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Modular structure of a self-reconfigurable robot

FEI Yanqiong, DONG Qinglei, ZHAO Xifang

《机械工程前沿（英文）》 2007年第2卷第1期页码 116-119 doi: 10.1007/s11465-007-0020-z

摘要： This paper proposes a novel, hermaphroditic, and lattice self-reconfigurable modular robot. Each module is composed of a center body a cubic part and six sides that can rotate independently. There are two holes and two extensible pegs on each side. The rotary motion of each side and the extensible motion of the pegs are generated by a motor connected to a reducer, using a cone-shaped gear, belt, clutch, etc. The structure of the module is compact, and has space to extend further.

关键词： compact self-reconfigurable modular hermaphroditic cone-shaped clutch

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一种用于RSA和ECC的高能效可重构非对称密码模运算单元 Research Article

别梦妮1,李伟1,陈韬1,南龙梅2,杨丹阳1

《信息与电子工程前沿（英文）》 2022年第23卷第1期页码 134-144 doi: 10.1631/FITEE.2000325

摘要： RSA和椭圆曲线密码（ECC）算法广泛应用于身份验证、数据安全和访问控制。本文分析了ECC和RSA算法基本操作并对模乘和模逆算法进行优化。提出一个具有混合内存单元和双乘加结构的可重构模运算单元，实现了非对称密码算法在运算单元层次的统一。采用55 nm CMOS标准工艺对模运算单元进行综合，该单元占用硬件资源437 801 μm2，最高时钟频率可达588 MHz。所提模运算单元完成2048位RSA模乘和模逆功耗分别为21.92和23.36 mW，完成512位ECC双域模乘和模逆功耗分别为16.16 和15.88 mW。它比现有单一算法单元更高效、更灵活。与现有多算法单元相比，所提单元表现出更好性能。将所提模运算单元嵌入64位RISC-V处理器，可实现RSA和ECC的密钥生成、加解密以及数字签名功能。实验结果表明，所提设计在G(p)和G(2m)上实现256位ECC点乘分别需要0.224和0.153 ms，实现1024位RSA求幂需要0.96 ms，满足高能效需求。

关键词：模运算单元；可重构；高能效

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A zone-layered trimming method for ceramic core of aero-engine blade based on an advanced reconfigurable

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0675-5

摘要： Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.

关键词： ceramic parts trimming computer-aided laser manufacturing 3D vision reconfigurable laser processing system

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Gain-enhanced reconfigurable radiation array with mechanically driven system and directive elements

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0716-0

摘要： In the artificial intelligence-driven modern wireless communication system, antennas are required to be reconfigurable in terms of size according to changing application scenarios. However, conventional antennas with constant phase distributions cannot achieve enhanced gains in different reconfigurable sizes. In this paper, we propose a mechanically reconfigurable radiation array (RRA) based on miniaturized elements and a mechanically reconfigurable system to obtain gain-enhanced antennas in compact and deployed states. A five-element RRA with a phase-reconfigurable center element is designed and analyzed theoretically. The experimental sample has been fabricated, driven by a deployable frame with only one degree of freedom to realize the size and phase distribution reconfiguration simultaneously to validate the enhanced gains of RRA. The proposed RRA can be tessellated into larger arrays to achieve higher gains in other frequency regimes, such as terahertz or photonics applications with nanometer fabrication technology.

关键词： mechanism reconfigurable radiation array (RRA) compact state deployed state enhanced gain

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Manufacturing and mechanical properties of composite orthotropic Kagome honeycomb using novel modular

Bin NIU, Shijie LI, Rui YANG

《机械工程前沿（英文）》 2020年第15卷第3期页码 484-495 doi: 10.1007/s11465-020-0593-3

摘要： This work deals with manufacturing and analysis of orthotropic composite Kagome honeycomb panels. A novel modular mold is proposed to manufacture carbon fiber reinforced composite Kagome honeycombs. The designed mold can be assembled freely to manufacture Kagome honeycombs with different configuration combinations and can realize easy demolding. Furthermore, two typical fiber placement methods are considered during the fabrication process, from which the more effective fiber placement method is determined. Finally, representative volume element method is used to perform homogenization analysis of the Kagome honeycomb panels and to obtain equivalent in-plane and bending stiffness. Finite element analysis using these equivalent properties is conducted and validated against the experimental results of the manufactured composite Kagome honeycomb panels under different loading cases.

