资源类型

期刊论文 81

会议视频 2

年份

2024 8

2023 6

2022 3

2021 7

2020 4

2019 5

2018 4

2017 2

2016 6

2015 2

2014 2

2013 2

2012 8

2011 4

2010 1

2008 3

2007 4

2006 3

2004 2

2003 1

展开 ︾

关键词

扫描格式转换 3

运动估计 3

运动补偿 3

运动规划 3

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

主动控制 1

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

仲裁机制 1

仿生机器人 1

作战系统 1

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

冷空气路径 1

几何构造 1

展开 ︾

检索范围：

排序： 展示方式：

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    

HTML PDF 收藏

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    

HTML PDF 收藏

基于全对称型TRMPC的自动驾驶车辆安全运动规划控制框架 Article

郑浩, 李以农, 郑玲, Ehsan Hashemi

《工程（英文）》 2024年 第33卷 第2期   页码 146-159 doi: 10.1016/j.eng.2023.12.003

摘要：

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles (AVs). The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning layer. To address this issue, this study proposes a safe motion planning and control (SMPAC) framework for AVs. For the control layer, a dynamic model including multi-dimensional uncertainties is established. A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set. A flexible tube with varying cross-sections is constructed to reduce the controller conservatism. For the planning layer, a concept of safety sets, representing the geometric boundaries of the ego vehicle and obstacles under uncertainties, is proposed. The safety sets provide the basis for the subsequent evaluation and ranking of the generated trajectories. An efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles. A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the SMPAC. The result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

关键词： Automated driving     Motion planning     Motion control     Tube MPC     Zonotope    

HTML PDF 收藏

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    

HTML PDF 收藏

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    

HTML PDF 收藏

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    

HTML PDF 收藏

State of the art in movement around a remote point: a review of remote center of motion in robotics

《机械工程前沿（英文）》 2024年 第19卷 第2期 doi: 10.1007/s11465-024-0785-3

摘要： The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications, encompassing areas such as medical robotics, orientation devices, and exoskeletal systems. The efficacy of RCM technology is a determining factor in the success of these robotic domains. This paper offers an exhaustive review of RCM technologies, elaborating on their various methodologies and practical implementations. It delves into the unique characteristics of RCM across different degrees of freedom (DOFs), aiming to distill their fundamental principles. In addition, this paper categorizes RCM approaches into two primary classifications: design based and control based. These are further organized according to their respective DOFs, providing a concise summary of their core methodologies. Building upon the understanding of RCM’s versatile capabilities, this paper then transitions to an in-depth exploration of its applications across diverse robotic fields. Concluding this review, we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications. This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关键词： remote center of motion     mechanism     robotics     medical robot     orientation device     exoskeleton    

HTML PDF 收藏

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    

HTML PDF 收藏

Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

《机械工程前沿（英文）》 2024年 第19卷 第3期 doi: 10.1007/s11465-024-0791-5

摘要： The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular terrain. However, conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain irregularities. The resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion rhythm. In this paper, a kinodynamic optimization approach is presented. To generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain, we formulate motion planning as an optimization problem; jointly treat the foot’s locations, contact forces, and torso motions as decision variables; combine smooth motion and minimal energy consumption as the objective function; and explicitly represent feasible foothold region and friction constraints based on terrain information. To track the generated motions accurately and stably, we employ a whole-body controller to compute reference position and velocity commands, which are fed forward to joint controllers of the robot’s legs. We verify the effectiveness of the developed approach through simulation and on a physical quadruped robot testbed. Results show that the quadruped robot can successfully traverse a 30° slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot     kinodynamic planning     nonlinear optimization     challenging terrain     whole-body control    

HTML PDF 收藏

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    

HTML PDF 收藏

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    

HTML PDF 收藏

Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

《机械工程前沿（英文）》 2024年 第19卷 第1期 doi: 10.1007/s11465-023-0773-z

摘要： Given the limited operating ability of a single robotic arm, dual-arm collaborative operations have become increasingly prominent. Compared with the electrically driven dual-arm manipulator, due to the unknown heavy load, difficulty in measuring contact forces, and control complexity during the closed-chain object transportation task, the hydraulic dual-arm manipulator (HDM) faces more difficulty in accurately tracking the desired motion trajectory, which may cause object deformation or even breakage. To overcome this problem, a compliance motion control method is proposed in this paper for the HDM. The mass parameter of the unknown object is obtained by using an adaptive method based on velocity error. Due to the difficulty in obtaining the actual internal force of the object, the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector (EE) of two hydraulic manipulators (HMs). Further, the estimated contact force is used to calculate the actual internal force on the object. Then, a compliance motion controller is designed for HDM closed-chain collaboration. The position and internal force errors of the object are reduced by the feedback of the position, velocity, and internal force errors of the object to achieve the effect of the compliance motion of the HDM, i.e., to reduce the motion error and internal force of the object. The required velocity and force at the EE of the two HMs, including the position and internal force errors of the object, are inputted into separate position controllers. In addition, the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control method. Finally, comparative experiments are carried out on a hydraulic dual-arm test bench. The proposed method is validated by the experimental results, which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator     compliance motion control     unknown object     adaptive mass estimation     nonlinear control    

HTML PDF 收藏

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    

HTML PDF 收藏

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    

HTML PDF 收藏

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    

HTML PDF 收藏

标题 作者 时间 类型 操作

Offline motion planning and simulation of two-robot welding coordination

Tie ZHANG, Fan OUYANG

期刊论文

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

CHEN Xin-bo, YU Zhen

期刊论文

基于全对称型TRMPC的自动驾驶车辆安全运动规划控制框架

郑浩, 李以农, 郑玲, Ehsan Hashemi

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文

电气传动——信息、能源和运动的接口

马小亮

期刊论文

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

LI Xiaoli, LIU Huanlao

期刊论文

State of the art in movement around a remote point: a review of remote center of motion in robotics

期刊论文

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

Rini NISHANTH, Andrew WHYTE, V. John KURIAN

期刊论文

Dynamic motion of quadrupedal robots on challenging terrain: a kinodynamic optimization approach

期刊论文

Novel probabilistic rolling regular tetrahedron mechanism

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

期刊论文

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

Martin WIELAND,

期刊论文

Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown

期刊论文

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

期刊论文

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

Bing XU, Min CHENG

期刊论文

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

Fugui XIE,Xin-Jun LIU

期刊论文