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下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

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Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

《机械工程前沿（英文）》 2007年第2卷第2期页码 243-249 doi: 10.1007/s11465-007-0043-5

摘要： To realize a constraint-based virtual assembly operation, the unified representations of the assembly constraint, the equivalent relation between the constraint and the degree of freedom (DOF), and the movement DOF reduction in a virtual environment are proposed. Several algorithms about the constraint treatment are submitted. First, the automatic recognition algorithm based on the assembly relation is used to determine the position and orientation relation between two geometry elements of constraint whether they meet the given errors. Second, to satisfy the new constraint, according to the positing solving algorithm, the position and orientation of an active part are modified with minimal adjustment after the part has satisfied the affirmed constraints. Finally, the algorithm of movement navigation based on the generalized coordinate system is put forward, and the part movement is guided. These algorithms have been applied to the integrated virtual assembly environment (IVAE) system. Experiments have indicated that these algorithms have well supported constraint treatments in the IVAE and realized the closer combination of the virtual and the real assembly processes.

关键词： movement DOF recognition algorithm assembly orientation combination

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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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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

《机械工程前沿（英文）》 2008年第3卷第4期页码 421-425 doi: 10.1007/s11465-008-0063-9

摘要： Using an appropriate control method, linear ultrasonic motors can be used in applications requiring high position accuracy. In this paper, a closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF stage driven by linear ultrasonic motors. Two ultrasonic motors are mounted on the stage to generate motion in two orthogonal directions. The PI control algorithm is used to increase the stability and accuracy of position control. The -axis mover covers 30 mm forward and backward in less than 0.3 s settling time and the -axis mover in less than 0.4 s. Experimental results denote that the control strategy proposed in this paper appears to have high efficiency, quick response, and high accuracy.

关键词： settling position accuracy PI control control algorithm orthogonal

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Reverse driving character of 2-DOF closed chain haptic device

GUO Wei-dong, GUO Xin, ZHANG Yu-ru

《机械工程前沿（英文）》 2006年第1卷第3期页码 356-359 doi: 10.1007/s11465-006-0029-8

摘要： Reverse driving character plays an important role in evaluating the performance of a haptic device, and it is the primary rule in the mechanical design. This article mainly investigates the problem of 2-DOF haptic device design f

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A method to calculate working capacity space of multi-DOF manipulator and the application in excavating

Baochen WEI, Feng GAO

《机械工程前沿（英文）》 2012年第7卷第2期页码 109-119 doi: 10.1007/s11465-012-0323-6

摘要：

Working capacity refers to the velocity output and force output of a manipulator. It is usually be represented by output capacity space. In this paper, the method of Linear Programming and a geometric method are proposed to calculate working capacity spaces in different situations. With the consideration of gravity effect of every component, the output force capacity space of heavy duty manipulators is calculated. The results show that the effect of the gravity is a translation of the capacity space. This paper gives a method for the output capacity express especially for heavy duty manipulators. The output capacity space can be helpful to the driving parameters selection. With the consideration of the gravity effect of every component and the friction at the joints, the excavating force capacity space of the heavy-load excavating mechanism is calculated and is represented as a multi-dimensional polytope. The results show that the effect of the gravity and friction is to translational act on the capacity space.

关键词： working capacity multi-DOF manipulator capacity polytope excavating mechanism

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One DOF mechanism for the mechanical harvest of vines in an arbor structure and the validation of the

Osvaldo PENISI,José BOCCA,Horacio AGUILAR,Pedro BOCCA

《机械工程前沿（英文）》 2015年第10卷第3期页码 221-232 doi: 10.1007/s11465-015-0347-9

摘要：

In the mechanized harvest of vines, grape berries are detached through the vibration to the structure supporting the clusters. According to the kind of guide selected, the clusters require one or two vibration directions in the structure. For guiding in parral structures, vibration is necessary in two directions or planes: One perpendicular to the other. The guide branches producing the clusters develop in these planes, and the guiding is called H-guiding. Mechanism theory indicates that a mechanism has as many degrees of freedom as its actuators, and an actuator is needed to achieve a certain vibration. Having the smallest number of possible actuators is beneficial in reducing moving parts and achieving more compact and easily controllable mecha-nisms. In this case, a single degree-of-freedom mechanism is proposed. It is capable of generating vibrations on two planes: One perpendicular to the other. This mechanism is the sum of two link mechanisms on perpendicular planes with a common outlet located at the output rod of the mechanism where the actuator is found. As the distance between the soil and the elements containing the clusters is not constant, a system has been designed to measure the accelerations at the bars and the rocker to validate the acceleration values that detach the grape berries in a prototype in a lab experiment, to ensure that the acceleration needed for pulling the grape berries are produced at any contact point of the bar.

关键词： harvest mechanisms one DOF vibration

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

《机械工程前沿（英文）》 2021年第16卷第1期页码 46-60 doi: 10.1007/s11465-020-0606-2

摘要： A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combining the 5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scale spherical honeycomb thermal protection layer. This study mainly presents the dimensional synthesis of the proposed HPM. First, the inverse kinematics, including the analytic expression of the rotation angles of the U joint in the PUS limb, is obtained, and mobility analysis is conducted based on screw theory. The Jacobian matrix of 5PUS-PRPU is also determined with screw theory and used for the establishment of the objective function. Second, a global and comprehensive objective function (GCOF) is proposed to represent the Jacobian matrix’s condition number. With the genetic algorithm, dimensional synthesis is conducted by minimizing GCOF subject to the given variable constraints. The values of the designed variables corresponding to different configurations of the reconfigurable base are then obtained. Lastly, the optimal structure parameters of the proposed 5-DOF HPM are determined. Results show that the HPM with the optimized parameters has an enlarged orientation workspace, and the maximum angle of the reconfigurable base is decreased, which is conducive to improving the overall stiffness of HPM.

