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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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Modular design of typical rigid links in parallel kinematic machines: Classification and topology optimization

Xinjun LIU, Xiang CHEN, Zhidong LI

《机械工程前沿（英文）》 2012年第7卷第2期页码 199-209 doi: 10.1007/s11465-012-0315-6

摘要：

Due to the demand of reconfigurable system in parallel kinematic machines (PKMs), modular design technology is significant and necessary. However, in earlier research, the core joint modules have been concerned about rather than the customized link modules. The modular design to the typical customized links from the point of seeking optimal structures with best mechanical performances is analyzed and processed in two steps: classification and optimization. Firstly, a brief introduction to the current research status and the aims of this paper are outlined. And then, how the typical customized links classified is proposed. Next, the technology method and the iterative formula derivation process of topology optimization are described in detail. Finally, calculation models for each group of classified ones are set up and their optimal structures are achieved through topology optimization technique. The results provide useful references for reconfigurable and modular design in engineering cases.

关键词： parallel kinematic machines (PKMs) modular design classification topology optimization and improved Guide-Weight method

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Modular architecture model of CSCD system

Hongxue XU, Hong ZHENG, Xiuying GUO

《机械工程前沿（英文）》 2010年第5卷第4期页码 470-475 doi: 10.1007/s11465-010-0119-5

摘要： A modular architecture model of a computer-supported collaborative design (CSCD) system is proposed on the basis of the hierarchical structure characteristics of a distributed collaborative design system and advanced component object technology. The model mainly regards the module as the core organizing and managing design objects and uses the common object request broker architecture (CORBA) specifications as an interactive platform to achieve object communication. The browser/server computing model deals with the remote heterogeneous collaborative design problem. Product design strategies and mechanisms for collaborative design are separated to facilitate the application of distributed collaborative design environment for quick implementation. The open design framework for CSCD system developers can support the implementation of distributed collaborative design to improve product design speed and reduce product development time. The modular CSCD system (MCSCDS) model and its implementation are achieved in the modular CSCD, a prototype system.

关键词： computer-supported cooperative work (CSCW) computer-supported collaborative design (CSCD) distributed system component object technology modular architecture model

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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

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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

《机械工程前沿（英文）》 2013年第8卷第1期页码 33-41 doi: 10.1007/s11465-013-0356-5

摘要：

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

关键词： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation

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面向主动回收的产品模块化设计方法

张宠元,魏巍,詹洋,李汝鹏

《中国工程科学》 2018年第20卷第2期页码 42-49 doi: 10.15302/J-SSCAE-2018.02.007

摘要：

随着人们环保意识的增强，对产品可回收性能的要求也逐渐提高。本文在传统模块化设计方法的基础上，在产品设计初期融入了可主动回收产品的模块化设计思想，提出了基于主动回收产品的模块化准则，并且把主动回收度、内部聚合度以及外部耦合度作为优化目标进行模块划分。在算法部分，提出一种改进的免疫克隆多目标优化算法，该算法以变异操作为主，并通过去除较拥挤的抗体进行优化。最后，把该方法应用于内燃机模块划分中，与未优化的免疫算法进行对比，证明了改进免疫算法的优越性。

关键词：主动回收多目标优化模块化划分改进的免疫算法绿色设计

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Manufacturing and mechanical properties of composite orthotropic Kagome honeycomb using novel modular

Bin NIU, Shijie LI, Rui YANG

《机械工程前沿（英文）》 2020年第15卷第3期页码 484-495 doi: 10.1007/s11465-020-0593-3

摘要： This work deals with manufacturing and analysis of orthotropic composite Kagome honeycomb panels. A novel modular mold is proposed to manufacture carbon fiber reinforced composite Kagome honeycombs. The designed mold can be assembled freely to manufacture Kagome honeycombs with different configuration combinations and can realize easy demolding. Furthermore, two typical fiber placement methods are considered during the fabrication process, from which the more effective fiber placement method is determined. Finally, representative volume element method is used to perform homogenization analysis of the Kagome honeycomb panels and to obtain equivalent in-plane and bending stiffness. Finite element analysis using these equivalent properties is conducted and validated against the experimental results of the manufactured composite Kagome honeycomb panels under different loading cases.

