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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
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0740-0
关键词: design synthesis parallel mechanism hybrid leg mechanism screw theory quadruped robot
《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
关键词: 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset
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
关键词: modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design
Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot
Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA
《机械工程前沿(英文)》 2012年 第7卷 第4期 页码 357-370 doi: 10.1007/s11465-012-0340-5
In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.
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
关键词: dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception
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
关键词: pneumatic soft arm soft airbag deployable origami exoskeleton bistable characteristics cargo-loading capacity
Performance investigation of artificial intelligence based controller for three phase four leg shunt
J. JAYACHANDRAN,R. MURALI SACHITHANANDAM
《能源前沿(英文)》 2015年 第9卷 第4期 页码 446-460 doi: 10.1007/s11708-015-0378-2
关键词: neural network DSTATCOM neutral current mitigation total harmonic distortion (THD) three phase four wire distribution system unbalanced and/or distorted source
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
关键词: free-floating space robot dual arm coordinated operation base attitude restoration bidirectional approach
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
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
郑桦,丛爽
《中国工程科学》 2008年 第10卷 第10期 页码 91-95
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。
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
关键词: Nagle算法 死锁 延迟确认策略 ARM7 嵌入式Internet
Creation and integration mechanism of instrumentation flexible developing system
Xiaoli XU, Qiushuang LIU
《机械工程前沿(英文)》 2011年 第6卷 第2期 页码 235-240 doi: 10.1007/s11465-011-0122-5
To solve many key technical problems during the development of modern instrumentation system integration and provide a new mode and fundamental technical equipment for the research and development (R&D) of modern instrumentation products, based on the concept of an instrumentation flexible developing system (IFDS), this paper discusses the creation and open flexible integration mechanism, perfects the integrated supporting environment and integrated system of the flexible interconnection, and constructs the new flexible integrated system. Based on the operation mechanism of the modern instrumentation developing system and the research and optimization of the rapid integration design method, the paper emphasizes the dynamic integrating method of multiple types of knowledge in a modern instrument R&D system, to effectively utilize the rich integrated resource and achieve rapid integration of the system. Applications show that the new IFDS can improve the integration level and efficiency of R&D of the modern instrumentation system, enforce the reliability of the system, shorten the R&D period, and reduce the development costs.
关键词: modern instrumentation developing flexible interconnection flexible integration mechanism rapid integration system dynamic integrating method
He Liu
《工程管理前沿(英文)》 2015年 第2卷 第4期 页码 339-343 doi: 10.15302/J-FEM-2015055
关键词: integration and innovation engineering philosophy petroleum production engineering Daqing Oilfield
标题 作者 时间 类型 操作
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
期刊论文
Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth
期刊论文
Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization
期刊论文
Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot
Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA
期刊论文
Performance investigation of artificial intelligence based controller for three phase four leg shunt
J. JAYACHANDRAN,R. MURALI SACHITHANANDAM
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
Creation and integration mechanism of instrumentation flexible developing system
Xiaoli XU, Qiushuang LIU
期刊论文