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期刊论文 45

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 435-450 doi: 10.1007/s11465-021-0630-x

摘要： Seven-degree-of-freedom redundant manipulators with link offset have many advantages, including obvious geometric significance and suitability for configu-ration control. Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese Space Station Remote Manipulator System. However, finding the analytical solution of an EMM on the basis of arm angle parameterization is difficult. This study proposes a high-precision, semi-analytical inverse method for EMMs. Firstly, the analytical inverse kinematic solution is established based on joint angle parameterization. Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundant manipulator is derived based on arm angle parameterization. The approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator. Thirdly, the error is corrected using a numerical method through the analytical inverse solution based on joint angle parameterization. After selecting the stride and termination condition, the precise inverse solution is computed for the EMM based on arm angle parameterization. Lastly, case solutions confirm that this method has high precision, and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0722-2

摘要： This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms (APMs) and Bowden cables. The lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the base. First, this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling motion. Then, a novel type of one-degree-of-freedom (1-DOF) elbow joint is proposed based on this principle, which is also applied to design the 3-DOF wrist and shoulder joints. Next, Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint independence. After that, both the forward and inverse kinematics of the entire arm are analyzed. Last, a humanoid arm prototype was developed, and the assembly velocity, joint motion performance, joint stiffness, load carrying, typical humanoid arm movements, and repeatability were tested to verify the arm performance.

关键词： modular robotic arm     anti-parallelogram mechanism     Bowden cable     humanoid arm     lightweight joint design    

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A novel task-oriented framework for dual-arm robotic assembly task

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 528-545 doi: 10.1007/s11465-021-0638-2

摘要： In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly     AI reasoning     intelligent system     task-oriented motion planning     visual perception    

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智能阀门定位系统的设计

吴爱国,王立石

《中国工程科学》 2005年 第7卷 第4期   页码 69-73

摘要：

介绍了一种基于ARM的智能阀门定位系统的硬件设计和定位控制方法。其中应用Philips公司的带CAN总线接口的ARM控制器作为系统的控制核心，既满足了现场实时数据的采集、计算和处理，又可以通过CAN总线使得阀门控制器和控制中心保持实时通信；控制策略采用带智能积分的自学习模糊控制算法

关键词： ARM     控制器     CAN总线     智能积分     自学习模糊控制    

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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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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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Evaluating the material strength from fracture angle under uniaxial loading

Jitang FAN

《结构与土木工程前沿（英文）》 2019年 第13卷 第2期   页码 288-293 doi: 10.1007/s11709-018-0480-8

摘要： The most common experimental methods of measuring material strength are the uniaxial compressive and tensile tests. Generally, shearing fracture model occurs in both the tests. Compressive strength is higher than tensile strength for a material. Shearing fracture angle is smaller than 45° under uniaxial compression and greater than 45° under uniaxial tension. In this work, a unified relation of material strength under uniaxial compression and tension is developed by correlating the shearing fracture angle in theory. This constitutive relation is quantitatively illustrated by a function for analyzing the material strength from shear fracture angle. A computational simulation is conducted to validate this theoretical function. It is full of interest to give a scientific illustration for designing the high-strength materials and engineering structures.

关键词： strength     fracture     mechanics    

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

《机械工程前沿（英文）》 2022年 第17卷 第1期 doi: 10.1007/s11465-021-0658-y

摘要： When free-floating space robots perform space tasks, the satellite base attitude is disturbed by the dynamic coupling. The disturbance of the base orientation may affect the communication between the space robot and the control center on earth. In this paper, the enhanced bidirectional approach is proposed to plan the manipulator trajectory and eliminate the final base attitude variation. A novel acceleration level state equation for the nonholonomic problem is proposed, and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectory and restorable base trajectories. In the method, the state equation is first proposed for dual-arm robots with and without end constraints, and the system stability is analyzed to obtain the system input. The input modification further increases the system stability and simplifies the calculation complexity. Simulations are carried out in the end, and the proposed method is validated in minimizing final base attitude change and trajectory smoothness. Moreover, the minute internal force during the coordinated operation and the considerable computing efficiency increases the feasibility of the method during space tasks.

