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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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Concept and application of anaerobic suspended granular sludge bed (SGSB) reactor for wastewater treatment

Mingxia ZHENG,Zhong YAN,Jiane ZUO,Kaijun WANG

《环境科学与工程前沿（英文）》 2014年 第8卷 第5期   页码 797-804 doi: 10.1007/s11783-013-0597-x

摘要： Bed expansion serves an important function in the design and operation of an upflow anaerobic reactor. An analysis of the flow pattern of expanded granular sludge bed (EGSB) reactors shows that most EGSB reactors do not behave as expanded bed reactors, as is widely perceived. Rather, these reactors behave as fluidized bed reactors based on the classic chemical reactor theory. In this paper, four bed expansion modes, divided as static bed, expanded bed, suspended bed, and fluidized bed, for bioreactors are proposed. A high-rate anaerobic suspended granular sludge bed (SGSB) reactor was then developed. The SGSB reactor is an upflow anaerobic reactor, and its expansion degree can be easily controlled within a range to maintain the suspended status of the sludge bed by controlling upflow velocity. The results of the full-scale reactor confirmed that the use of SGSB reactors is advantageous. The full-scale SGSB reactor runs stably and achieves high COD removal efficiency (about 90%) at high loading rates (average 40 kg-COD·m ·d , maximum to 52 kg-COD·m ·d ) based on the SGSB theory, and its expansion degree is between 22% and 37%.

关键词： expansion characteristic     high-rate bioreactor     anaerobic suspended granular sludge bed     expanded granular sludge bed reactor    

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Determination of polyfluoroalkyl compounds in water and suspended particulate matter in the river Elbe

Lutz AHRENS, Merle PLASSMANN, Zhiyong XIE, Ralf EBINGHAUS

《环境科学与工程前沿（英文）》 2009年 第3卷 第2期   页码 152-170 doi: 10.1007/s11783-009-0021-8

摘要： The distribution of polyfluoroalkyl compounds (PFCs) in the dissolved and particulate phase and their discharge from the river Elbe into the North Sea were studied. The PFCs quantified included C -C perfluorinated sulfonates (PFSAs), 6∶2 fluorotelomer sulfonate (6∶2 FTS), C and C perfluorinated sulfinates (PFSiAs), C -C perfluorinated carboxylic acids (PFCAs), perfluoro-3,7-dimethyl-octanoic acid (3,7m -PFOA), perfluorooctane sulfonamide (FOSA), and n-ethyl perfluroctane sulfonamidoethanol (EtFOSE). PFCs were mostly distributed in the dissolved phase, where perfluorooctanoic acid (PFOA) dominated with 2.9-12.5 ng/L. In the suspended particulate matter FOSA and perfluorooctane sulfonate (PFOS) showed the highest concentrations (4.0 ng/L and 2.3 ng/L, respectively). The total flux of ∑PFCs from the river Elbe was estimated to be 802 kg/year for the dissolved phase and 152 kg/year for the particulate phase. This indicates that the river Elbe acts as a source of PFCs into the North Sea. However, the concentrations of perfluorobutane sulfonate (PFBS) and perfluorobutanoic acid (PFBA) in the North Sea were higher than that in the river Elbe, thus an alternative source must exist for these compounds.

关键词： polyfluoroalkyl compounds (PFCs)     perfluorooctane sulfonate (PFOS)     perfluorooctanoic acid (PFOA)     surface water     water-particulate partitioning    

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大气悬浮颗粒PM10对感烟火灾探测器本底效应研究

谢启源,袁宏永,蒋亚龙

《中国工程科学》 2003年 第5卷 第6期   页码 84-87

摘要：

针对大气污染引起的悬浮颗粒,尤其是可吸入颗粒（PM10）对感烟火灾探测器产生的本底效应进行了分析，并以离子型感烟探测器为例对本底值进行计算，通过比较，显示不同程度的大气颗粒物污染对感烟探测器本底影响的差异极小，排除了感烟探测器在悬浮颗粒污染严重地区发生灵敏度和误报率升高的可能。确认目前各国感烟火灾探测器检测标准对灵敏度指标的规定可以统一，粒子计数等高分辨率颗粒浓度测量技术的发展将使该本底效应的影响不可忽略。

关键词： 悬浮颗粒     火灾探测     本底效应    

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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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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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Suspended solid abatement in a conical fluidized bed flocculator

Dandan ZHOU, Shuangshi DONG, Keyu LI, Huizhong JIANG, Dandan SHANG

《环境科学与工程前沿（英文）》 2013年 第7卷 第1期   页码 127-134 doi: 10.1007/s11783-012-0415-x

摘要： With the random movement of silica gel beads in a conical fluidized bed, micro-vortices resulting from the fluidization promoted the collision and aggregation of suspended fine kaolin powders. The abatement efficiencies of the suspended fine solids under several hydrodynamic conditions were studied, and a suitable control strategy for operating the conical fluidized bed flocculators was identified. The suspended solids abatement efficiency was found to increase with increasing Camp Number and flocculation time ( ), but decreased with the increase of velocity gradient ( ) within the range studied in this research (165.1–189.6 s ). The abatement efficiencies were all more than 60% at the range of = 165–180 s and = 15–33 s at an initial kaolin solid concentration of 150 mg·L , polymer aluminum chloride dosage of 60 mg·L and sedimentation time of 20 min. However, the formation of flocs was influenced by the liquid backmixing. Excessive backmixing caused the breakup of flocs and resulted in difficulty for the fine powders to aggregate and sediment to the reactor bottom. The results of the calculated fractal dimension and measured free sedimentation velocity of flocs obtained at different runs showed similar flocs properties, and indicated an easy control strategy for sedimentation of the flocs.

关键词： conical fluidized bed     flocculation     velocity gradient    

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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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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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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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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    

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0760-4

摘要： Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments. To improve the reliability and accuracy of contact detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground. Moreover, a relevant control strategy to address unexpected early and delayed contacts is planned. The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype. The overall contact states are obtained by the classification of the model-based predicted probabilities. The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state. The probabilistic model parameters are determined by testing on the single-leg experimental platform. The experiments are conducted on the experimental prototype, and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting. Compared with the body orientation under the time-based control method regardless of terrain, the root mean square errors of roll, pitch, and yaw respectively decreased by 60.07%, 54.73%, and 64.50% during walking and 73.40%, 61.49%, and 61.48% during trotting.

关键词： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured terrain    

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标题 作者 时间 类型 操作

Analytical dynamic solution of a flexible cable-suspended manipulator

Mahdi BAMDAD

期刊论文

Concept and application of anaerobic suspended granular sludge bed (SGSB) reactor for wastewater treatment

Mingxia ZHENG,Zhong YAN,Jiane ZUO,Kaijun WANG

期刊论文

Determination of polyfluoroalkyl compounds in water and suspended particulate matter in the river Elbe

Lutz AHRENS, Merle PLASSMANN, Zhiyong XIE, Ralf EBINGHAUS

期刊论文

大气悬浮颗粒PM10对感烟火灾探测器本底效应研究

谢启源,袁宏永,蒋亚龙

期刊论文

Review of human–robot coordination control for rehabilitation based on motor function evaluation

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

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

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

期刊论文

Suspended solid abatement in a conical fluidized bed flocculator

Dandan ZHOU, Shuangshi DONG, Keyu LI, Huizhong JIANG, Dandan SHANG

期刊论文

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

期刊论文

A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

期刊论文

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

期刊论文

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

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

期刊论文

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

期刊论文