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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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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期 581-600页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of Technology Centre for Precision Manufacturing DMEMUniversity of Strathclyde State Key Laboratory of Robotics and System Harbin Institute of Technology

To mill fine and well-defined micro-dimpled structures, a machining manner of spiral trajectory tool reciprocating motion, where the tool repeats the process of ‘feed milling±retract±cutting feed±feed milling again' along the spiral trajectory, was proposed. From the kinematics analysis, it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion. To reveal this causation, simulation modelling and experimental studies were carried out. A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length) and parameters(discrete angle, discrete arc length, and pitch) on surface texture and residual height of micro-dimpled structures. Subsequently, microdimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion. A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy, surface morphology and surface roughness of milled dimples. Meanwhile, the errors and factors affecting the above three aspects were analyzed. The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures. Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces. And an appropriate machining trajectory can be generated based on the optimized trajectory parameters, thus contributing to the improvement of machining quality and efficiency.

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SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting

arXiv

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arXiv 2025年

作者： Yang, Linqi Zhao, Xiongwei Sun, Qihao Wang, Ke Chen, Ao Kang, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China Shenzhen518071 China Jianghuai Advance Technology Center Hefei230000 China

6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and susceptibility to rotational ambiguity, while approaches requiring depth sensors or multi-view setups incur significant deployment costs. To address these limitations, we introduce SplatPose, a novel framework that synergizes 3D Gaussian Splatting (3DGS) with a dual-branch neural architecture to achieve high-precision pose estimation using only a single RGB image. Central to our approach is the Dual-Attention Ray Scoring Network (DARS-Net), which innovatively decouples positional and angular alignment through geometry-domain attention mechanisms, explicitly modeling directional dependencies to mitigate rotational ambiguity. Additionally, a coarse-to-fine optimization pipeline progressively refines pose estimates by aligning dense 2D features between query images and 3DGS-synthesized views, effectively correcting feature misalignment and depth errors from sparse ray sampling. Experiments on three benchmark datasets demonstrate that SplatPose achieves state-of-the-art 6-DoF pose estimation accuracy in single RGB settings, rivaling approaches that depend on depth or multi-view images. Copyright © 2025, The Authors. All rights reserved.

关键词： Gaussian distribution

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Influences of the ambient humidity and temperature on the material removal and wear behaviors on the soft-brittle KDP optics lithographed by the AFM probes

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Wear 2025年

作者： Chen, Guang Cheng, Jian Zhao, Linjie Chen, Mingjun Ding, Wenyu Lei, Hongqin Liu, Qi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China Centre for Precision Manufacturing DMEM University of Strathclyde GlasgowG1 1XJ United Kingdom

KDP (K2HPO4) crystals possess excellent nonlinear electro-optical properties and are often employed as Pockels cells and frequency converters. Ink-free DPN (IF-DPN) provides a promising method to lithograph surface nano-patterns in KDP optics to improve their laser damage resistances. However, material removal and wear behaviors are greatly affected by humidity and temperature. In this work, theoretical analyses at atomic- and electronic-scales are performed based on molecular dynamics and ab initio to study lithography behaviors (indentation and scratching) for IF-DPN. Lithography experiments with different humidity and temperatures are also executed on KDP substrate, which align well with theoretical results. During indentation processes, surface materials are squeezed into substrate, leading to deep subsurface damages and significant material recoveries. While the scratching processes would cause intense surface material stripping, and sharp-edge of AFM probe facilitates this process. Numerous K-related chemical structure defects would emerge during the lithography processes, which is the predisposition of microstructure change inside KDP crystal. The binding processes of AFM probe, water, and KDP crystal are spontaneous exothermic reactions. Bonding reactions of Si-O, Si-H, and O-H covalent bonds would expedite the wear of AFM probe and KDP crystal. The humidity affects lithography behaviors mainly through chemical dissolution actions, reducing surface integrity and structural strength of KDP crystal and facilitating material stripping. The high humidity would intensify the hydroxylation reaction occurring on AFM probe and KDP crystal surfaces, enhancing their hydrophilicity. The high temperature would result in a reduction of the condensed water meniscus and adsorbed water film, weakening chemical actions of IF-DPN. But it is beneficial for the penetration of AFM probe into KDP crystal surface, material stripping, and minimization of subsurface damages. The hig

关键词： Molecular dynamics

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Optimizing the Qusai-static Folding and Deploying of Thin-Walled Tube Flexure Hinges with Double Slots

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Chinese Journal of Mechanical Engineering 2014年第2期27卷 279-286页

作者： YANG Hui DENG Zongquan LIU Rongqiang WANG Yan GUO Hongwei State Key Laboratory of Robotics and System Harbin Institute of Technology

The thin-walled tube flexure（TWTF） hinges have important potential application value in the deployment mechanisms of satellite and solar array, but the optimal design of the TWTF hinges haven＇t been completely solved, which restricts their applications. An optimal design method for the qusai-static folding and deploying of TWTF hinges with double slots is presented based on the response surface theory. Firstly, the full factorial method is employed to design of the experiments. Then, the finite element models of the TWTF hinges with double slots are constructed to simulate the qusai-static folding and deploying non-linear analysis. What＇s more, the mathematical model of the TWTF flexure hinge quasi-static folding and deploying properties are derived by the response surface method. Considering of small mass and high stability, the peak moment of quasi-static folding and deploying as well as the lightless are set as the objectives to get the optimal performances. The relative errors of the objectives between the optimal design results and the FE analysis results are less than 7%, which demonstrates the precision of the surrogate models. Lastly, the parameter study shows that both the slots length and the slots width both have significant effects to the peak moment of quasi-static folding and deploying of TWTF hinges with double slots. However, the maximum Mises stress of quasi-static folding is more sensitive to the slots length than the slots width. The proposed research can be applied to optimize other thin-walled flexure hinges under quasi-static folding and deploying, which is of great importance to design of flexure hinges with high stability and low stress.