关键词： free-floating space robot     dual arm     coordinated operation     base attitude restoration     bidirectional approach    

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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

《机械工程前沿（英文）》 2011年 第6卷 第1期   页码 23-32 doi: 10.1007/s11465-011-0202-6

摘要：

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

关键词： motion tracking     rehabilitation     optical linear encoder (OLE)     virtual reality    

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网络远程控制中机械臂的连续轨迹控制

郑桦,丛爽

《中国工程科学》 2008年 第10卷 第10期   页码 91-95

摘要：

探讨了点位控制在二自由度机械臂网络远程控制中的问题，将连续轨迹控制应用到基于关节坐标空间的机器人控制系统中，分析了在远程操控环境中实现连续轨迹控制所需要满足的条件，给出了最佳合成速度的求法，并进行了实际系统的远程控制实验，在期望时间内实现了连续、平滑的运动效果，证实了在网络远程系统的控制中采用连续轨迹控制能够获得更高的精度。

关键词： 远程控制     连续轨迹控制     机械臂系统    

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嵌入式Internet 中Nagle 算法及其应用研究

王宝宝,余世明,王振宇

《中国工程科学》 2014年 第16卷 第2期   页码 101-105

摘要： 通过ARM7 32 位micro control unit（MCU）和上位机personal computer（PC）构建嵌入式Internet 网络，分析Nagle 算法的原理和工作机制。

关键词： Nagle算法     死锁     延迟确认策略     ARM7     嵌入式Internet    

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Computation of the protein molecular mechanism using adaptive dihedral angle increments

Mikel DIEZ, Victor PETUYA, Mónica URIZAR, Erik MACHO, Oscar ALTUZARRRA

《机械工程前沿（英文）》 2013年 第8卷 第1期   页码 104-108 doi: 10.1007/s11465-013-0360-9

摘要：

Protein motion simulation is still a troublesome problem yet to be solved, especially due to its high computational requirements. The procedure presented in this paper makes use of the proteins’ real degrees of freedom (DOFs). The procedure makes no use of any intermediate energy minimization processes that may alter the motion path or result in very high computational cost requirements. In order to reduce the computational cost, presented algorithms make use of the balls and rods approach for protein structure modelization. Also, structures are normalized in order to minimize inaccuracies introduced by experimental methods, providing a more efficient but still accurate structure for motion simulation.

关键词： kinematics     serial robot     proteins     folding     molecular mechanism    

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CFD simulation on shell-and-tube heat exchangers with small-angle helical baffles

Minhua ZHANG,Fang MENG,Zhongfeng GENG

《化学科学与工程前沿（英文）》 2015年 第9卷 第2期   页码 183-193 doi: 10.1007/s11705-015-1510-x

摘要： Shell-and-tube heat exchanger with helical baffles is superior to that with segmental baffles in reducing pressure drop, eliminating dead zone and lowering the risks of vibration of tube bundle. This paper focused on the small-angle helical baffles that have been merely reported in open literature. These baffles are noncontinuous helical baffles with a helix angle of 10° to 30°, and their shapes are 1/4 ellipse, 1/4 sector and 1/3 sector. To assess the integrative performance, /? is employed, and the calculated results show that among the three baffle shapes the heat exchangers with a 1/4 sector helical baffle have the lowest pressure drop. At = 10° and 20°, 1/4 sector helical baffle heat exchangers show the best integrative performance; at = 30°, 1/4 ellipse and 1/4 sector helical baffle heat exchangers perform almost the same. For the study of helix angles, we found that 30° has the best integrative performance at low mass flow rate, almost the same as 20° at high mass flow rate.

