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Integrated design of legged mechatronic system
Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG
《机械工程前沿(英文)》 2009年 第4卷 第3期 页码 264-275 doi: 10.1007/s11465-009-0060-7
关键词: integrated design design for control legged mechatronic system computer aided rapid system integration
A novel six-legged walking machine tool for
Jimu LIU, Yuan TIAN, Feng GAO
《机械工程前沿(英文)》 2020年 第15卷 第3期 页码 351-364 doi: 10.1007/s11465-020-0594-2
关键词: legged robot parallel mechanism mobile machine tool in-situ machining
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
关键词: footholds optimization legged robot complex terrain adapting hexapod robot locomotion control
Landing control method of a lightweight four-legged landing and walking robot
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0707-1
关键词: landing and walking robot lunar exploration buffer landing compliance control
A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot
Kejia LI, Xilun DING, Marco CECCARELL
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 219-230 doi: 10.1007/s11465-012-0320-9
This article focuses on the dynamic index and performance of a radial symmetric six-legged robot. At first the structure of the robot is described in brief and its inverse kinematics is presented. Then the dynamic model is formulated as based on the Lagrange equations. A novel index of total torque is proposed by considering the posture of the supporting legs. The new index can be used to optimize the leg’s structure and operation for consuming minimum power and avoiding unstable postures of the robot. A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance through simulation using the presented dynamic model. Main influences are outlined as well as the usefulness of the proposed performance index.
Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN
《机械工程前沿(英文)》 2017年 第12卷 第2期 页码 265-278 doi: 10.1007/s11465-017-0453-y
Most of the XY positioning stages proposed in previous studies are mainly designed by considering only a single performance indicator of the stage. As a result, the other performance indicators are relatively weak. In this study, a 2-degree-of-freedom linear compliant positioning stage (LCPS) is developed by mechatronic design to balance the interacting performance indicators and realize the desired positioning stage. The key parameters and the coupling of the structure and actuators are completely considered in the design. The LCPS consists of four voice coil motors (VCMs), which are conformally designed for compactness, and six spatial leaf spring parallelograms. These parallelograms are serially connected for a large travel range and a high out-of-plane payload capacity. The mechatronic model is established by matrix structural analysis for structural modeling and by Kirchhoff’s law for the VCMs. The sensitivities of the key parameters are analyzed, and the design parameters are subsequently determined. The analytical model of the stage is confirmed by experiments. The stage has a travel range of 4.4 mm× 7.0 mm and a 0.16% area ratio of workspace to the outer dimension of the stage. The values of these performance indicators are greater than those of any existing stage reported in the literature. The closed-loop bandwidth is 9.5 Hz in both working directions. The stage can track a circular trajectory with a radius of 1.5 mm, with 40 mm error and a resolution of lower than 3 mm. The results of payload tests indicate that the stage has at least 20 kg out-of-plane payload capacity.
关键词: mechatronic design linear compliant positioning stage large travel range high out-of-plane payload capacity spatial parallelogram voice coil motor sensitivity 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
Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain
Haitao YU, Haibo GAO, Liang DING, Zongquan DENG
《机械工程前沿(英文)》 2020年 第15卷 第2期 页码 193-208 doi: 10.1007/s11465-019-0569-3
关键词: legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation
Untethered quadrupedal hopping and bounding on a trampoline
Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG
《机械工程前沿(英文)》 2020年 第15卷 第2期 页码 181-192 doi: 10.1007/s11465-019-0559-5
关键词: hopping and bounding gait compliant mechanism compliant contact balance control strategy legged locomotion control quadruped robot
基于Watt连杆的可重复使用运载火箭腿式可展开着陆机构——原理、原型设计和实验验证 Article
于海涛, 田保林, 闫振, 高海波, 张宏剑, 吴会强, 王英超, 石玉红, 邓宗全
《工程(英文)》 2023年 第20卷 第1期 页码 120-133 doi: 10.1016/j.eng.2022.05.015
可重复使用运载火箭是降低太空运输成本的一种新途径。着陆机构是可重复使用运载火箭的重要组成部分,起到着陆支撑和吸收冲击的作用。本文提出了一种新型的可展开着陆机构(LDLM)。采用Watt-II型六杆机构,利用连杆变分法得到优选构型。本文建立了多目标优化范式,使得可展开着陆机构具有着陆支撑区域大、轻量化、连杆内力合理等优点,在此基础上,利用多目标遗传算法(NSGA-II)进化算法得到了可展开式着陆机构设计的最优尺寸参数。本文研制了全功能可重复使用运载火箭缩比样机,通过集成重力控制的展开方案促进展开动作,避免全范围驱动,采用双重锁紧机构提高展开状态时结构的可靠性,采用多级铝蜂窝缓冲器提供可靠的减震性能。实验结果表明,所提出的可展开式着陆机构能够提供快速平稳的展开(持续时间小于1.5 s),且对舱体的姿态扰动较小(偏航和俯仰波动小于6°)。此外,该机构在0.2 m自由落体测试中提供了足够的冲击衰减(加速度峰值小于10g)。所提出的可展开着陆机构可作为未来可重复使用运载火箭潜在的腿式起落架替代方案。
关键词: 可重复使用运载火箭(RLV) 可展开机构 优化设计
System reliability and system resilience
《工程管理前沿(英文)》 2021年 第8卷 第4期 页码 615-619 doi: 10.1007/s42524-021-0176-y
王连成
《中国工程科学》 2001年 第3卷 第6期 页码 15-18
从分析工程的基本内容、性质和特征人手,引出了工程系统的概念,接着应用一般系统论思想讨论了工程系统论的研究对象和研究方法,并论述了它在整个工程科学体系中的元学科地位。
《工程管理前沿(英文)》 2021年 第8卷 第4期 页码 503-518 doi: 10.1007/s42524-021-0163-3
关键词: Cyber–Physical Power System resilience assessment resilience optimization cascading failure modeling
Discussion on the System Optimization of the Energy Development Strategy and Plan
Da-di Zhou
《工程管理前沿(英文)》 2014年 第1卷 第2期 页码 147-152 doi: 10.15302/J-FEM-2014022
关键词: energy development strategy planning system system optimization
Distributed monitoring and diagnosis system for hydraulic system of construction machinery
Xiaohu CHEN, Wenfeng WU, Hangong WANG, Yongtao ZHOU,
《机械工程前沿(英文)》 2010年 第5卷 第1期 页码 106-110 doi: 10.1007/s11465-009-0089-7
关键词: construction machinery hydraulic system distributed condition monitoring controller area net (CAN) field bus fault diagnosis
标题 作者 时间 类型 操作
A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot
Kejia LI, Xilun DING, Marco CECCARELL
期刊论文
Mechatronic design of a novel linear compliant positioning stage with large travel range and high out-of-plane
Hua LIU, Xin XIE, Ruoyu TAN, Lianchao ZHANG, Dapeng FAN
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
Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain
Haitao YU, Haibo GAO, Liang DING, Zongquan DENG
期刊论文
Untethered quadrupedal hopping and bounding on a trampoline
Boxing WANG, Chunlin ZHOU, Ziheng DUAN, Qichao ZHU, Jun WU, Rong XIONG
期刊论文
Cyber–Physical Power System (CPPS): A review on measures and optimization methods of system resilience
期刊论文