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Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG, Qingjun Ding, Huafeng LI

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 332-338 doi: 10.1007/s11465-009-0046-5

摘要： This paper describes a method for preliminary manufacturing experiments on a type of smart materials—ionic polymer-metal composites (IPMCs). They belong to EAP materials and are famous for their capability of huge displacement within a low voltage (1–3 V). With best operation quality in the humid environment, they can be made as underwater robots in simple structures. In this paper, two purposes are embodied. One focuses on the research on the IPMCs characteristics, including the actuating principle, manufacturing process, and parameters of performance. The other is that a relevant robot driven by IPMCs strips is designed. According to imitation propulsion mechanism of undulatory fins, IPMCs are designed for a novel bionic water vehicle propelled by undulatory multiple fish-like fins (made by IPMCs). The robot consists of three fins on the bottom tightly contacting by plastic foils with each other.

关键词： ionic polymer-metal composites (IPMCs)     artificial muscles     actuator     bionic robot     platinum-plated    

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Design, analysis, and neural control of a bionic parallel mechanism

《机械工程前沿（英文）》 2021年 第16卷 第3期   页码 468-486 doi: 10.1007/s11465-021-0640-8

摘要： Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

关键词： neural control     behavior network     rhythm     motion pattern    

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Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

《信息与电子工程前沿（英文）》 2015年 第16卷 第7期   页码 594-606 doi: 10.1631/FITEE.14a0260

摘要： Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps: (1) generate a dense surface for every single scan of point cloud and its corresponding image(s) and (2) incrementally fuse the dense surface of a new scan into the whole map. In step (1) edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noise within the scan is reduced and a dense surface is generated. In step (2) the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

关键词： Bionic robot     Robotic mapping     Surface fusion    

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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

《机械工程前沿（英文）》 2021年 第16卷 第1期   页码 32-45 doi: 10.1007/s11465-020-0604-4

摘要： Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased attention. Existing passive variable stiffness joints rely mainly on sensors and special control algorithms, resulting in a bandwidth-limited response speed of the joint. We propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot arm. The new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical manner. The variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload, and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human elbow. The response speed is high because sensors and control algorithms are not needed. The variable stiffness principle is explained, and the design of the variable stiffness mechanism is analyzed. A prototype is fabricated, and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism     stiffness self-regulation     bionic robot     modeling    

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Cutting performance of surgical electrodes by constructing bionic microstriped structures

《机械工程前沿（英文）》 2023年 第18卷 第1期 doi: 10.1007/s11465-022-0728-9

摘要： Surgical electrodes rely on thermal effect of high-frequency current and are a widely used medical tool for cutting and coagulating biological tissue. However, tissue adhesion on the electrode surface and thermal injury to adjacent tissue are serious problems in surgery that can affect cutting performance. A bionic microstriped structure mimicking a banana leaf was constructed on the electrode via nanosecond laser surface texturing, followed by silanization treatment, to enhance lyophobicity. The effect of initial, simple grid-textured, and bionic electrodes with different wettabilities on tissue adhesion and thermal injury were investigated using horizontal and vertical cutting modes. Results showed that the bionic electrode with high lyophobicity can effectively reduce tissue adhesion mass and thermal injury depth/area compared with the initial electrode. The formation mechanism of adhered tissue was discussed in terms of morphological features, and the potential mechanism for antiadhesion and heat dissipation of the bionic electrode was revealed. Furthermore, we evaluated the influence of groove depth on tissue adhesion and thermal injury and then verified the antiadhesion stability of the bionic electrode. This study demonstrates a promising approach for improving the cutting performance of surgical electrodes.

关键词： surgical electrodes     tissue adhesion     thermal injury     bionic structures     cutting performance     medical tools    

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-023-0747-1

摘要： Capacitive sensors are efficient tools for biophysical force measurement, which is essential for the exploration of cellular behavior. However, attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive sensors. In this work, a bionic swallow structure design norm was developed for mechanical decoupling, and the influences of structural parameters on mechanical behavior were fully analyzed and optimized. A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic interferences. Electrostatic instability was evaluated, and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and application-specific integrated circuit readouts. An electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm, and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor, which can be easily compensated in readouts. The proposed sensor also exhibited high resistance against electrostatic rotation, and the resulting measurement error dropped below 0.751%. The rotation interferences were less than 0.330 nm and (1.829 × 10−7)°, which were 35 times smaller than those of the traditional differential one. Based on the proposed bionic decoupling method, the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/µm for gap-variant and area-variant devices, respectively, which were the highest among the current devices. High immunity to mechanical disturbances was maintained simultaneously, i.e., less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices, respectively, indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor     bionics     operation instability     mechanical and electrical decoupling     biomedical force measurement    

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Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

《机械工程前沿（英文）》 2024年 第19卷 第1期 doi: 10.1007/s11465-023-0779-6

摘要： Robots are playing an increasingly important role in engineering applications. Soft robots have promising applications in several fields due to their inherent advantages of compliance, low density, and soft interactions. A soft gripper based on bio-inspiration is proposed in this study. We analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness structure. We investigate the grasping modes through a large deformation modeling approach, which is verified through experiments. The characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics manipulation. First, the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft objects. Second, a cushioning model of the soft gripper is proposed, and the effectiveness of cushioning is verified by grasping extremely sharp objects and living organisms. Notably, we validate the advantages of the variable stiffness of the soft gripper, and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 mm. Owing to the unstructured nature of the engineering environment, the soft gripper can be applied in complex environments based on the abovementioned experimental analysis. Finally, we design the soft robotics system with feedback capture based on the inspiration of human catching behavior. The feasibility of engineering applications is initially verified through fast capture experiments on moving objects. The design concept of this robot can provide new insights for bionic machinery.