关键词： heat transfer     pressure drop     helical baffle     CFD    

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Effects of Boundary Condition and Helix Angle on Meshing Performance of TI Worm Gearing

SUN Yue-hai, DUAN Lu-qian, WANG Shu-ren, ZHANG Ce

《机械工程前沿（英文）》 2006年 第1卷 第1期   页码 90-95 doi: 10.1007/s11465-005-0006-7

摘要：

To exactly describe the contact state and contact area of tooth surface of toroidal involute (TI) worm gearing, the authors introduced boundary condition into contact line analysis.With helix angle chosen as parameter, the criterion for the existence of meshing boundary line on the surface of TI worm gearing is derived. Results show that there can be four situations for meshing boundary line on the tooth surface of gear, namely, inexistence of meshing boundary line, a unique line, two lines, and two coincident lines. If the helix angle is equal to or slightly smaller than the bigger angle, which makes two meshing boundary lines superpose, a preferable meshing performance is obtained. Computer simulation proves the validity of the above conclusion.

关键词： preferable     inexistence     Results     validity     boundary condition    

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Industrial-scale investigations on effects of tertiary-air declination angle on combustion and steam

Xiaoguang LI, Lingyan ZENG, Hongye LIU, Yao LI, Yifu LI, Yunlong ZHAO, Bo JIAO, Minhang SONG, Shaofeng ZHANG, Zhichao CHEN, Zhengqi LI

《能源前沿（英文）》 2021年 第15卷 第1期   页码 132-142 doi: 10.1007/s11708-020-0803-z

摘要： Industrial-scale experiments were conducted to study the effects of tertiary air declination angle (TDA) on the coal combustion and steam temperature characteristics in the first 350-MW supercritical down-fired boiler in China with the multiple-injection and multiple-staging combustion (MIMSC) technology at medium and high loads. The experimental results indicated that as the TDA increased from 0° to 15°, the overall gas temperature in the lower furnace rose and the symmetry of temperature field was enhanced. The ignition distance of the fuel-rich coal/air flow decreased. In near-burner region, the concentration of O decreased while the concentrations of CO and NO increased. The concentration of NO decreased in near-tertiary-air region. The carbon in fly ash decreased significantly from 8.40% to 6.45% at a load of 260 MW. At a TDA of 15°, the ignition distances were the shortest (2.07 m and 1.73 m) at a load of 210 MW and 260 MW, respectively. The main and reheat steam temperatures were the highest (557.2°C and 559.4°C at a load of 210 MW, 558.4°C and 560.3°C at a load of 260 MW). The carbon in fly ash was the lowest (4.83%) at a load of 210 MW. On changing the TDA from 15° to 25°, the flame kernel was found to move downward and the main and reheat steam temperatures dropped obviously. The change of TDA has little effect on NO emissions(660–681 mg/m at 6% O ). In comprehensive consideration of the pulverized coal combustion characteristics and the unit economic performance, an optimal TDA of 15° is recommended.

关键词： supercritical down-fired boiler     industrial-scale experiment     tertiary air declination angle     coal combustion     steam temperature    

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标题 作者 时间 类型 操作

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

期刊论文

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

期刊论文

A novel task-oriented framework for dual-arm robotic assembly task

期刊论文

智能阀门定位系统的设计

吴爱国,王立石

期刊论文

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

期刊论文

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

期刊论文

Evaluating the material strength from fracture angle under uniaxial loading

Jitang FAN

期刊论文

Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

期刊论文

A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

期刊论文

网络远程控制中机械臂的连续轨迹控制

郑桦,丛爽

期刊论文

嵌入式Internet 中Nagle 算法及其应用研究

王宝宝,余世明,王振宇

期刊论文

Computation of the protein molecular mechanism using adaptive dihedral angle increments

Mikel DIEZ, Victor PETUYA, Mónica URIZAR, Erik MACHO, Oscar ALTUZARRRA

期刊论文

CFD simulation on shell-and-tube heat exchangers with small-angle helical baffles

Minhua ZHANG,Fang MENG,Zhongfeng GENG

期刊论文

Effects of Boundary Condition and Helix Angle on Meshing Performance of TI Worm Gearing

SUN Yue-hai, DUAN Lu-qian, WANG Shu-ren, ZHANG Ce

期刊论文

Industrial-scale investigations on effects of tertiary-air declination angle on combustion and steam

Xiaoguang LI, Lingyan ZENG, Hongye LIU, Yao LI, Yifu LI, Yunlong ZHAO, Bo JIAO, Minhang SONG, Shaofeng ZHANG, Zhichao CHEN, Zhengqi LI

期刊论文