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关键词

力反馈手套 1

原位统计分布分析表征技术 1

参数初值整定；自适应鲁棒控制；并联机构；气缸 1

固体颗粒 1

大工作空间 1

气升式搅拌 1

气压驱动 1

水触发材料 1

浆态床反应器 1

液体金属 1

环流反应器 1

统计偏析度 1

统计符合度 1

自热材料 1

虚拟现实 1

质量控制 1

软驱动器 1

轻量级 1

过程强化 1

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Design of damping valve for vehicle hydro pneumatic suspension

DONG Mingming, HUANG Hua, GU Lian

《机械工程前沿（英文）》 2008年第3卷第1期页码 97-100 doi: 10.1007/s11465-008-0014-5

摘要： According to the design features of a hydro pneumatic spring, the necessity of a separate damping valve is proposed. Based on a 1/4 vehicle linear suspension model, the optimum damping coefficient is worked out and the parameters of the damping valve are determined with the equivalent linearization method. A practical structure of the damping valve is proposed having a small size, high flowrate when the valve opens, and the ability of enduring high back pressure. Based on bench tests, the damping valve has been found to properly work and be suitable. The design method and damping valve structure are useful guides for hydro pneumatic suspension, especially for the design of heavy-duty vehicles.

关键词： ability pneumatic necessity flowrate equivalent linearization

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

《机械工程前沿（英文）》 2022年第17卷第2期 doi: 10.1007/s11465-022-0678-2

摘要： Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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A pneumatic cylinder driving polyhedron mobile mechanism

Wan DING, Sung-Chan KIM, Yan-An YAO

《机械工程前沿（英文）》 2012年第7卷第1期页码 55-65 doi: 10.1007/s11465-012-0301-z

摘要：

A novel pneumatic cylinder driving polyhedron mobile mechanism is proposed in this paper. The mechanism is comprised of 5 tetrahedrons which includes a pneumatic cylinder in each edge. It locomotes by rolling and the rolling principle refers to the center of mass (CM) of the mechanism moved out of the supporting area and let it tip over through the controlling of the motion sequence of these cylinders. Firstly, the mathematical model is built to analysis the relation between the configuration and the CM of the mechanism. Then, a binary control strategy is developed to simplify and improve the control of this mobile mechanism. After that, dynamic simulation is performed to testify the analytical validity and feasibility of the rolling gaits. At last, a prototype is fabricated to achieve the rolling successfully to demonstrate the proposed concept.

关键词： mobile mechanism polyhedron cylinder

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Simulation of horizontal slug-flow pneumatic conveying with kinetic theory

GU Zhengmeng, GUO Liejin

《能源前沿（英文）》 2007年第1卷第3期页码 336-340 doi: 10.1007/s11708-007-0050-6

摘要： Wavelike slug-flow is a representative flow type in horizontal pneumatic conveying. Kinetic theory was introduced to establish a 3D kinetic numerical model for wavelike slug gas-solid flow in this paper. Wavelike motion of particulate slugs in horizontal pipes was numerically investigated. The formation and motion process of slugs and settled layer were simulated. The characteristics of the flow, such as pressure drop, air velocity distribution, slug length and settled layer thickness, and the detailed changing characteristics of slug length and settled layer thickness with air velocity were obtained. The results indicate that kinetic theory can represent the physical characteristics of the non-suspension dense phase flow of wavelike slug pneumatic conveying. The experiment in this paper introduced a new idea for the numerical calculation of slug-flow pneumatic conveying.

关键词： velocity distribution detailed slug-flow gas-solid theory

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

《机械工程前沿（英文）》 2023年第18卷第4期 doi: 10.1007/s11465-023-0770-2

摘要： Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

关键词： pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

《机械工程前沿（英文）》 2021年第16卷第1期页码 163-175 doi: 10.1007/s11465-020-0605-3

摘要： Crawling robots have elicited much attention in recent years due to their stable and efficient locomotion. In this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAs), namely, an axial elongation SPA and a dual bending SPA. By constraining the deformation of the elastomeric chamber, the SPAs realize their prescribed motions, and the deformations subjected to pressures are characterized with numerical models. Experiments are performed for verification, and the results show good agreement. The SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors. Control schemes are presented, and crawling tests are performed. The speeds predicted by the numerical models agree well with the speeds in the experiments.

