Science China(Technological Sciences) 2020年第6期63卷 923-930页

作者： XU HaiPeng SHEN ZeQun GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Ionic hydrogels,owing to the advantages of stretchability,conductivity and transparency,have attracted more attention for developing new soft sensors and artificial *** works on ionic-hydrogel based sensors mostly focus on material synthesis,structure design and functional integration,while few studies investigate the characterization of their sensing *** this paper,we present a method to characterize the performance(e.g.,sensitivity,linearity and repeatability)of a kind of ionic-hydrogel based strain sensors by varying the testing frequencies and the sensors’geometry(e.g.,length-width(L/W)ratio).To this end,we first develop an experimental testing platform and fabricate a series of strain sensors made of the polyacrylamide(PAAm)hydrogel containing ionic conductive *** establish an equivalent electrical model to represent the ionic-hydrogel based strain sensors,indicating the influence of the testing frequencies and L/W ratio of the ionic hydrogels on their sensing *** theoretical predictions are in agreement with results obtained through experimental *** further demonstrate that(1)the sensitivity of the strain sensors,characterized by the gauge factor(GF),increases with the rise of testing frequencies but tends to be stable over the frequency of 5 kHz;(2)the sensitivity GF has a nonlinear relation with the L/W ratio of the strain sensors,but with a certain maximum value under the same testing frequency when the L/W ratio equals to *** verify the above experimental observations with two commonly used electrolytes,including lithium chloride and sodium *** the optimum testing frequency and L/W ratio,we finally conduct various experiments to demonstrate the low hysteresis and good repeatability of our ionic-hydrogel based strain *** work provides an approach to characterize the performance of the ionic-hydrogel based strain sensors,which may be an important step forward in further applicatio

关键词： ionic hydrogels sensor characterization large-strain sensor stretchable electronics

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Research on Longitudinal Ultrasonic vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

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Ultrahigh Energy Density and Rapid Response Dielectric Elastomer for Advanced Soft Robots

SSRN

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SSRN 2025年

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 bond 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, The Authors. All rights reserved.

关键词： Elastomers

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Bidirectional Fluid-Solid Coupling Characteristics and Microgroove Design of Water-Lubricated Bearings for Underwater Robots Considering Deflected Load

Bidirectional Fluid-Solid Coupling Characteristics and Micro...

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robotics & Intelligent Manufacturing Technology (ISRIMT), International Symposium on

作者： Shengyao Zheng Junjie Shi Junjie Xu Fangrui Lv College of Mechanical and Electrical Engineering Hohai University Changzhou China Institute of Vibration Shock and Noise State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

Water-lubricated bearings have the advantages of pollution-free, simple structure, corrosion resistant, impact resistant. Therefore, they are widely used in underwater robots. Due to the low-viscosity and low-speed of water-lubricated bearings, their load-carrying capacity is naturally weak. Meanwhile, the gravity of the propeller and other factors often cause the centerline of the journal to be no longer parallel to the centerline of the bearing hole. Thus, the journal is misaligned in the vertical plane, which further decreases the load-carrying capacity of the bearing. In order to improve the load-carrying capacity of misaligned water-lubricated bearings, the CFD method is used to consider the influence of liquid cavitation and fluid-structure coupling, the lubrication characteristics of water-lubricated bearings with microgrooves under deflected load for underwater robots are simulated. The effects of distribution parameters and structural parameters of microgrooves on bearing performance are analyzed. The simulation results show that under deflected load, the pressure of the water film is unevenly distributed along the axial direction, the pressure peak is near the journal downwarping end, and the load-carrying capacity is significantly decreased. When the microgroove is arranged near the convergence wedge close to the minimum film thickness, the load-carrying capacity increases. Geometric parameters of micro grooves affect the bearing load-carrying capacity. The load-carrying capacity decreases with the increase of microgroove depth $2\mathrm{h}_{\mathrm{A}}$ ; Compared with linear microgrooves, wedge microgrooves have a more obvious effect on improving the load-carrying capacity of bearings under deflected load.

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