资源类型

期刊论文 52

会议视频 16

年份

2024 2

2023 9

2022 12

2021 9

2020 9

2019 2

2018 3

2017 1

2016 3

2015 4

2014 2

2013 2

2012 5

2011 1

2009 2

2006 1

2003 1

展开 ︾

关键词

智能制造 6

农业科学 5

移动机器人 3

2023全球十大工程成就 2

路径规划 2

6G；关键技术；通信标准；网络安全；数字经济 1

“一带一路”，制造业，六大经济走廊，显性比较优势指数，多维尺度分析 1

“全球十大突破性技术” 1

主动物品检测；深度Q学习网络；训练算法；服务机器人 1

产业 1

人与机器人交互；机器人提升疗法；社会交互式机器人；机器人介导干预 1

人居辅助环境 1

人工势场 1

人工智能 1

仿生机器人 1

优化设计 1

免疫网络 1

全生命周期管理 1

几何构造 1

展开 ︾

检索范围：

排序： 展示方式：

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

摘要：

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.

关键词： six-legged robots     dynamic modeling     performance index    

HTML PDF 收藏

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

摘要： The manufacture and maintenance of large parts in ships, trains, aircrafts, and so on create an increasing demand for mobile machine tools to perform operations. However, few mobile robots can accommodate the complex environment of industrial plants while performing machining tasks. This study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and a portable parallel kinematic machine tool. The kinematic model of the entire system is presented, and the workspace of different components, including a leg, the body, and the head, is analyzed. A hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged mobile platform and the high precision of the parallel machine tool. The repeatability of the head motion, body motion, and walking distance is evaluated through experiments, which is 0.11, 1.0, and 3.4 mm, respectively. Finally, an application scenario is shown in which the walking machine tool steps successfully over a 250 mm-high obstacle and drills a hole in an aluminum plate. The experiments prove the rationality of the hierarchical motion planning scheme and demonstrate the extensive potential of the walking machine tool for operations on large parts.

关键词： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

HTML PDF 收藏

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

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

HTML PDF 收藏

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

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular terrain negotiation    

HTML PDF 收藏

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

摘要： This paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) legged mechatronic system (LMTS). A six-bar linkage mechanism, which is derived from a four-bar linkage with a symmetrical coupler point and pantograph into one, is designed, and common controllers are used to control the velocity and position loops. For system-based dynamic optimization, the design for control (DFC) approach is used to integrate the structure and control for improving dynamic performance with reduced control torque. Finally, for a rapid 3D graphical based implementation of the system, high-level computer-aided rapid system integration (CARSI) technology is used to integrate the structure design, controller design, and system implementation into the design and analytical software environment based on Pro/engineer, XML syntax, Simmechanics, and Simulink. Thus, the development time for the LMTS is reduced.

关键词： integrated design     design for control     legged mechatronic system     computer aided rapid system integration    

HTML PDF 收藏

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

摘要： The prober with an immovable lander and a movable rover is commonly used to explore the Moon’s surface. The rover can complete the detection on relatively flat terrain of the lunar surface well, but its detection efficiency on deep craters and mountains is relatively low due to the difficulties of reaching such places. A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study. It can take off and land repeatedly between any two sites wherever on deep craters, mountains or other challenging landforms that are difficult to reach by direct ground movement. The robot integrates the functions of a lander and a rover, including folding, deploying, repetitive landing, and walking. A landing control method via compliance control is proposed to solve the critical problem of impact energy dissipation to realize buffer landing. Repetitive landing experiments on a five-degree-of-freedom lunar gravity testing platform are performed. Under the landing conditions with a vertical velocity of 2.1 m/s and a loading weight of 140 kg, the torque safety margin is 10.3% and 16.7%, and the height safety margin is 36.4% and 50.1% for the cases with or without an additional horizontal disturbance velocity of 0.4 m/s, respectively. The study provides a novel insight into the next-generation lunar exploration equipment.

关键词： landing and walking robot     lunar exploration     buffer landing     compliance control    

HTML PDF 收藏

The computational fluid dynamic modeling of downwash flow field for a six-rotor UAV

Yongjun ZHENG, Shenghui YANG, Xingxing LIU, Jie WANG, Tomas NORTON, Jian CHEN, Yu TAN

《农业科学与工程前沿（英文）》 2018年 第5卷 第2期   页码 159-167 doi: 10.15302/J-FASE-2018216

摘要： The downwash flow field of the multi-rotor unmanned aerial vehicle (UAV), formed by propellers during operation, has a significant influence on the deposition, drift and distribution of droplets as well as the spray width of the UAV for plant protection. To study the general characteristics of the distribution of the downwash airflow and simulate the static wind field of multi-rotor UAVs in hovering state, a 3D full-size physical model of JF01-10 six-rotor plant protection UAV was constructed using SolidWorks. The entire flow field surrounding the UAV and the rotation flow fields around the six rotors were established in UG software. The physical model and flow fields were meshed using unstructured tetrahedral elements in ANSYS software. Finally, the downwash flow field of UAV was simulated. With an increased hovering height, the ground effect was reduced and the minimum current velocity increased initially and then decreased. In addition, the spatial proportion of the turbulence occupied decreased. Furthermore, the appropriate operational hovering height for the JF01-10 is considered to be 3 m. These results can be applied to six-rotor plant protection UAVs employed in pesticide spraying and spray width detection.