关键词： composite Kagome honeycomb manufacturing placement of fibers equivalent stiffness

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Risks of modular integrated construction: A review and future research directions

Ibrahim Yahaya WUNI, Geoffrey Qiping SHEN, Bon-Gang HWANG

《工程管理前沿（英文）》 2020年第7卷第1期页码 63-80 doi: 10.1007/s42524-019-0059-7

摘要： Stakeholders remain skeptical in adopting modular integrated construction (MiC) because of the associated risks and uncertainties, although its benefits have been extensively documented. The unique business model of MiC nurtures several risks and uncertainties different from those of the conventional construction approach. Despite the growing attention on MiC with its market expansion, no systematic evaluation is in place to monitor its risks research progress. Accordingly, this research reviewed published literature addressing the risks associated with MiC from 1992 to 2019. Analysis reveals that the research publications on risks of MiC witnessed a steady growth, with considerable progress occurring in the last decade. Result implies that the risk of MiC has gained extra attention in the construction engineering and management domain in recent times. Existing empirical studies have focused heavily on perceived implementation risks, supply chain risks, schedule risks, investment risks, structural risks, ergonomic risks, and MiC risk management strategies, which indicate that MiC is associated with a host of risk events. The research further identified the critical risk events (CREs) in the application of MiC based on frequency of occurrence. The identified CREs contributes to the checklists of risk events in the implementation of offsite construction (OSC). The latter may be useful in risk planning, especially where the MiC is less developed, and fewer or no bespoke risk assessment exists. Research gaps in existing studies are highlighted in this research, and areas for further studies are then proposed. Thus, it makes a useful contribution to the scholarly literature on the risk of OSC and may prove useful to offsite construction researchers, industry practitioners, and project managers.

关键词： modular integrated construction off-site construction risk events review

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Development and advances in modular multilevel converter based HVDC projects in China

《工程管理前沿（英文）》页码 183-189 doi: 10.1007/s42524-022-0248-7

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关键词： high voltage direct current power converter power systems renewable energy ultra-high voltage

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Fault tolerant control strategy for modular PWM current source inverter

《能源前沿（英文）》 2023年第17卷第2期页码 228-238 doi: 10.1007/s11708-022-0852-6

摘要： In this paper, a fault-tolerant control method for an input-series output-parallel modular grid-tied pulse-width modulation (PWM) current source inverter is proposed to address the most commonly seen single symmetrical gate-commutated thyristor (SGCT) open-circuit fault problems. This method actively offsets the neutral point of the current space vector to ensure a sinusoidal output of the grid current, and it can achieve the upper limit power of the inverter under the condition of a single SGCT open-circuit fault. In addition, an active damping control method based on grid harmonic current feedback is proposed after analyzing the influence of the transformer ferromagnetic resonance caused by the neutral point offset on the power quality of the grid current. It has been demonstrated that the proposed method effectively suppresses the resonance caused by the transformer and the modified modulation, improving the grid current’s power quality.

关键词： current source converter (CSC) fault-tolerant control space vector modulation active damping resonance suppression power quality

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一种新型自主下肢外骨骼助行机器人的研制 Special Feature on Intelligent Robats

Yong HE, Nan LI, Chao WANG, Lin-qing XIA, Xu YONG, Xin-yu WU

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 318-329 doi: 10.1631/FITEE.1800561