关键词： design optimization quasi-static folding and deploying flexure hinges thin-walled tube response surface method,numerical simulation

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Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

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Chinese Journal of Mechanical Engineering 2017年第5期30卷 1123-1132页

作者： Ji-Zhuang Fan Wei Zhang Peng-Cheng Kong He-Gao Cai Gang-Feng Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

关键词： Frog-inspired robot Pneumatic muscle High-speed switch valve Pneumatic model

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Method for Analyzing Articulated Torques of Heavy-duty Six-legged Robot

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 801-812页

作者： ZHUANG Hongchao GAO Haibo DING Liang LIU Zhen DENG Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

The accuracy of an articulated torque analysis influences the comprehensive performances of heavy-duty multi-legged robots. Currently, the extremal estimation method and some complex methods are employed to calculate the articulated torques, which results in a large safety margin or a large number of calculations. To quickly obtain accurate articulated torques, an analysis method for the articulated torque is presented for an electrically driven heavy-duty six-legged robot. First, the rearmost leg that experiences the maximum normal contact force is confirmed when the robot transits a slope. Based on the ant-type and crab-type tripod gaits, the formulas of classical mechanics and MATLAB software are employed to theoretically analyze the relevant static torques of the joints. With the changes in the joint angles for the abductor joint, hip joint, and knee joint, variable tendency charts and extreme curves are obtained for the static articulated torques. Meanwhile, the maximum static articulated torques and the corresponding poses of the robot are also obtained. According to the poses of the robot under the maximum static articulated torques, ADAMS software is used to carry out a static simulation analysis. Based on the relevant simulation curves of the articulated torques, the maximum static articulated torques are acquired. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are higher than the static simulation values, and the maximum error value is approximately 10%. The proposed method lays a foundation for quickly determining accurate articulated torques to develop heavy-duty six-legged robots.

关键词： heavy-duty six-legged robot articulated torque MATLAB static simulation analysis ADAMS

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Analysis on the Performance of the SLIP Runner with Nonlinear Spring Leg

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 892-899页

作者： YU Haitao LI Mantian CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology

The spring-loaded inverted pendulum(SLIP) has been widely studied in both animals and ***,the majority of the relevant theoretical studies deal with elastic leg,the linear leg length-force relationship of which is obviously conflict with the biological observations.A planar spring-mass model with a nonlinear spring leg is presented to explore the intrinsic mechanism of legged locomotion with elastic *** leg model is formulated via decoupling the stiffness coefficient and exponent of the leg compression in order that the unified stiffness can be scaled as convex,concave as well as linear *** apex return map of the SLIP runner is established to investigate dynamical behavior of the fixed *** basin of attraction and Floquet Multiplier are introduced to evaluate the self-stability and initial state sensitivity of the SLIP model with different stiffness *** numerical results show that larger stiffness exponent can increase top speed of stable running and also can enlarge the size of attraction domain of the fixed *** addition,the parameter variation is conducted to detect the effect of parameter dependency,and demonstrates that on the fixed energy level and stiffness profile,the faster running speed with larger convergence rate of the stable fixed point under small local perturbation can be achieved via decreasing the angle of attack and increasing the stiffness *** perturbation recovery test is implemented to judge the ability of the model resisting large external *** result shows that the convex stiffness performs best in enhancing the robustness of SLIP runner negotiating irregular *** research sheds light on the running performance of the SLIP runner with nonlinear leg spring from a theoretical perspective,and also guides the design and control of the bio-inspired legged robot.

关键词： spring-loaded inverted pendulum legged locomotion apex return map nonlinear spring

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Multi-state autonomous drilling for lunar exploration

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Chinese Journal of Aeronautics 2016年第5期29卷 1397-1404页

作者： Chen Chongbin Quan Qiquan Shi Xiaomeng Deng Zongquan Tang Dewei Jiang Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media （i.e., lunar soil and lunar rock）, this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo- rithm, lunar drilling process was categorized into three drilling states： the interface detection, initi- ation of drilling parameters for recognition and drilling medium recognition. Support vector machine （SVM） and continuous wavelet transform were employed for the online recognition of drilling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detecting drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.

关键词： Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform

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On Modeling Drilling Load in Lunar Regolith Simulant

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 41-52页

作者： Qi-Quan Quan Chong-Bin Chen Zong-Quan Deng Jun-Yue Tang De-Wei Tang State Key Laboratory of Robotics and System Harbin Institute of Technology

Drilling and coring, as effective ways to obtain lunar regolith along the longitudinal direction, are widely applied in the lunar sampling field. Conventionally, modeling of drill-soil interaction was divided into soil cutting and screw conveyance processes, ignoring the differences in soil mechanical properties between them. To improve the modeling accuracy, a hypothesis that divides the drill-soil interaction into four parts: cuttings screw conveyance, cuttings extruding, cuttings bulldozing, and in situ simulant cutting, is proposed to establish a novel model based on the passive earth pressure theory. An iterative numerical calculation method is developed to predict the drilling loads. A drilling and coring testbed is developed to conduct experimental tests. Drilling experiments indicate that the drilling loads calculated by the proposed model match well the experimental results. The proposed research provides the instructions to adopt a suitable drilling strategy to match the rotary and penetrating motions, to increase the safety and reliability of drilling control in lunar sampling missions.

关键词： Lunar regolith drilling Lunar regolith simulant Drill-simulant interaction Screw conveyance

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