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《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0699-x
关键词: adhesion bioinspired attachment biomimetic gripper climbing robot
Pei-Tu REN BM, Bao-Chun LU MM, Zhi-Liang CHEN MM, Hong FU MM,
《医学前沿(英文)》 2010年 第4卷 第1期 页码 77-81 doi: 10.1007/s11684-010-0005-x
关键词: biliary disease cardiopulmonary complication stair-climbing test
钮新强,覃利明,于庆奎
《中国工程科学》 2011年 第13卷 第7期 页码 96-103
三峡升船机具有提升重量大、升程高、上下游通航水位变幅大、水位变率快等特点,是目前世界上规模和技术难度最大的升船机。经过方案比选,三峡升船机最终确定采用齿轮齿条爬升式,其设备构造复杂,制造、安装及土建结构施工精度要求很高,并首次采用中德联合设计方式。概要介绍了三峡工程齿轮齿条爬升式升船机的总体布置、以及塔柱结构、重要设备的设计方案与关键技术。
戴志清
《中国工程科学》 2013年 第15卷 第9期 页码 22-26
三峡升船机塔柱混凝土施工工期紧,精度要求高,为保证施工进度和质量,采用了液压自升式模板。本文重点介绍了三峡升船机塔柱混凝土液压自升式模板施工技术、自升式模板改进措施以及为满足自升式模板上升而在塔柱板梁、牛腿处进行的结构处理措施。实践证明,液压自升式模板施工技术的应用与改进满足了三峡升船机塔柱筒体混凝土的设计要求,有效地提高施工效率、节约了成本,保证了工程质量并提高施工的安全性,可为其他水电工程施工提供借鉴。
Review of human–robot coordination control for rehabilitation based on motor function evaluation
《机械工程前沿(英文)》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4
关键词: human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1
关键词: masticatory robot cable-driven linear actuator parallel robot stiffness analysis
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 271-284 doi: 10.1007/s11465-020-0623-1
关键词: terrain classification hexapod robot legged robot adaptive locomotion gait control
Innovative stair climber using associated wheels
Girish Sudhir MODAK,Manmohan Manikrao BHOOMKAR
《机械工程前沿(英文)》 2016年 第11卷 第3期 页码 299-310 doi: 10.1007/s11465-016-0374-1
The study proposes an innovative and completely new but low-cost configuration of a platform that can easily climb stairs. This platform serves the purpose of a chassis. Different versions, such as staircase-climbing wheelchair or staircase-climbing trolley for material transferring, can be derived depending on the structure built on the platform. The driving wheels have a shape that completely matches with the profile of the steps. Complex components are eliminated. Thus, this platform is conveniently applicable in the configurations useful for climbing staircases.
关键词: stair-climbing platform matching wheels impaired mobility affordable configuration
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
关键词: VCM mechanism continuum robot flexural joint pseudo-rigid body model cable-driven
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 195-203 doi: 10.1007/s11465-016-0390-1
Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.
关键词: robot taping path planning robot manipulation 3D scanning
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 317-330 doi: 10.1007/s11465-014-0304-z
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.
关键词: mobile robot obstacle avoidance Invasive Weed Optimization navigation
An autonomous miniature wheeled robot based on visual feedback control
CHEN Haichu
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 197-200 doi: 10.1007/s11465-007-0033-7
关键词: measuring distance autonomous locomotion advantage navigation
Analytical dynamic solution of a flexible cable-suspended manipulator
Mahdi BAMDAD
《机械工程前沿(英文)》 2013年 第8卷 第4期 页码 350-359 doi: 10.1007/s11465-013-0271-9
Cable-suspended manipulators are used in large scale applications with, heavy in weight and long in span cables. It seems impractical to maintain cable assumptions of smaller robots for large scale manipulators. The interactions among the cables, platforms and actuators can fully evaluate the coupled dynamic analysis. The structural flexibility of the cables becomes more pronounced in large manipulators. In this paper, an analytic solution is provided to solve cable vibration. Also, a closed form solution can be adopted to improve the dynamic response to flexibility. The output is provided by the optimal torque generation subject to the actuator limitations in a mechatronic sense. Finally, the performance of the proposed algorithm is examined through simulations.
一种用于寻找无人船回收海床基数据最佳通信点的梯度上升控制法 Research Papers
Jiu-cai JIN, Jie ZHANG, Zhi-chao LV
《信息与电子工程前沿(英文)》 2019年 第20卷 第6期 页码 751-759 doi: 10.1631/FITEE.1700732
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
《机械工程前沿(英文)》 2022年 第17卷 第1期 页码 8-8 doi: 10.1007/s11465-021-0664-0
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
标题 作者 时间 类型 操作
Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics
期刊论文
Role of stair-climbing test in predicting postoperative cardiopulmonary complications in elderly patients
Pei-Tu REN BM, Bao-Chun LU MM, Zhi-Liang CHEN MM, Hong FU MM,
期刊论文
Review of human–robot coordination control for rehabilitation based on motor function evaluation
期刊论文
Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion
期刊论文
Terrain classification and adaptive locomotion for a hexapod robot Qingzhui
Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN
期刊论文
Innovative stair climber using associated wheels
Girish Sudhir MODAK,Manmohan Manikrao BHOOMKAR
期刊论文
Strategy for robot motion and path planning in robot taping
Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN
期刊论文
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
期刊论文