摘要：目前，外骨骼被广泛应用于下肢运动障碍患者的步行辅助。现有外骨骼机器人大部分采用欠驱动模式，导致一系列使用问题，如行走过程中步行干扰和不自然步态。提出一种新型智能自主下肢外骨骼(Auto-LEE)，旨在改善穿戴式助行器用户体验，扩大应用范围。与传统外骨骼不同，Auto-LEE有10个自由度，所有关节都由直流电机独立驱动，使机器人能在无外部支撑下保持平衡行走。此外，在设计中采用模块化结构理念，在控制系统中考虑多模态人机交互。为验证机器人自主平衡双足行走能力，对比3种常用步态规划算法，初步实现行走实验。

关键词：下肢；外骨骼；自平衡；双足行走；模块化设计

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Modular structure of a self-reconfigurable robot

FEI Yanqiong, DONG Qinglei, ZHAO Xifang

《机械工程前沿（英文）》 2007年第2卷第1期页码 116-119 doi: 10.1007/s11465-007-0020-z

摘要： This paper proposes a novel, hermaphroditic, and lattice self-reconfigurable modular robot. Each module is composed of a center body a cubic part and six sides that can rotate independently. There are two holes and two extensible pegs on each side. The rotary motion of each side and the extensible motion of the pegs are generated by a motor connected to a reducer, using a cone-shaped gear, belt, clutch, etc. The structure of the module is compact, and has space to extend further.

关键词： compact self-reconfigurable modular hermaphroditic cone-shaped clutch

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长庆油气田开发建设中的工程管理创新

冉新权

《中国工程科学》 2008年第10卷第12期页码 58-62

摘要：

标准化设计、模块化建设、数字化管理、市场化服务（简称“四化”）是长庆油田公司在苏里格气田开发过程中形成的工程建设模式。该法适应了长庆特低渗透气田的开发建设，促进了苏里格气田的规模经济有效开发。目前，该创新方法已在油田开发建设过程中得到推广和应用。在发展大油田、建设大气田，建设我国重要的能源生产基地的过程中，大力推动“四化”的应用和工程建设创新，可以加快建设进度，提高建设质量，推动长庆油气田快速上产。

关键词：特低渗透气田标准化设计模块化建设数字化管理市场化管理

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模块化海上平台连接器的动力响应研究

何晓晖,王景全,孙宏才,李峰

《中国工程科学》 2010年第12卷第11期页码 98-104

摘要：

采用刚性模块刚性连接器（RMRC）模型对模块化海上平台连接器的动力特性进行了研究。在该模型中，将由模块拼装而成的海上平台看成一个整体结构，而连接器的载荷简化为结构相应剖面的载荷。基于三维势流理论，通过引入“高频低速”的假设，推导了低航速浮体在波浪中运动及载荷响应分析的理论和方法。计算了2种海况、4种结构尺寸、7种浪向角下结构连接器的载荷响应，得到了连接器动力响应与海况、结构尺寸及浪向角之间的关系和规律，为模块化海上平台连接器的设计及使用提供了有益的借鉴。

关键词：模块化海上平台连接器动力响应

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微型模块化反应堆陆战场能源保障应用历程及启示

陈荣江

《中国工程科学》 2020年第22卷第1期页码 146-152 doi: 10.15302/J-SSCAE-2020.01.019

摘要：

微型模块化反应堆（vSMR）因其陆战场能源保障的重大潜力而成为军事强国的关注热点，具有机动灵活、供能迅速、成本优势明显、安全性高等特征。美军在伊拉克、阿富汗等战场出现了燃油消耗大、补给难、成本高、风险突出等问题，因此开始重新审视vSMR 的军事能源保障用途。本文从美国陆军发展vSMR 的历史过程入手，对当前具有代表性的vSMR方案进行了介绍；系统分析了基于vSMR 技术的移动反应堆电源（MNPP）在地面军事行动中的应用场景、使用方式、主要优势及挑战。研究提出，我国应积极开展vSMR 军事应用的发展论证工作，立足国情军情，探索其在固定营区、机动战场、海外行动等不同领域的应用模式；以军事需求为牵引，加强军地协同攻关，加速推进vSMR 技术的应用步伐。

关键词：反应堆微型模块化陆战场能源保障应用历程美国陆军