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扫描格式转换 3

运动估计 3

运动补偿 3

运动规划 2

下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

不确定性 1

临震前磁异常 1

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交流永磁同步电机；滑模控制器；扩张状态观测器；鲁棒控制；运动控制 1

人工智能 1

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保持边缘的自适应滤波器 1

信号重建 1

信息 1

光流计算 1

光流；仿视网膜图像传感器；脉冲触发；高速目标；视觉处理 1

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Synthesis of Intermittent-Motion Linkages with Slight Difference in Length Between Links

CHEN Xin-bo, YU Zhen

《机械工程前沿（英文）》 2006年第1卷第1期页码 76-79 doi: 10.1007/s11465-005-0007-6

摘要：

The design of intermittent-motion linkages using traditional methods is usually complicated. In this paper, (1) a new method for realizing intermittent motion, using linkages with a slight difference in length between links, is studied; (2) some new types of intermittent-motion linkages and their software for visual analysis and design are developed; and (3) influences of some design parameters on intermittent-motion characteristics are clarified. Results confirmed that the theory and the software are useful, making the synthesis of intermittent-motion linkages clear and easy.

关键词： synthesis useful intermittent intermittent-motion traditional

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Improving the performances of ultrasonic motors using intermittent contact scheme

Jiamei JIN, Jianhui ZHANG, Fu QIAN, Zhenfeng PAN,

《机械工程前沿（英文）》 2010年第5卷第2期页码 242-246 doi: 10.1007/s11465-010-0016-y

摘要： Most ultrasonic motors operate in intermittent contact scheme. Their stators drive the rotors (or sliders) when the stators contact the rotors, and the rotors (or sliders) move under an inertia force when the stators and the rotors are separated. The duty cycle of the contact and the “flight” manages motors’ output performance. To obtain a large output force or output velocity, this paper proposes a concept using the alternative work of a multi-stator or the multi-driving end of a single stator. The method can avoid larger noise, poor efficiency, and lifetime of motors. A novel linear ultrasonic motor using the alternative work of the multi-driving end of a single stator was fabricated and investigated experimentally. The traveling speed without load of the slider is 88 mm/s, and the maximum load is 0.32 N.

关键词： ultrasonic motor intermittent contact alternative work

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An approach for evaluating the impact of an intermittent renewable energy source on transmission expansion

Rongrit CHATTHAWORN,Surachai CHAITUSANEY

《信息与电子工程前沿（英文）》 2015年第16卷第10期页码 871-882 doi: 10.1631/FITEE.1500049

摘要： We propose a new robust optimization approach to evaluate the impact of an intermittent renewable energy source on transmission expansion planning (TEP). The objective function of TEP is composed of the investment cost of the transmission line and the operating cost of conventional generators. A method to select suitable scenarios representing the intermittent renewable energy generation and loads is proposed to obtain robust expansion planning for all possible scenarios. A meta-heuristic algorithm called adaptive tabu search (ATS) is employed in the proposed TEP. ATS iterates between the main problem, which minimizes the investment and operating costs, and the subproblem, which minimizes the cost of power generation from conventional generators and curtailments of renewable energy generation and loads. The subproblem is solved by nonlinear programming (NLP) based on an interior point method. Moreover, the impact of an intermittent renewable energy source on TEP was evaluated by comparing expansion planning with and without consideration of a renewable energy source. The IEEE Reliability Test System 79 (RTS 79) was used for testing the proposed method and evaluating the impact of an intermittent renewable energy source on TEP. The results show that the proposed robust optimization approach provides a more robust solution than other methods and that the impact of an intermittent renewable energy source on TEP should be considered.

关键词： Adaptive tabu search Renewable energy generation Robust optimization Transmission expansion planning

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Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

《机械工程前沿（英文）》 2012年第7卷第1期页码 81-92 doi: 10.1007/s11465-012-0309-4

摘要：

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots’ relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-SimMechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

关键词： complex curve seam two robots coordinated welding motion planning

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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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电气传动——信息、能源和运动的接口

马小亮

《中国工程科学》 2000年第2卷第2期页码 83-86

摘要：

电气传动是信息能源和运动的接口。长期以来大家都接触它，但对它是不是高新技术存在疑虑。文章试图从接口角度出发谈个人对该领域的认识，望能促进人们的理解。文中讨论电气传动下列几个问题：什么是电气传动；在国民经济中的作用；与其它学科的关系及发展方向；在我国的现状及攻关方向建议。

关键词：电气传动接口信息能源运动

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Measurement and analysis of typical motion error traces from a circular test

LI Xiaoli, LIU Huanlao

《机械工程前沿（英文）》 2008年第3卷第2期页码 146-150 doi: 10.1007/s11465-008-0033-2

摘要： The circular test provides a rapid and efficient way of measuring the contouring accuracy of a machine tool. To get the actual point coordinate in the work plane, an improved measurement instrument - a new ball bar test system - is presented in this paper to identify both the radial error and the rotation angle error when the machine is manipulated to move in circular traces. Based on the measured circular error, a combination of Fourier components is chosen to represent the systematic form error that fluctuates in the radial direction. The typical motion errors represented by the corresponding Fourier components can thus be identified. The values for machine compensation can be calculated and adjusted until the desired results are achieved.

