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Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

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Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

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Journal of Bionic Engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

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3D printing of high-precision and ferromagnetic functional devices

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International Journal of Extreme Manufacturing 2023年第3期5卷 646-656页

作者： Zhiyuan Huang Guangbin Shao Dekai Zhou Xinghong Deng Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001People’s Republic of China

The development of projection-based stereolithography additive manufacturing techniques and magnetic photosensitive resins has provided a powerful approach to fabricate miniaturized magnetic functional devices with complex three-dimensional spatial ***,the present magnetic photosensitive resins face great challenges in the trade-off between high ferromagnetism and excellent printing *** address these challenges,we develop a novel NdFeB-Fe_(3)O_(4) magnetic photosensitive resin comprising 20 wt.%solid loading of magnetic particles,which can be used to fabricate high-precision and ferromagnetic functional devices via micro-continuous liquid interface production *** resin combining ferromagnetic NdFeB microparticles and strongly absorbing Fe_(3)O_(4) nanoparticles is able to provide ferromagnetic capabilities and excellent printing quality simultaneously compared to both existing soft and hard magnetic photosensitive *** established penetration depth model reveals the effect of particle size,solid loading,and absorbance on the curing characteristics of magnetic photosensitive resin.A high-precision forming and ferromagnetic capability of the NdFeB-Fe_(3)O_(4) magnetic photosensitive resin are comprehensively *** is found that the photosensitive resin(NdFeB:Fe_(3)O_(4)=1:1)can print samples with sub-40μm fine features,reduced by 87%compared to existing hard magnetic photosensitive resin,and exhibits significantly enhanced coercivity and remanence in comparison with existing soft magnetic photosensitive resins,showing by an increase of 24 times and 6 times,*** reported NdFeB-Fe_(3)O_(4) magnetic photosensitive resin is anticipated to provide a new functional material for the design and manufacture of next-generation micro-robotics,electromagnetic sensor,and magneto-thermal devices.

关键词： magnetic device magnetic photosensitive resins 3D printing NdFeB Fe_(3)O_(4)

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Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

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Frontiers of Mechanical Engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Simultaneously improving fabrication accuracy and interfacial bonding strength of multi-material projection stereolithography by multi-step exposure

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International Journal of Smart and Nano Materials 2024年第2期15卷 387-404页

作者： Xinghong Deng Guangyu Zhang Yi Mo Zhiyuan Huang Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina School of Materials Science and Engineering Harbin Institute of TechnologyHarbinChina

Multi-material additive manufacturing(MMAM)takes full advantage of the ability to arbitrarily place materials of addi-tive manufacturing technology,enabling immense design free-dom and functional print *** MMAM technologies,projection stereolithography(PSL)exhibits a great balance of high resolution and fast printing ***,fabrication accuracy of multi-material PSL is hin-dered by large overcure used to strengthen interfacial bond-ing weakened by chemical affinity and material-exchange *** present a novel multi-step exposure method for multi-material PSL process to overcome this ***,the whole layer is moderately exposed producing over-cure of single-material PSL level to generate *** weakened interfaces are strengthened individually with addi-tional steps of *** multi-step exposure is integrated into the already efficient materials printing order of multi-material PSL *** depth and overcure of photocur-able resins are modeled and *** required to achieve sufficient interfacial bonding of single-material interfaces built through material-exchange process and multi-material interfaces with altering materials printing order is determined with tensile *** channels are used to compare fabrication accuracy of traditional single-step exposure and our multi-step exposure *** method can be widely applied in multi-material PSL to improve fabri-cation accuracy in a variety of applications including micro-fluidic devices.

关键词： Additive manufacturing multi-material projection stereolithography multi-step exposure interfacial bonding

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Thermal shock of subsurface material with plastic flow during scuffing

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Friction 2023年第1期11卷 64-75页

作者： Chuanwei ZHANG Han ZHAI Dong SUN Dezhi ZHENG Xiaoli ZHAO Le GU Liqin WANG MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The thermal shock of subsurface material with shear instability and severe plastic flow during scuffing was *** scuffing damage of M50 steel was tested using a high-speed rolling-sliding contact test rig,and the transient temperature during scuffing was calculated using the Fourier transform method considering the effects of both frictional heat and plastic *** results show that a thermal shock with a rapid rise and subsequent rapid decrease in the contact temperature is generated in the subsurface *** frictional power intensity generates a high temperature rise,leading to the austenitization of the subsurface ***,the plastic flow is generated in the subsurface layer under the high shear stress,and the resulting plastic strain energy generates a further temperature ***,a rapid decrease in the contact temperature quenches the material,resulting in clear shear slip bands and retained austenite in the subsurface layers of the M50 steel.

关键词： scuffing thermal shock high temperature plastic flow

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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. © 2016 IEEE.

关键词： Grippers

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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric 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

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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