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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumaticthis paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumaticartificial muscles, was developed.

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 1,   Pages 97-100 doi: 10.1007/s11465-008-0014-5

Abstract: According to the design features of a hydro pneumatic spring, the necessity of a separate damping valveThe design method and damping valve structure are useful guides for hydro pneumatic suspension, especially

Keywords： ability     pneumatic     necessity     flowrate     equivalent linearization    

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Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG, Qingjun Ding, Huafeng LI

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 332-338 doi: 10.1007/s11465-009-0046-5

Abstract: This paper describes a method for preliminary manufacturing experiments on a type of smart materials—ionic polymer-metal composites (IPMCs). They belong to EAP materials and are famous for their capability of huge displacement within a low voltage (1–3 V). With best operation quality in the humid environment, they can be made as underwater robots in simple structures. In this paper, two purposes are embodied. One focuses on the research on the IPMCs characteristics, including the actuating principle, manufacturing process, and parameters of performance. The other is that a relevant robot driven by IPMCs strips is designed. According to imitation propulsion mechanism of undulatory fins, IPMCs are designed for a novel bionic water vehicle propelled by undulatory multiple fish-like fins (made by IPMCs). The robot consists of three fins on the bottom tightly contacting by plastic foils with each other.

Keywords： ionic polymer-metal composites (IPMCs)     artificial muscles     actuator     bionic robot     platinum-plated    

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IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 2,   Pages 204-211 doi: 10.1007/s11465-010-0005-1

Abstract: Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.

Keywords： ionic polymer-metal composite (IPMC)     artificial muscles     actuator     flexible gripper     finite element analysis    

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Artificial muscles for wearable assistance and rehabilitation Review

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 11,   Pages 1303-1315 doi: 10.1631/FITEE.1800618

Abstract: noisy, and having a fixed center of rotation that can be a burden on elders and patients with weakened musclesConversely, artificial muscles based on soft, smart materials possess the attributes of being lightweightflexible, and have mute actuation, for which they are considered to be the most similar to natural muscles

Keywords： Artificial muscle     Smart material     Dielectric elastomers (DE)     Polyvinyl chloride (PVC) gel     Actuator     Wearable    

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A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 55-65 doi: 10.1007/s11465-012-0301-z

Abstract:

A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper.The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge.

Keywords： mobile mechanism     polyhedron     cylinder    

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Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

Frontiers in Energy 2007, Volume 1, Issue 3,   Pages 336-340 doi: 10.1007/s11708-007-0050-6

Abstract: Wavelike slug-flow is a representative flow type in horizontal pneumatic conveying.can represent the physical characteristics of the non-suspension dense phase flow of wavelike slug pneumaticThe experiment in this paper introduced a new idea for the numerical calculation of slug-flow pneumatic

Keywords： velocity distribution     detailed     slug-flow     gas-solid     theory    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 4, doi: 10.1007/s11465-023-0770-2

Abstract: Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

Keywords： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading    

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Modular crawling robots using soft pneumatic actuators

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

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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Simultaneous quantification of several classes of antibiotics in water, sediments, and fish muscles by

WEI Yimei,ZHANG Yuan,XU Jian,GUO Changsheng,LI Lei,FAN Wenhong

Frontiers of Environmental Science & Engineering 2014, Volume 8, Issue 3,   Pages 357-371 doi: 10.1007/s11783-013-0580-6

Abstract: fluoroquinolones, macrolides, tetracyclines, and trimethoprim in surface water, sediments, and fish musclesFish muscles were extracted by a mixture of acetonitrile and citric buffer (80:20, v/v) solution, andIn fish muscles, the concentration of norfloxacin was the highest (up to 38.5 μg·kg ), but tetracyclines

Keywords： antibiotics     liquid chromatography–tandem mass spectrometry (LC-MS/MS)     water     sediment     fish muscle    

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4,   Pages 326-343 doi: 10.1007/s11465-015-0355-9

Abstract: solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumaticPneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according

Keywords： robotics     static balancing     pneumatic spring     mechanical spring     torque compensation    

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Applications of traditional pump design theory to artificial heart and CFD simulation

WANG Yingpeng, SONG Xinwei, YING Chuntong

Frontiers in Energy 2008, Volume 2, Issue 4,   Pages 504-507 doi: 10.1007/s11708-008-0059-5

Abstract: traditional axial pump design theory with the consideration of working and hydraulic situations for artificialThe results show that this procedure can be used for designing a series of high-efficiency artificial

Keywords： computational     high-efficiency artificial     iterative approach     artificial     traditional    

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 3,   Pages 303-316 doi: 10.1631/FITEE.1500353

Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed.

Keywords： Parameter initialization     Adaptive robust control     Parallel mechanism     Pneumatic cylinders    

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INTERACTIVE KNOWLEDGE LEARNING BY ARTIFICIAL INTELLIGENCE FOR SMALLHOLDERS

Frontiers of Agricultural Science and Engineering 2023, Volume 10, Issue 4,   Pages 648-653 doi: 10.15302/J-FASE-2023505

Abstract: Therefore, this article proposes an interactive knowledge learning approach using artificial intelligence

Keywords： artificial intelligence     extension system     non-point source pollution control     smallholders     fertilization    

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Artificial intelligence in gastroenterology: where are we heading?

Joseph JY Sung, Nicholas CH Poon

Frontiers of Medicine 2020, Volume 14, Issue 4,   Pages 511-517 doi: 10.1007/s11684-020-0742-4

Abstract: Artificial intelligence (AI) is coming to medicine in a big wave.

Keywords： artificial intelligence     endoscopy     robotics     gastrointestinal diseases    

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Title Author Date Type Operation

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

Journal Article

Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG, Qingjun Ding, Huafeng LI

Journal Article

IPMC gripper static analysis based on finite element analysis

Hanmin PENG, Yao HUI, Qingjun DING, Huafeng LI, Chunsheng ZHAO,

Journal Article

Artificial muscles for wearable assistance and rehabilitation

Tian-yun DONG, Xiang-liang ZHANG, Tao LIU

Journal Article

A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

Journal Article

Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

Journal Article

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

Journal Article

Modular crawling robots using soft pneumatic actuators

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

Journal Article

Simultaneous quantification of several classes of antibiotics in water, sediments, and fish muscles by

WEI Yimei,ZHANG Yuan,XU Jian,GUO Changsheng,LI Lei,FAN Wenhong

Journal Article

Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Journal Article

Applications of traditional pump design theory to artificial heart and CFD simulation

WANG Yingpeng, SONG Xinwei, YING Chuntong

Journal Article

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

Journal Article

INTERACTIVE KNOWLEDGE LEARNING BY ARTIFICIAL INTELLIGENCE FOR SMALLHOLDERS

Journal Article

Artificial intelligence in gastroenterology: where are we heading?

Joseph JY Sung, Nicholas CH Poon

Journal Article