关键词： soft robot soft pneumatic actuator kinematic model crawling robot modular design

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

《机械工程前沿（英文）》 2015年第10卷第4期页码 326-343 doi: 10.1007/s11465-015-0355-9

摘要：

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.

关键词： robotics static balancing pneumatic spring mechanical spring torque compensation

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含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制 Article

Guo-liang TAO,Ce SHANG,De-yuan MENG,Chao-chao ZHOU

《信息与电子工程前沿（英文）》 2017年第18卷第3期页码 303-316 doi: 10.1631/FITEE.1500353

摘要：本文讨论了关于气缸驱动的3-RPS并联平台的一种控制方法。研究对象使用气动比例方向阀控制各驱动气缸，并建立了系统的运动学和动力学模型，采用基于反步法和在线参数辨识的自适应鲁棒控制器作为主要控制方式。同时为了满足对系统未建模部分和参数估计误差导致的干扰，将直接自适应快速补偿集成与控制器的设计中。为了避免因为在平台运动过程等实际工况中负载变化对性能造成的影响，提出了一种参数初值整定模式，提升了控制算法的适应性。通过采用这些方法，并联平台位姿轨迹跟踪性能的频响和精度均有了提升，并且负载和约束内力对平台控制性能造成的不良影响也得到了消除。不同工况下的实验显示了所设计的控制方法的良好性能，使整体平均相对误差减小到1%以内。

关键词：参数初值整定；自适应鲁棒控制；并联机构；气缸

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Analysis of actuating mechanics characteristics for a flexible miniature robot system

YU Lianzhi, YAN Guozheng, MA Guanying, ZAN Peng

《机械工程前沿（英文）》 2008年第3卷第1期页码 66-70 doi: 10.1007/s11465-008-0006-5

摘要： Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.

关键词： calculation consistent endoscope inspection electro-pneumatic miniature endoscope

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气升式浆态床反应器的过程强化 Review

耿淑君, 毛在砂, 黄青山, 杨超

《工程（英文）》 2021年第7卷第3期页码 304-325 doi: 10.1016/j.eng.2021.03.002

摘要：

气升式浆态床反应器是一种重要的气-液-固多相反应器，包括鼓泡塔反应器和环流反应器。这些反应器具有剪切应力低、混合程度好、传质/传热能力强、成本低等优点，已被广泛应用于许多工业过程，尤其是生物发酵和能源化工领域。为了进一步提高浆态床反应器的性能（即混合和传质/传热性能）和满足工业应用要求（如温度控制、减少返混和产品分离等），浆态床反应器的过程强化至关重要。首先，本文回顾了这两种反应器在强化混合和传质/传热方面的最新研究进展。然后，总结了浆态床反应器在连续生产时混合与分离的过程强化方法，其中，由于具有高效率和低成本的优点，推荐采用将环流反应器内的定向流动与水力旋流器的简单固-液分离相结合的过程强化技术。接着，系统地讨论了浆态床反应器所面临的问题和挑战，包括流型判别、气体分布器设计、固体颗粒影响及其他问题。本文还介绍了应用计算流体力学对浆态床反应器进行数值模拟的研究进展，讨论了建模的难点。最后，对工业浆态床反应器的设计进行总结和展望。

关键词：浆态床反应器气升式搅拌鼓泡塔环流反应器过程强化固体颗粒

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Al-NaOH复合液态金属——一种具有热和气动特性且快速响应的水触发材料 Article