关键词： composite Kagome honeycomb manufacturing placement of fibers equivalent stiffness

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

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Recent development on innovation design of reconfigurable mechanisms in China

Wuxiang ZHANG, Shengnan LU, Xilun DING

《机械工程前沿（英文）》 2019年第14卷第1期页码 15-20 doi: 10.1007/s11465-018-0517-7

摘要： Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of tasks. Metamorphic and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms, which have attracted increasing attention in the field of mechanisms since they were proposed. Improving the independent design level, innovation, and international competitive powers of reconfigurable mechanical products is important. Summarizing related significant innovation research and application achievements periodically will shed light on research directions and promote academic exchanges. This paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China, including metamorphic and origami mechanisms and their typical applications. The future development trends are analyzed and forecasted.

关键词： innovation design reconfigurable mechanisms metamorphic mechanisms origami-derived mechanisms development trends

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Distributed flexible reconfigurable condition monitoring and diagnosis technology

HU You-min, YANG Shu-zi, DU Run-sheng

《机械工程前沿（英文）》 2006年第1卷第3期页码 276-281 doi: 10.1007/s11465-006-0025-z

摘要： As manufacturing becomes increasingly decentralized, flexible and reconfigurable, more research needs to be done on monitoring and diagnosis technology that accommodate these new trends. The distributed condition monitoring and diagnosis technology based on the flexible and reconfigurable concept is studied here. A condition monitoring diagnosis model based on the distributed flexible and reconfigurable idea is proposed in this paper. The component makeup and functions of this model are discussed in detail. The model can fulfill in most instances the manufacturing system requirements for changing the configuration of the monitoring diagnosis system according to different manufacturing system configurations. This model also realizes the flexibility and reconfigurability of the monitoring diagnosis system in some degree. The model has already spawned a successful prototype for monitoring a chemical plant in accomplishing monitoring and control of the production process and equipment. Finally, some future research work is pointed out.

关键词： chemical diagnosis system configuration monitoring equipment

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Risks of modular integrated construction: A review and future research directions

Ibrahim Yahaya WUNI, Geoffrey Qiping SHEN, Bon-Gang HWANG

《工程管理前沿（英文）》 2020年第7卷第1期页码 63-80 doi: 10.1007/s42524-019-0059-7

摘要： Stakeholders remain skeptical in adopting modular integrated construction (MiC) because of the associated risks and uncertainties, although its benefits have been extensively documented. The unique business model of MiC nurtures several risks and uncertainties different from those of the conventional construction approach. Despite the growing attention on MiC with its market expansion, no systematic evaluation is in place to monitor its risks research progress. Accordingly, this research reviewed published literature addressing the risks associated with MiC from 1992 to 2019. Analysis reveals that the research publications on risks of MiC witnessed a steady growth, with considerable progress occurring in the last decade. Result implies that the risk of MiC has gained extra attention in the construction engineering and management domain in recent times. Existing empirical studies have focused heavily on perceived implementation risks, supply chain risks, schedule risks, investment risks, structural risks, ergonomic risks, and MiC risk management strategies, which indicate that MiC is associated with a host of risk events. The research further identified the critical risk events (CREs) in the application of MiC based on frequency of occurrence. The identified CREs contributes to the checklists of risk events in the implementation of offsite construction (OSC). The latter may be useful in risk planning, especially where the MiC is less developed, and fewer or no bespoke risk assessment exists. Research gaps in existing studies are highlighted in this research, and areas for further studies are then proposed. Thus, it makes a useful contribution to the scholarly literature on the risk of OSC and may prove useful to offsite construction researchers, industry practitioners, and project managers.

关键词： modular integrated construction off-site construction risk events review

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一种新型自主下肢外骨骼助行机器人的研制 Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 318-329 doi: 10.1631/FITEE.1800561

摘要：目前，外骨骼被广泛应用于下肢运动障碍患者的步行辅助。现有外骨骼机器人大部分采用欠驱动模式，导致一系列使用问题，如行走过程中步行干扰和不自然步态。提出一种新型智能自主下肢外骨骼(Auto-LEE)，旨在改善穿戴式助行器用户体验，扩大应用范围。与传统外骨骼不同，Auto-LEE有10个自由度，所有关节都由直流电机独立驱动，使机器人能在无外部支撑下保持平衡行走。此外，在设计中采用模块化结构理念，在控制系统中考虑多模态人机交互。为验证机器人自主平衡双足行走能力，对比3种常用步态规划算法，初步实现行走实验。

