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期刊论文 42

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移动机器人 3

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主动物品检测；深度Q学习网络；训练算法；服务机器人 1

人与机器人交互；机器人提升疗法；社会交互式机器人；机器人介导干预 1

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0

摘要： In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

关键词： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ maintenance    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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Creep life assessment of aero-engine recuperator based on continuum damage mechanics approach

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0702-6

摘要： The creep life of an aeroengine recuperator is investigated in terms of continuum damage mechanics by using finite element simulations. The effects of the manifold wall thickness and creep properties of brazing filler metal on the operating life of the recuperator are analyzed. Results show that the crack initiates from the brazing filler metal located on the outer surface of the manifold with the wall thickness of 2 mm and propagates throughout the whole region of the brazing filler metal when the creep time reaches 34900 h. The creep life of the recuperator meets the requirement of 40000 h continuous operation when the wall thickness increases to 3.5 mm, but its total weight increases by 15%. Decreasing the minimum creep strain rate with the enhancement of the creep strength of the brazing filler metal presents an obvious effect on the creep life of the recuperator. At the same stress level, the creep rupture time of the recuperator is enhanced by 13 times if the mismatch between the minimum creep rate of the filler and base metal is reduced by 20%.

关键词： creep     life assessment     brazed joint     continuum damage mechanics     aeroengine recuperator    

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Modeling of shear walls using finite shear connector elements based on continuum plasticity

Ulf Arne GIRHAMMAR, Per Johan GUSTAFSSON, Bo KÄLLSNER

《结构与土木工程前沿（英文）》 2017年 第11卷 第2期   页码 143-157 doi: 10.1007/s11709-016-0377-3

摘要： Light-frame timber buildings are often stabilized against lateral loads by using diaphragm action of roofs, floors and walls. The mechanical behavior of the sheathing-to-framing joints has a significant impact on the structural performance of shear walls. Most sheathing-to-framing joints show nonlinear load-displacement characteristics with plastic behavior. This paper is focused on the finite element modeling of shear walls. The purpose is to present a new shear connector element based on the theory of continuum plasticity. The incremental load-displacement relationship is derived based on the elastic-plastic stiffness tensor including the elastic stiffness tensor, the plastic modulus, a function representing the yield criterion and a hardening rule, and function representing the plastic potential. The plastic properties are determined from experimental results obtained from testing actual connections. Load-displacement curves for shear walls are calculated using the shear connector model and they are compared with experimental and other computational results. Also, the ultimate horizontal load-carrying capacity is compared to results obtained by an analytical plastic design method. Good agreements are found.

关键词： shear walls     wall diaphragms     finite element modelling     plastic shear connector     analytical modelling     experimental comparison    

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Layout optimization of steel reinforcement in concrete structure using a truss-continuum model

《结构与土木工程前沿（英文）》 2023年 第17卷 第5期   页码 669-685 doi: 10.1007/s11709-023-0963-0

摘要： Owing to advancement in advanced manufacturing technology, the reinforcement design of concrete structures has become an important topic in structural engineering. Based on bi-directional evolutionary structural optimization (BESO), a new approach is developed in this study to optimize the reinforcement layout in steel-reinforced concrete (SRC) structures. This approach combines a minimum compliance objective function with a hybrid truss-continuum model. Furthermore, a modified bi-directional evolutionary structural optimization (M-BESO) method is proposed to control the level of tensile stress in concrete. To fully utilize the tensile strength of steel and the compressive strength of concrete, the optimization sensitivity of steel in a concrete–steel composite is integrated with the average normal stress of a neighboring concrete. To demonstrate the effectiveness of the proposed procedures, reinforcement layout optimizations of a simply supported beam, a corbel, and a wall with a window are conducted. Clear steel trajectories of SRC structures can be obtained using both methods. The area of ​​critical tensile stress in concrete yielded by the M-BESO is more than 40% lower than that yielded by the uniform design and BESO. Hence, the M-BESO facilitates a fully digital workflow that can be extremely effective for improving the design of steel reinforcements in concrete structures.

关键词： bi-directional evolutionary structural optimization     steel-reinforced concrete     concrete stress     reinforcement method     hybrid model    

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Modeling water and heat transfer in soil-plant-atmosphere continuum applied to maize growth under plastic

Meng DUAN, Jin XIE, Xiaomin MAO

《农业科学与工程前沿（英文）》 2019年 第6卷 第2期   页码 144-161 doi: 10.15302/J-FASE-2019258

摘要：

Based on our previous work modeling crop growth (CropSPAC) and water and heat transfer in the soil-plant-atmosphere continuum (SPAC), the model was improved by considering the effect of plastic film mulching applied to field-grown maize in North-west China. In CropSPAC, a single layer canopy model and a multi-layer soil model were adopted to simulate the energy partition between the canopy and water and heat transfer in the soil, respectively. The maize growth module included photosynthesis, growth stage calculation, biomass accumulation, and participation. The CropSPAC model coupled the maize growth module and SPAC water and heat transfer module through leaf area index (LAI), plant height and soil moisture condition in the root zone. The LAI and plant height were calculated from the maize growth module and used as input for the SPAC water and heat transfer module, and the SPAC module output for soil water stress conditions used as an input for maize growth module. We used , the representation of evaporation resistance, instead of the commonly used evaporation resistance to reflect the change of latent heat flux of soil evaporation under film mulching as well as the induced change in energy partition. The model was tested in a maize field at Yingke irrigation area in North-west China. Results showed reasonable agreement between the simulations and measurements of LAI, above-ground biomass and soil water content. Compared with the original model, the modified model was more reliable for maize growth simulation under film mulching and showed better accuracy for the LAI (with the coefficient of determination = 0.92, the root mean square of error RMSE= 1.23, and the Nush-Suttclife efficiency E = 0.87), the above-ground biomass (with = 0.96, RMSE= 7.17 t·ha and E = 0.95) and the soil water content in 0–1 m soil layer (with = 0.78, RMSE= 49.44 mm and E = 0.26). Scenarios were considered to simulate the influence of future climate change and film mulching on crop growth, soil water and heat conditions, and crop yield. The simulations indicated that the change of LAI, leaf biomass and yield are negatively correlated with temperature change, but the growing degree-days, evaporation, soil water content and soil temperature are positively correlated with temperature change. With an increase in the ratio of film mulching area, the evaporation will decrease, while the impact of film mulching on crop transpiration is not significant. In general, film mulching is effective in saving water, preserving soil moisture, increasing soil surface temperature, shortening the potential growth period, and increasing the potential yield of maize.