关键词： CFD simulation     downwash flow field     numerical analysis     plant protection     six-rotor UAV    

HTML PDF 收藏

Economic Growth Model Based on Six Basic Factors of Production—Xu Growth Rate Equation

Shou-bo Xu,Zong-yuan Huang

《工程管理前沿（英文）》 2014年 第1卷 第2期   页码 160-175 doi: 10.15302/J-FEM-2014024

摘要： This paper proposes an economic growth model based on the Six Basic Factors of Production and Xu Growth Rate Equation for the first time, which fills-in the deficits of the New Classical Economic Growth Model based on the Solow Model. The empirical analysis indicates that over the past three decades, the consumption of six basic factors of production had complicated relations with economic growth. In some years, the consumption rate of the basic factors of production was meager, but the economy witnessed relatively rocketing growth rate; in some years, the factors of production consumption rate was very high, but the economy growth rate slowed down. In general, economy grows at the expenses of huge consumption of four factors. There is an obvious characteristic of huge input and low efficiency. The average contribution rate of technological advance peaks in the middle, while it drops down at two ends. Noticeably, since 2004, the technology contribution rate generally shows a downward trend, reasons of which should be explored systematically in aspects like economic policy and industry structure with a view to boost further transformation of the macro-economy scientific growth model.

关键词： six basic factors of production     economic growth model     Xu Growth Rate Equation    

HTML PDF 收藏

Sorption and desorption of pymetrozine on six Chinese soils

Mingxing GAO,Yingying LI,Hong YANG,Yucheng GU

《环境科学与工程前沿（英文）》 2016年 第10卷 第1期   页码 1-10 doi: 10.1007/s11783-014-0715-4

摘要： Pymetrozine is a selective insecticide with a unique chemical structure and mode to control hemipteran and homopteran. While pymetrozine has brought great benefits to crop production by killing insects, its residues in soil may have a detrimental effect on environment. Therefore, it is of great importance to investigate its behaviors in soil. In this study, the sorption and desorption of pymetrozine on six Chinese soils were investigated using a batch equilibrium approach to understand its mobile behavior in the soils. Both sorption and desorption isotherms of pymetrozine were in good agreement with the Freundlich model. The sorption coefficient varied between 3.37 and 58.32 mL?g and the sorption isotherms were nonlinear, with 1/ ranging from 0.57 to 0.91. A regression equation was proposed to predict the sorption of pymetrozine on six different soil samples: log = 4.3708 − 4.5709 × log (pH in 0.01mol·L CaCl ) + 0.4700 × log OC% + 0.0057 × sand (%) + 0.0022 × CEC(clay), with = 0.9982. The organic carbon content of soil positively affected the sorption of pymetrozine, but soil pH had a negative effect on the sorption. Additionally, effects of CaCl concentration, soil to solution ratio and pesticide form were investigated. The sorption was promoted with an increase in soil to solution ratio and a decrease in CaCl concentration. The possible variation of the five formulated products of pymetrozine was also investigated.

关键词： desorption     pymetrozine     sorption     soil    

HTML PDF 收藏

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0756-0

摘要： In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

关键词： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ maintenance    

HTML PDF 收藏

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 204-212 doi: 10.1007/s11465-016-0380-3

摘要：

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.

关键词： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

HTML PDF 收藏

舰船修理文件编制六维度管理方法研究

陈志敏,阳斌

《中国工程科学》 2015年 第17卷 第5期   页码 83-89

摘要：

针对舰船基地级修理文件编制规律与技术特点，提出了成系统、科学的基地级修理文件编制六维度管理方法。在分析舰船装备基地级修理文件国外编制现状的基础上，针对修理文件编制难度大、内容多、涉及外协单位多、质量和进度管理难度大的特点，梳理出基地级修理文件体系，提出了从要求、样例、维修分析、知识库、质量管理、进度管理六个维度对修理文件编制的质量和进度进行管理的创新方法，从工程可操作性上对修理文件的编制管理方法进行了阐述，其研究成果对落实舰船装备基地级修理文件编制工作具有重要意义。

关键词： 舰船；修理文件；六维度管理方法；维修分析    

HTML PDF 收藏

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    

HTML PDF 收藏

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 61-70 doi: 10.1007/s11465-011-0206-2

摘要：

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

关键词： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test     HR-degeneracy test    

HTML PDF 收藏

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z

摘要： Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

HTML PDF 收藏

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

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

期刊论文

Footholds optimization for legged robots walking on complex terrain

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

Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

期刊论文

Landing control method of a lightweight four-legged landing and walking robot

期刊论文

The computational fluid dynamic modeling of downwash flow field for a six-rotor UAV

Yongjun ZHENG, Shenghui YANG, Xingxing LIU, Jie WANG, Tomas NORTON, Jian CHEN, Yu TAN

期刊论文

Economic Growth Model Based on Six Basic Factors of Production—Xu Growth Rate Equation

Shou-bo Xu,Zong-yuan Huang

期刊论文

Sorption and desorption of pymetrozine on six Chinese soils

Mingxing GAO,Yingying LI,Hong YANG,Yucheng GU

期刊论文

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

期刊论文

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

期刊论文

舰船修理文件编制六维度管理方法研究

陈志敏,阳斌

期刊论文

Modular crawling robots using soft pneumatic actuators

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

期刊论文

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

期刊论文

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

期刊论文