关键词：下肢；外骨骼；自平衡；双足行走；模块化设计

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Module-based method for design and analysis of reconfigurable parallel robots

Fengfeng XI, Yuwen LI, Hongbo WANG

《机械工程前沿（英文）》 2011年第6卷第2期页码 151-159 doi: 10.1007/s11465-011-0121-6

摘要：

This paper presents a method for the design and analysis of reconfigurable parallel robots. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among three types of reconfigurations, namely, geometry morphing, topology morphing, and group morphing, the method presented here is for the last two reconfigurations, thereby advancing the current research that is mainly limited to geometry morphing. It is shown that the module-based method not only provides a systematic way of designing a reconfigurable parallel robot, but also offers a unified modeling for robot analysis. Two examples are provided, one showing the topology morphing and the other showing the group morphing.

关键词： reconfigurable parallel robot topology morphing group morphing

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Generation of closed-form inverse kinematics for reconfigurable robots

ZHAO Jie, WANG Weizhong, GAO Yongsheng, CAI Hegao

《机械工程前沿（英文）》 2008年第3卷第1期页码 91-96 doi: 10.1007/s11465-008-0013-6

摘要： For reconfigurable robots, the automatic generation of inverse kinematics is a key problem, because such robots may assume various configurations. In this paper, the screw and product-of-exponentials (POE) formula are used to model the kinematics of reconfigurable robots. The POE formula can be converted to canonical subproblems through decomposition and adjoint transformation. Three classes and 28 types of subproblems containing geometric or algebraic solutions are identified and solved, which can be reused in different configurations. A generalized, decomposable, and reusable approach for close-form inverse kinematics of reconfigurable robots is developed based on POE and subproblems. The effectiveness of this method is shown in an example.

关键词： different effectiveness generation reconfigurable algebraic

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Development and advances in modular multilevel converter based HVDC projects in China

《工程管理前沿（英文）》页码 183-189 doi: 10.1007/s42524-022-0248-7

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关键词： high voltage direct current power converter power systems renewable energy ultra-high voltage

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Reconfigurable manufacturing systems: Principles, design, and future trends

Yoram KOREN, Xi GU, Weihong GUO

《机械工程前沿（英文）》 2018年第13卷第2期页码 121-136 doi: 10.1007/s11465-018-0483-0

摘要：

Reconfigurable manufacturing systems (RMSs), which possess the advantages of both dedicated serial lines and flexible manufacturing systems, were introduced in the mid-1990s to address the challenges initiated by globalization. The principal goal of an RMS is to enhance the responsiveness of manufacturing systems to unforeseen changes in product demand. RMSs are cost-effective because they boost productivity, and increase the lifetime of the manufacturing system. Because of the many streams in which a product may be produced on an RMS, maintaining product precision in an RMS is a challenge. But the experience with RMS in the last 20 years indicates that product quality can be definitely maintained by inserting in-line inspection stations. In this paper, we formulate the design and operational principles for RMSs, and provide a state-of-the-art review of the design and operations methodologies of RMSs according to these principles. Finally, we propose future research directions, and deliberate on how recent intelligent manufacturing technologies may advance the design and operations of RMSs.

关键词： reconfigurable manufacturing systems responsiveness intelligent manufacturing

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

《机械工程前沿（英文）》 2021年第16卷第1期页码 46-60 doi: 10.1007/s11465-020-0606-2

摘要： A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining the 5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection layer. This study mainly presents the dimensional synthesis of the proposed HPM. First, the inverse kinematics, including the analytic expression of the rotation angles of the U joint in the PUS limb, is obtained, and mobility analysis is conducted based on screw theory. The Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective function. Second, a global and comprehensive objective function (GCOF) is proposed to represent the Jacobian matrix’s condition number. With the genetic algorithm, dimensional synthesis is conducted by minimizing GCOF subject to the given variable constraints. The values of the designed variables corresponding to different configurations of the reconfigurable base are then obtained. Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined. Results show that the HPM with the optimized parameters has an enlarged orientation workspace, and the maximum angle of the reconfigurable base is decreased, which is conducive to improving the overall stiffness of HPM.

关键词： 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design