关键词： machine compensation direction combination desired efficient

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Floating production storage and offloading systems’ cost and motion performance: A systems thinking application

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

《工程管理前沿（英文）》 2018年第5卷第3期页码 357-368 doi: 10.15302/J-FEM-2018022

摘要：

Floating production storage and offloading (FPSO) units increasingly represent a practical and economic means for deep-water oil extraction and production. Systems thinking gives a unique opportunity to seek a balance between FPSO technical performance(s), with whole-cost; stakeholder decision-making is charged to align different fit-for-use design specification options’ that address technical-motion(s), with respective life-cycle cost analyses (LCCA). Soft system methodology allows situation based analyses over set periods-of-time by diagnosing the problem-at-hand; namely, assessing the antecedents of life-cycle cost relative to FPSO sub-component design alternatives. Alternative mooring- component comparisons for either new-build hulls or refurbished hulls represent an initial necessary consideration to facilitate extraction, production and storage of deep-water oil reserves. Coupled dynamic analysis has been performed to generate FPSO motion in six degrees of freedom using SESAM DeepC, while life-cycle cost analysis (LCAA) studies give net-present-value comparisons reflective of market conditions. A parametric study has been conducted by varying wave heights from 4 – 8 m to understand FPSO motion behavior in the presence of wind and current, as well as comparing the motions of turreted versus spread mooring design alternatives. LCCA data has been generated to compare the cost of such different mooring options/hull conditions over 10 and 25-year periods. Systems thinking has been used to explain the interaction of problem variables; resultantly this paper is able to identify explicit factors affecting the choice of FPSO configurations in terms of motion and whole-cost, toward assisting significantly with the front-end engineering design (FEED) phase of fit-for-purpose configured FPSOs, in waters off Malaysia and Australia.

关键词： FPSO LCCA spread/turret-mooring DeepC cost motion soft-systems

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Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

《机械工程前沿（英文）》 2021年第16卷第2期页码 363-378 doi: 10.1007/s11465-020-0628-9

摘要： With recent relevant publications on stochastic motion robots in , , and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic motion in the field of robotics and mechanisms face many challenges due to the uncertainty of stochastic motion. Currently, a large gap remains in the research of stochastic motion mechanism. In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designated position and achieve overlying movement over a particular area. The mechanism consists of a regular tetrahedron frame, a central node, and four connecting linear actuators. According to mobility and kinematic analyses, the mechanism can implement probabilistic rolling. Each rolling gait has three probable rolling directions, and the mechanism rolls in one of the three directions in probability. A kinematic simulation is conducted, and a control method is proposed on the basis of the moving path analysis. Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability theory and statistics. Lastly, a prototype is fabricated. To achieve the rolling function, the design of the linear actuators is improved, and the extension ratio is increased from 0.58 to 1.13. Then, tests are conducted. In a 4 m test site, the mechanism makes 11 moves to reach the target position and covers 29.25% of the site.

关键词： mobile mechanism probabilistic motion rolling mechanism stochastic motion

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Features of seismic hazard in large dam projects and strong motion monitoring of large dams

Martin WIELAND,

《结构与土木工程前沿（英文）》 2010年第4卷第1期页码 56-64 doi: 10.1007/s11709-010-0005-6

摘要： Earthquakes can affect large dam projects in many different ways. Usually, design engineers are focussing on ground shaking and neglect the other aspects. The May 12, 2008 Wenchuan earthquake has damaged 1803 dams and reservoirs, and 403 hydropower plants with an installed capacity of 3.3GW. Among these dams were the 132-m-high Shapai RCC arch dam and the 156-m-high Zipingpu concrete face rockfill dam. These recently completed dams are dam types which, up to now, have not experienced strong ground shaking. The widespread mass movements have caused substantial damage to dams and surface powerhouses in Sichuan. The different features of earthquake hazard are presented, i.e., ground shaking, faulting and mass movements. It is proposed to prepare project-specific safety plans for all dams, which consist of a matrix where the possible hazards and the corresponding countermeasures are listed. The earthquake behaviors of the Sefid Rud, Zipingpu and Shapai dams, which, in the past, have experienced strong ground shaking from nearby earthquakes, are discussed. Finally, the need for strong motion instrumentation of large dams is discussed. It is proposed that major dams with large damage potential, dams located in areas of high seismicity, and dams showing signs of abnormal behavior be equipped with strong motion instruments.

