检索结果-内蒙古大学图书馆

Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

来源：评论

学校读者我要写书评

暂无评论

Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

引用

Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

来源：评论

学校读者我要写书评

暂无评论

Molecular dynamics simulations of microstructure and dislocation evolution of single-crystal Ni-based superalloys under femtosecond laser loading

引用

Progress in Natural Science:Materials International 2024年第5期34卷 942-954页

作者： Peng Shen Xuesong Mei Tao Sun Xueshi Zhuo Xiaomao Sun Wenjun Wang Jianlei Cui Zhengjie Fan School of Mechanical Engineering Xi'an Jiaotong University State Key Laboratory for Manufacturing System Engineering Xi'an Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University

In this paper, molecular dynamics simulations are employed to investigate the temperature, stress distribution, microstructure and evolution of dislocations in singlecrystal Ni-based superalloys during femtosecond laser drilling of micro-holes. The results indicate that the temperature and stress variations in the model system increase with the increment of laser energy density. The pulse width has a relatively low effect on temperature and stress variations. At the same time, an increase in dislocations is primarily related to energy density and stress distribution. The number of dislocations increases with the energy density, with the 1/6<112> dislocation showing the highest increase ratio. The densest concentration of dislocations occurs at the hole walls. Dislocations and stacking faults gradually penetrate the precipitate phase under the influence of temperature and reach a stable state as the relaxation time increases. The above research findings provide important theoretical guidance for understanding the microstructure evolution and changes in the mechanical properties of single-crystal Ni-based superalloys during femtosecond laser processing of micro-holes.

关键词： Molecular dynamics

来源：评论

学校读者我要写书评

暂无评论

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

来源：评论

学校读者我要写书评

暂无评论

Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

引用

2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

引用

Space(Science & Technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

来源：评论

学校读者我要写书评

暂无评论

A novel method of suppressing machining vibration in robotic milling using magneto-rheological foam damper

引用

Chinese Journal of Aeronautics 2024年第12期37卷 522-543页

作者： Bo LI Chenxin SU Wei ZHAO Shengli SONG Wei TIAN Wenhe LIAO College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China

Owing to their remarkable flexibility and favorable cost-effectiveness,industrial robots have found extensive applications to cutting of materials across sophisticated manufacturing ***,the structurally low rigidity of these robots renders the tool tip prone to substantial oscillations during machining processes,significantly impacting product fabrication *** objective of this study is to present a novel methodology employing magnetorheological dampers for mitigating vibrations during robotic milling ***,a new type of ring nested Magneto-Rheological Foam Damper(MRFD)working in the squeeze mode is ***,the MRFD’s structure is designed considering the vibrational characteristics of robotic ***,a damping force model of the MRFD is *** feasibility of the MRFD’s structural design is validated by the finite element analyses,which is instrumental in comprehending the influence of structural parameters on the electromagnetic characteristics of the ***,a prototype of the MRFD is fabricated selecting appropriate ***,a series of excitation and milling experiments are conducted on a KUKA KR500 *** outcomes demonstrate a substantial reduction(37%-69%)in radial vibration amplitude at the tool tip during robotic milling,highlighting the effectiveness of the developed *** research endeavor has introduced a pioneering avenue and framework for vibration control in robotic milling,offering a novel paradigm for enhancing the precision of robotic machining.

关键词： Industrial robots Machining vibration Magneto-rheological dampers robotic milling Vibration suppression

来源：评论

学校读者我要写书评

暂无评论

DCM-based dynamic stable walking under terrain-induced time-varying disturbances for humanoid robots

引用

Science China(Technological Sciences) 2025年第4期68卷 105-117页

作者： Yan LUO Chao LIU Jianhua WU Zhenhua XIONG Han DING State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan430074China

When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support *** abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control *** address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)*** method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying *** the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base *** then combine DCM with the N-step capturability *** combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability *** and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.

关键词： humanoid robot dynamic balance control capturability time-varying disturbance

来源：评论

学校读者我要写书评

暂无评论

Tuning mechanical behaviors of highly entangled hydrogels with the random distribution of mobile entanglements

引用

Applied Mathematics and Mechanics(English Edition) 2024年第2期45卷 277-294页

作者： Jinlong LIU Di LU Bin CHEN Department of Engineering Mechanics Zhejiang UniversityHangzhou 310027China Beijing System Design Institute of Electro-Mechanic Engineering Beijing 100854China Intelligent Robotic Research Center Zhejiang LaboratoryHangzhou 310027China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Hangzhou 311100China

Highly entangled hydrogels exhibit excellent mechanical properties,including high toughness,high stretchability,and low *** considering the evolution of randomly distributed entanglements within the polymer network upon mechanical stretches,we develop a constitutive theory to describe the large stretch behaviors of these *** the theory,we utilize a representative volume element(RVE)in the shape of a cube,within which there exists an averaged chain segment along each edge and a mobile entanglement at each *** employing an explicit method,we decouple the elasticity of the hydrogels from the sliding motion of their entanglements,and derive the stress-stretch relations for these *** present theoretical analysis is in agreement with experiment,and highlights the significant influence of the entanglement distribution within the hydrogels on their *** also implement the present developed constitutive theory into a commercial finite element software,and the subsequent simulations demonstrate that the exact distribution of entanglements strongly affects the mechanical behaviors of the structures of these ***,the present theory provides valuable insights into the deformation mechanism of highly entangled hydrogels,and can aid in the design of these hydrogels with enhanced performance.

关键词： highly entangled hydrogel constitutive theory entanglement gamma distribution

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：