关键词： film mulching     growth stage     leaf area index     maize growth     water and heat transfer    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Footholds optimization for legged robots walking on complex terrain

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0742-y

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 163-175 doi: 10.1007/s11465-020-0605-3

摘要： Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

关键词： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 61-70 doi: 10.1007/s11465-011-0206-2

摘要：

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

关键词： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test     HR-degeneracy test    

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

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z

摘要： Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing 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 restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The 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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Analytical and numerical investigation into the longitudinal vibration of uniform nanotubes

null

《机械工程前沿（英文）》 2014年 第9卷 第2期   页码 142-149 doi: 10.1007/s11465-014-0292-z

摘要：

In recent years, prediction of the behaviors of micro and nanostructures is going to be a matter of increasing concern considering their developments and uses in various engineering fields. Since carbon nanotubes show the specific properties such as strength and special electrical behaviors, they have become the main subject in nanotechnology researches. On the grounds that the classical continuum theory cannot accurately predict the mechanical behavior of nanostructures, nonlocal elasticity theory is used to model the nanoscaled systems. In this paper, a nonlocal model for nanorods is developed, and it is used to model the carbon nanotubes with the aim of the investigating into their longitudinal vibration. Following the derivation of governing equation of nanorods and estimation of nondimensional frequencies, the effect of nonlocal parameter and the length of the nanotube on the obtained frequencies are studied. Furthermore, differential quadrature method, as a numerical solution technique, is used to study the effect of these parameters on estimated frequencies for both classical and nonlocal theories.

关键词： continuum theory     differential quadrature method     nanorod     longitudinal vibration    

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Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

《机械工程前沿（英文）》 2020年 第15卷 第1期   页码 1-11 doi: 10.1007/s11465-019-0563-9

摘要： Given the multiple varieties and small batches, the production of industrial robots faces the ongoing challenges of flexibility, self-organization, self-configuration, and other “smart” requirements. Recently, cyber physical systems have provided a promising solution for the requirements mentioned above. Despite recent progress, some critical issues have not been fully addressed at the shop floor level, including dynamic reorganization and reconfiguration, ubiquitous networking, and time constrained computing. Toward the next generation production system for industrial robots, this study proposed a hybrid architecture for smart assembly shop floors with closed-loop dynamic cyber physical interactions. Aiming for dynamic reorganization and reconfiguration, the study also proposed modularized smart assembly units for the deployment of physical assembly processes. Enabling technologies, such as multiagent system (MAS), self-organized wireless sensor actuator networks, and edge computing, were discussed and then integrated into the proposed architecture. Furthermore, a multijoint robot assembly process was selected as a target scenario. Thus, an MAS was developed to simulate the coordination and negotiation mechanisms for the proposed architecture on the basis of the Java Agent Development Framework platform.

关键词： cyber physical system     robot assembly     multiagent system     architecture    

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

《机械工程前沿（英文）》 2012年 第7卷 第1期   页码 23-28 doi: 10.1007/s11465-012-0304-9

摘要：

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

关键词： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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基于势场导向权的改进机器人路径规划免疫算法

王孙安,吴灿阳

《中国工程科学》 2013年 第15卷 第1期   页码 73-78

摘要：

为了解决复杂环境中移动机器人的路径规划问题，结合人工势场法计算量小的特性和人工免疫网络的自适应调节能力，提出了一种改进的路径规划免疫算法。为了提高免疫网络的搜索能力以及免疫网络的收敛性，将人工势场法的规划结果作为先验知识构建了导向权，同时将抗体命令清晰度和抗体转移后的距离变化作为变量，构建了新的抗体转移概率算子。仿真结果表明，与其他算法相比，新算法在最优规划能力和网络收敛性能方面都有明显提高。

关键词： 免疫网络     人工势场     移动机器人     路径规划    

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标题 作者 时间 类型 操作

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文

Creep life assessment of aero-engine recuperator based on continuum damage mechanics approach

期刊论文

Modeling of shear walls using finite shear connector elements based on continuum plasticity

Ulf Arne GIRHAMMAR, Per Johan GUSTAFSSON, Bo KÄLLSNER

期刊论文

Layout optimization of steel reinforcement in concrete structure using a truss-continuum model

期刊论文

Modeling water and heat transfer in soil-plant-atmosphere continuum applied to maize growth under plastic

Meng DUAN, Jin XIE, Xiaomin MAO

期刊论文

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

Footholds optimization for legged robots walking on complex terrain

期刊论文

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

期刊论文

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

期刊论文

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

期刊论文

Analytical and numerical investigation into the longitudinal vibration of uniform nanotubes

null

期刊论文

Towards a next-generation production system for industrial robots: A CPS-based hybrid architecture for

Qingmeng TAN, Yifei TONG, Shaofeng WU, Dongbo LI

期刊论文

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

期刊论文

基于势场导向权的改进机器人路径规划免疫算法

王孙安,吴灿阳

期刊论文