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A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： YU HongPeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional approach

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Frontiers of Mechanical Engineering 2022年第1期17卷 2-17页

作者： Zongwu XIE Xiaoyu ZHAO Zainan JIANG Haitao YANG Chongyang LI State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Robotic System Department Jiangsu Jitri-Hust Intelligent Equipment TechnologyWuxi 214000China

When free-floating space robots perform space tasks,the satellite base attitude is disturbed by the dynamic *** disturbance of the base orientation may affect the communication between the space robot and the control center on *** this paper,the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation.A novel acceleration level state equation for the nonholonomic problem is proposed,and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base *** the method,the state equation is first proposed for dual-arm robots with and without end constraints,and the system stability is analyzed to obtain the system *** input modification further increases the system stability and simplifies the calculation *** are carried out in the end,and the proposed method is validated in minimizing final base attitude change and trajectory ***,the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

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Frontiers of Mechanical Engineering 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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A Climbing Robot for Tube-Sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2025 IEEE.

关键词： Grippers

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Detection method of forward-scatter signal based on Rényi entropy

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Journal of systems Engineering and Electronics 2024年第4期35卷 865-873页

作者： ZHENG Yuqing AI Xiaofeng YANG Yong ZHAO Feng XIAO Shunping State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

The application scope of the forward scatter radar(FSR)based on the Global Navigation Satellite system(GNSS)can be expanded by improving the detection ***,the forward-scatter signal model when the target crosses the baseline is ***,the detection method of the for-ward-scatter signal based on the Rényi entropy of time-fre-quency distribution is proposed and the detection performance with different time-frequency distributions is ***-tion results show that the method based on the smooth pseudo Wigner-Ville distribution(SPWVD)can achieve the best ***,combined with the geometry of FSR,the influence on detection performance of the relative distance between the target and the baseline is ***,the proposed method is validated by the anechoic chamber measurements and the results show that the detection ability has a 10 dB improvement compared with the common constant false alarm rate(CFAR)detection.

关键词： forward scatter radar(FSR) Global Navigation Satellite system(GNSS) time-frequency distribution Rényi entropy signal detection

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Security-constrained Transmission Maintenance Optimization Considering Generation and Operational Risk Costs

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Journal of Modern Power systems and Clean Energy 2024年第3期12卷 767-781页

作者： Dan Xu Zhi Cai Qian Cheng Guodong Huang Jingyang Zhou Junjie Tang Beijing Key Laboratory of Research and System Evaluation of Power Dispatching Automation Technology China Electric Power Research InstituteBeijing 100192China State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqing 400044China

With the large-scale integration of renewable energy,the traditional maintenance arrangement during the load valley period cannot satisfy the transmission demand of renewable energy ***,in a market-oriented operation mode,the power dispatching control center aims to reduce the overall power purchase cost while ensuring the security of the power ***,a security-constrained transmission maintenance optimization model considering generation and operational risk costs is proposed *** model is built on double-layer optimization framework,where the upper-layer model is used for maintenance and generation planning,and the lowerlayer model is primarily used to address the operational security risk arising from the random prediction error and N-1 transmission ***,a generation-maintenance iterative algorithm based on a defined cost feedback is included to increase solution *** cost is determined using long-term security-constrained unit commitment,and the operational risk cost is obtained using a double-layer N-1 risk assessment *** electrical correlation coupling coefficient is proposed for the solution process to avoid maintenance of associated equipment simultaneously,thereby improving model convergence *** IEEE 118-bus system is used as a test case for illustration,and test results suggest that the proposed model and algorithm can reduce the total cost of transmission maintenance and system operation while effectively improving the solution efficiency of the joint optimization model.

关键词： Transmission maintenance security-constrained unit commitment iterative algorithm cost feedback N−1 risk assessment

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Design of variable stiffness joint of manipulator

Design of variable stiffness joint of manipulator

引用

2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Ni, Wencheng Wang, Yaobing Ma, Ruqi Sun, Kang Pan, Bo Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9781510674608

In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability. In this paper, a design method of variable stiffness modular manipulator joint with large stiffness variation range is proposed, the mechanism design and variable stiffness principle of variable stiffness joint are described, and the ability of stiffness variation in large range is verified through experiments. © 2024 SPIE.

关键词： Leaf springs

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An angular blinking jamming method based on electronically controlled corner reflectors

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Journal of systems Engineering and Electronics 2024年第2期35卷 330-338页

作者： GAN Lin WU Zehao WANG Xuesong LI Jianbing State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

Passive jamming is believed to have very good potential in countermeasure *** this paper,a passive angular blinking jamming method based on electronically controlled corner reflectors is *** amplitude of the incident wave can be modulated by switching the corner reflector between the penetration state and the reflection state,and the ensemble of multiple corner reflectors with towing rope can result in complex angle decoying *** of the decoying effect on corner reflectors’radar cross section and positions are analyzed and *** show that the angle measured by a monopulse radar can be significantly interfered by this method while the automatic tracking is employed.

关键词： monopulse radar angular blinking jamming corner reflector amplitude-comparison angle measurement metasurface

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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