关键词： seismic hazard arch dam concrete face rockfill dam strong motion instrumentation reservoir-triggered seismicity Wenchuan earthquake

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A filtering-based bridge weigh-in-motion system on a continuous multi-girder bridge considering the influence

Hanli WU, Hua ZHAO, Jenny LIU, Zhentao HU

《结构与土木工程前沿（英文）》 2020年第14卷第5期页码 1232-1246 doi: 10.1007/s11709-020-0653-0

摘要： A real-time vehicle monitoring is crucial for effective bridge maintenance and traffic management because overloaded vehicles can cause damage to bridges, and in some extreme cases, it will directly lead to a bridge failure. Bridge weigh-in-motion (BWIM) system as a high performance and cost-effective technology has been extensively used to monitor vehicle speed and weight on highways. However, the dynamic effect and data noise may have an adverse impact on the bridge responses during and immediately following the vehicles pass the bridge. The fast Fourier transform (FFT) method, which can significantly purify the collected structural responses (dynamic strains) received from sensors or transducers, was used in axle counting, detection, and axle weighing technology in this study. To further improve the accuracy of the BWIM system, the field-calibrated influence lines (ILs) of a continuous multi-girder bridge were regarded as a reference to identify the vehicle weight based on the modified Moses algorithm and the least squares method. experimental results indicated that the signals treated with FFT filter were far better than the original ones, the efficiency and the accuracy of axle detection were significantly improved by introducing the FFT method to the BWIM system. Moreover, the lateral load distribution effect on bridges should be considered by using the calculated average ILs of the specific lane individually for vehicle weight calculation of this lane.

关键词： bridge weigh-in-motion continuous bridge fast Fourier transform influence line axle weight calculation

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Principle and curve of planetary indexing cam mechanisms

LIU Ming-tao, ZHANG Ce, YANG Yu-hu

《机械工程前沿（英文）》 2006年第1卷第4期页码 475-478 doi: 10.1007/s11465-006-0063-6

摘要： A new type of planetary indexing cam mechanism called type !c is presented. The transmission principle of type !c is discussed. Based on the principle of formation of conjugate tooth contour, the equations of the cam s pitch curve are derived. The continuity and symmetry of the cam s pitch curve are also analyzed. It can be concluded that: 1) This type has no output institution so the output precision can be improved; 2) The asymmetrical two-ring structure is used to overcome dead point and its phase angle is equal to (π - 2π/n); 3) The continuous condition of the cam s pitch curve is that the average transmission ratio is -n in an intermittent motion period.

关键词： continuity planetary average transmission symmetry intermittent

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Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility

Fugui XIE,Xin-Jun LIU

《机械工程前沿（英文）》 2016年第11卷第2期页码 135-143 doi: 10.1007/s11465-016-0389-7

摘要：

This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-and-place manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot.

关键词： parallel robot mobility inverse kinematics singularity transmission performance

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Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

《机械工程前沿（英文）》 2018年第13卷第2期页码 151-166 doi: 10.1007/s11465-018-0470-5

摘要：

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

关键词： motion control electrohydraulic control energy efficiency mobile machineries

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运动规划的高效配置空间构建与优化 Article

潘佳, Dinesh Manocha

《工程（英文）》 2015年第1卷第1期页码 46-57 doi: 10.15302/J-ENG-2015009

摘要：

配置空间是算法机器人学领域使用较为广泛的一种基本概念。机器人学、计算机辅助设计与相关领域的诸多应用都可归类为配置空间方面的计算问题。本文将对近期与配置空间相关的两项重大挑战的解决方案成果进行探讨：①如何高效计算高维配置空间的近似表达；②如何在高维配置空间内高效执行几何学接近度与运动规划查询。基于机器学习与几何学近似技术，笔者在此提出几种新型配置空间构建算法。上述算法对多个配置样本进行碰撞查询。得出的碰撞查询结果将用来计算配置空间的近似表达，可快速聚合至准确的配置空间；同时还提出了基于并行图形处理器（GPU）的算法，以便加速配置空间优化与搜索计算的性能情况。笔者特别设计出了基于GPU的并行k最近邻算法与并行碰撞检测算法，并使用这些算法来加快运动规划。

关键词：配置空间运动规划图形处理器（GPU）并行算法