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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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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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可佳：一种容忍环境变化的自助服务机器人 Special Feature on Intelligent Robats

Wei SHUAI, Xiao-ping CHEN

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 307-317 doi: 10.1631/FITEE.1900096

摘要：可佳是一个家庭服务机器人。硬件结构由一个可移动底盘、一个机械臂、两个相机构成；软件系统包括6个模块：感知、物体操纵、自然语言理解、运动规划、任务规划和整合决策。通过在线运行这些模块，机器人能够适应不可预知的动态环境。提出一个分层方法，将运动规划结果和神经网络结合，让机器人在执行动作时能够容忍传感器、齿轮间隙和人工干预造成的误差。在可佳机器人上验证了该方法，并让可佳在不断人为干扰下成功操纵微波炉烹饪爆米花。

关键词：机器人；任务规划；物品操纵

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助老服务机器人系统设计及软件架构 Article

Norman Hendrich, Hannes Bistry, 张建伟

《工程（英文）》 2015年第1卷第1期页码 27-35 doi: 10.15302/J-ENG-2015007

摘要：本文概述了欧盟项目Robot-Era开发的智能人居辅助环境（AAL）系统，并重点阐述了系统中具有室内移动及物品操作能力的机器人的工程实现方法以及软件架构。

关键词：服务机器人人居辅助环境操作及抓取用户体验分析

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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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基于3D变换电磁学和2D表面电磁学的电磁场操控和天线设计 Review

Peng-fei ZHANG, Yu-kai YAN, Ying LIU, Raj MITTRA

《信息与电子工程前沿（英文）》 2020年第21卷第3期页码 351-365 doi: 10.1631/FITEE.1900489

摘要：尽管人们已经开发了针对不同类型天线的多种设计技术，如线天线、贴片天线、透镜天线以及反射面等，但尚未构建普适的框架技术——普适框架技术应可用于各种天线的综合与设计，使天线具有满足使用者特定需求的电气特性。近年来，5G通信及各种空天技术、国防应用、生物医疗和类似应用的快速发展，迫切需要天线设计技术的大幅提升。本文从场操控角度剖视天线设计技术，为这种框架性构建提供一个可能的思考，以期最终部分满足这种需求。首先，回顾现有操控技术，包括基于麦克斯韦方程和波动方程在内的场变换方法，指出这些技术的局限性，并提出改善性能的方法。其次，介绍一种基于2D超表面的场操控方法及其理论基础——广义反射和折射定律。进一步，探索如何利用2D超表面克服传统的由临界角严格限制的反射和折射局限性。最后，给出场操控方法在天线设计中的应用实例，以期引导人们发展面向未来通信天线设计的通用策略和方法。

关键词：场操控；变换光学；天线设计；表面电磁学

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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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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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微纳操作与表征

Yu Sun, Sergej Fatikow, Xinyu Liu

《工程（英文）》 2023年第24卷第5期页码 1-2 doi: 10.1016/j.eng.2023.04.006

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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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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年第16卷第2期页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling Robot navigation Slip and skid control Wheeled mobile robots