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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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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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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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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

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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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

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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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

摘要：

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    

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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

摘要：

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    

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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

摘要： Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词： measuring     distance     autonomous locomotion     advantage     navigation    

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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

摘要：

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.

关键词： parallel robot     flexible cable     suspended robot     dynamic    

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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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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

摘要： With the widespread application of legged robot in various fields, the demand for a robot with high locomotion and manipulation ability is increasing. Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability. Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra arm. The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition. The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case. For the fixed coordinated clamping case, the degrees of freedom (DOFs) analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are established. For the fixed coordinated shearing case, the coordinated working space is determined, and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task. In addition, the constraint analysis of two adjacent integrated limbs is performed. Then, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition, including gait switching analysis between hexapod gait and pentapod gait, different pentapod gaits analysis, and a complex six-DOF manipulation while walking. Corresponding experiments are implemented, including clamping tasks with two integrated limbs, coordinated shearing task by using two integrated limbs, and mobile manipulation with pentapod gait. This robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg–arm integration     hexapod robot     fixed coordinated manipulation     mobile manipulation    

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标题 作者 时间 类型 操作

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

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

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

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

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

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

期刊论文

Analytical and numerical investigation into the longitudinal vibration of uniform nanotubes

null

期刊论文

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

期刊论文