袁博, 孙旭阳, 刘静

《工程（英文）》 2020年第6卷第12期页码 1454-1462 doi: 10.1016/j.eng.2019.08.020

摘要：

水触发材料因其操作简单、驱动柔和、成本低廉、环境友好等诸多优点受到越来越多的关注。但是，大多数此类材料通常具有较长的反应时间，并且需要严格的保存条件，这限制了它们在实践中的适应性。本研究提出并证明了一种基于Al-NaOH复合共晶镓-铟（eGaIn）合金的新型水触发材料，该材料具有快速响应性和可变形性。一旦加入水，制成的材料将在短短几秒钟内随着气体的产生而升温40 ℃，这表明它具有用作热驱动器和气动驱动器的巨大潜力。此外，研究还测试了新材料的可重复使用性和降解能力。并据此设计了双层结构的智能绷带，其内部填充了Al-NaOH复合eGaIn，而BiInSn则作为外部支撑材料。实验显示，厚度为2 mm的片状结构经过冷却处理后能够支撑1.8 kg的重物，这比常用的玻璃纤维高分子绷带的承重能力要好得多。同时，研究还使用Al-NaOH复合eGaIn制作了水触发球形机器人的原型，该原型在特定的外部刺激下实现了滚动和弹跳行为。这些发现表明，当前材料在开发未来的可穿戴设备、软驱动器和软机器人方面具有潜在价值。

关键词：液体金属水触发材料自热材料软驱动器

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高温合金压气机盘锻件纵断面中铌分布的原位统计分布分析表征

王海舟,李美玲,庄景云

《中国工程科学》 2011年第13卷第10期页码 19-27

摘要：

采用原位统计分布分析表征技术系统研究了GH169高温合金压气机盘纵断面不同部位铌分布的规律。以所得到的与样品原位置相对应的数以万计原始信号系统解析为基础，进而获得压气机盘锻件的纵断面不同部位铌的定量统计分布信息以及加工工艺过程中铌的迁移规律。准确计算判定了盘纵断面不同部位铌的最大偏析度，提出了95 %置信度时中位值置信扩展率,即统计偏析度（S）新参数，用以表征铌在压气机盘中分布的均匀度；提出了所有数据在特定含量区间（C₀±R）的频度（权重）比率，即统计符合度（F）新参数，用以表征预设质量控制区间铌含量的一致性的概率。采用原位统计分布分析的表征方法，准确定量地评定了高温合金压气机盘件纵断面不同部位铌的分布均匀度和符合度，为加工后盘件的质量控制评估提供了参考。

关键词：原位统计分布分析表征技术高温合金压气机盘铌统计偏析度统计符合度质量控制

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一种具有大工作空间的轻量级力反馈手套 Article

郑宇铠, 王党校, 王子琦, 张昱, 张玉茹, 徐卫良

《工程（英文）》 2018年第4卷第6期页码 869-880 doi: 10.1016/j.eng.2018.10.003

摘要：

在虚拟现实场景中，佩戴力反馈手套是一种有效的增强穿戴者与虚拟物体交互沉浸感的方法。这种手套的设计难点在于需要提供足够大的手指运动工作空间，在模拟自由空间和约束空间交互时提供所需的力反馈感觉，以及确保一个轻量级的结构。本文提出了一种将气动驱动器安装在使用者手背侧的力反馈手套。该手套采用了一种凸轮连杆组合机构，利用带有弯曲滑槽和三个运动副的连杆将阻力从气缸活塞杆传递到指尖。为了得到穿戴者指尖反馈力的一个较大的法向分量，通过分析带有三个运动副的连杆上的力平衡，计算出了滑槽的轮廓。本文研制了质量为245 g 的五指力反馈手套样机，建立了可穿戴的力测量系统，对自由空间和约束空间的力反馈性能进行了定量评价。实验结果表明，该手套在自由空间模拟中平均阻力小于0.1 N，在约束空间模拟中指尖力最大为4 N。实验进一步证实，这种手套能够保证手指的自由移动以及模拟典型的抓取操作手势。

关键词：力反馈手套轻量级大工作空间气压驱动虚拟现实