关键词： soft bionic gripper     variable stiffness structure     large deformation modeling     feedback control     soft robotic system    

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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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Jellyfish-inspired alginate composite hydrogel filter prepared by macro-micro double bionic strategy

《环境科学与工程前沿（英文）》 2024年 第18卷 第4期 doi: 10.1007/s11783-024-1811-8

摘要：

● A novel hydrogel (2%-SKP-Ca2+) was developed by macro-micro dual biomimetic strategy.

关键词： Triple crosslinking method     Alginate     Umbrella-shaped     Jellyfish     Water purification    

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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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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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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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仿生农用杀菌剂银泰的研制与应用

孟昭礼,方向阳,罗兰,尚坚

《中国工程科学》 2007年 第9卷 第3期   页码 28-34

摘要：

银泰（1－对羟基苯基丁酮）是以银杏外种皮提纯物白果酚为先导化合物仿生合成的一种杀菌剂。其中，银杏果实乙醇粗提物8.3倍和25倍液对苹果腐烂病抑菌率达100％和50％；银杏果实外种皮提纯物白果酚200倍和400倍液对苹果腐烂病病菌抑菌率均为100％。20％银泰微乳剂对苹果腐烂病、番茄灰霉病等4种病菌 EC50 为17.26～48.43mg/L，分别优于对照药剂；田间防治小麦纹枯病等4种病害效果达85％以上；对非靶标生物安全，且不易产生抗药性。仿生合成的银泰原药对大白鼠毒性试验，经口、经皮 LD50 均为4640mg/kg，20％银泰乳油对大白鼠毒性试验，经口LD50为3160mg/kg，经皮 LD50 为2150mg/kg；亚慢性经口毒性（90d）试验雌为19.1mg/kg，雄为18.3mg/kg；Ames、细胞微核和染色体畸变试验均为阴性结果。

关键词： 银杏     白果酚     仿生合成     银泰     防治效果    

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股骨近端仿生髓内钉——不稳定型股骨粗隆间骨折的灵丹妙药 Article

张凯旋, 陈伟, 张英泽

《工程（英文）》 2024年 第37卷 第6期   页码 152-158 doi: 10.1016/j.eng.2024.01.010

摘要：

With the aging population, intertrochanteric femur fracture in the elderly has become one of the most serious public health issues and a hot topic of research in trauma orthopedics. Due to the limitations of internal fixation techniques and the insufficient mechanical design of nails, the occurrence of complications delays patient recovery after surgical treatment. Design of a proximal femur bionic nail (PFBN) based on Zhang’s N triangle theory provides triangular supporting fixation, which dramatically decreases the occurrence of complications and has been widely used for clinical treatment of unstable intertrochanteric femur fracture worldwide. In this work, we developed an equivalent biomechanical model to analyze improvement in bone remodeling of unstable intertrochanteric femur fracture through PFBN use. The results show that compared with proximal femoral nail antirotation (PFNA) and InterTan, PFBN can dramatically decrease the maximum strain in the proximal femur. Based on Frost’s mechanostat theory, the local mechanical environment in the proximal femur can be regulated into the medium overload region by using a PFBN, which may render the proximal femur in a state of physiological overload, favoring post-operative recovery of intertrochanteric femur fracture in the elderly. This work shows that PFBN may constitute a panacea for unstable intertrochanteric femur fracture and provides insights into improving methods of internal fixation.

关键词： Intertrochanteric femur fracture     Internal fixation     Proximal femur bionic nail (PFBN)     Biomechanics     Bone remodeling    

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Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

《机械工程前沿（英文）》 2024年 第19卷 第1期 doi: 10.1007/s11465-023-0777-8

摘要： Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability, and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher obstacles. Developing underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots, and increasing their cost performance. Therefore, the underactuated tracked robots have appreciable research potential. In this paper, a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic (RRP) transformable mechanism, which is inspired by the sit-up actions of humans, was developed. The newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for transformations. Instead, it could concentrate the track belt’s tension toward one side, and the unbalanced tension would drive the linkage mechanisms to change its configuration. Through this method, the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains, thus greatly improving the climbing capability of the robot. The geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are discussed. On the basis of such crossing motions, the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing obstacles. Terrain-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot. A prototype was built and tested. Experiments show that the proposed robot could climb platforms with heights up to 33.3% of the robot’s length or cross gaps with widths up to 43.5% of the robot’s length.

关键词： mechanical design     tracked robot     underactuated mechanisms     RRP mechanism     obstacle crossing strategy    

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标题 作者 时间 类型 操作

Fabrication of ionic polymer-metal composites (IPMCs) and robot design

Hanmin PENG, Qingjun Ding, Huafeng LI

期刊论文

Design, analysis, and neural control of a bionic parallel mechanism

期刊论文

Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

期刊论文

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Yuwang LIU, Dongqi WANG, Shangkui YANG, Jinguo LIU, Guangbo HAO

期刊论文

Cutting performance of surgical electrodes by constructing bionic microstriped structures

期刊论文

A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow

期刊论文

Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

期刊论文

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

期刊论文

Jellyfish-inspired alginate composite hydrogel filter prepared by macro-micro double bionic strategy

期刊论文

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

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

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

仿生农用杀菌剂银泰的研制与应用

孟昭礼,方向阳,罗兰,尚坚

期刊论文

股骨近端仿生髓内钉——不稳定型股骨粗隆间骨折的灵丹妙药

张凯旋, 陈伟, 张英泽

期刊论文

Tracked robot with underactuated tension-driven RRP transformable mechanism: ideas and design

期刊论文