关键词： 5-DOF hybrid manipulator reconfigurable base large workspace dimensional synthesis optimal design

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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

摘要：

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.

关键词： biped robots leg mechanisms simulation

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Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

Guilin YANG, Shabbir Kurbanhusen MUSTAFA, Song Huat YEO, Wei LIN, Wen Bin LIM

《机械工程前沿（英文）》 2011年第6卷第1期页码 45-60 doi: 10.1007/s11465-011-0205-3

摘要：

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.

关键词： anthropomimetic design robotic arm cable-driven mechanism kinematic analysis design optimization

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Ahybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant

Zi-wu REN,Zhen-hua WANG,Li-ning SUN

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 607-616 doi: 10.1631/FITEE.14a0335

摘要： The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization (BBO) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization (HBBO) algorithm, which is based on BBO and differential evolution (DE), is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and DE/best/1/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an example. The end-effector error (position and orientation) and the ‘away limitation level’ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

关键词： Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)

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土壤水盐定向迁移及排盐新模式研究

周和平,彭立新,徐小波

《中国工程科学》 2007年第9卷第11期页码 120-126

摘要：

综述了我国盐碱地改良技术现状；研究了干旱地区节水灌溉条件下农田不同地面条件土壤水盐定向迁移特征，提出了“盐分上移地表排”的排盐模式，对我国干旱农业灌区盐碱地改良治理新方法的研究探索具有现实意义。

关键词：土壤水盐定向迁移排盐新模式旱区

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Preload characteristics identification of the piezoelectric-actuated 1-DOF compliant nanopositioning

Ruizhou WANG, Xianmin ZHANG

《机械工程前沿（英文）》 2015年第10卷第1期页码 20-36 doi: 10.1007/s11465-015-0328-z

摘要：

Packaged piezoelectric ceramic actuators (PPCAs) and compliant mechanisms are attractive for nanopositioning and nanomanipulation due to their ultra-high precision. The way to create and keep a proper and steady connection between both ends of the PPCA and the compliant mechanism is an essential step to achieve such a high accuracy. The connection status affects the initial position of the terminal moving plate, the positioning accuracy and the dynamic performance of the nanopositioning platform, especially during a long-time or high-frequency positioning procedure. This paper presents a novel external preload mechanism and tests it in a 1-degree of freedom (1-DOF) compliant nanopositioning platform. The 1-DOF platform utilizes a parallelogram guiding mechanism and a parallelogram load mechanism to provide a more accurate actual input displacement and output displacement. The simulation results verify the proposed stiffness model and dynamic model of the platform. The values of the preload displacement, actual input displacement and output displacement can be measured by three capacitive sensors during the whole positioning procedure. The test results show the preload characteristics vary with different types or control modes of the PPCA. Some fitting formulas are derived to describe the preload displacement, actual input displacement and output displacement using the nominal elongation signal of the PPCA. With the identification of the preload characteristics, the actual and comprehensive output characteristics of the PPCA can be obtained by the strain gauge sensor (SGS) embedded in the PPCA.

关键词： nanopositioning preload characteristic packaged piezoelectric ceramic actuator compliant mechanism

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Manufacturing error analysis of compliant 3-DOF microrobot

CHAO Dai-hong, LIU Rong, WU Yue-min, SHI Long, ZONG Guang-hua

《机械工程前沿（英文）》 2006年第1卷第3期页码 299-304 doi: 10.1007/s11465-006-0030-2

摘要： In the fields of micro/nanopositioning application, error analysis is an effective way to enhance the precision of micromanipulators. Manufacturing imperfections, which are inevitable, are the most important factors influencing the accuracy. Therefore, various manufacturing imperfections were studied by taking a planar 3 degrees of freedom (3-DOF) flexure hinge based microrobot as a case. By formulating static stiffness of the robot, mapping between manufacturing imperfections and end-effector positioning accuracy was obtained. Using the theoretical calculation and finite element method (FEM), effects of various machining imperfection types on end-effector positioning accuracy were evaluated. The results showed that errors of the radium of the hinges and angular differences of the centerline of the hinges were dominant factors resulting in output errors. Conclusions drawn from the experiments can be used to instruct the design of compliant parallel mechanisms by distributing various manufacturing differences of configurable parameters to guarantee precision in the positioning of the end-effector within the required range; they may also be helpful while calibrating this kind of manipulator.

关键词： centerline stiffness effective manipulator precision

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Experimental study on average movement characteristics of bed-load particles

Limo TANG, Xingkui WANG,

《结构与土木工程前沿（英文）》 2009年第3卷第4期页码 435-439 doi: 10.1007/s11709-009-0050-1

摘要： The three-dimensional movements of bed-load particles in an open channel with different grain diameters and different specific gravities under the conditions of different hydraulic gradient are measured by means of particle tracking velocimetry (PTV) technique. The average movement characteristics of the particles are analyzed by statistics. The results show that the longitudinal average velocities of the particles neither agree with the law suggested by Einstein nor obey the law assumed by Bagnold. Einstein’s law is that the particle velocity is equal to 11.6 times of shear velocity, and the Bagnold’s law assumes the velocity equal to the difference between flow velocity at corresponding water depth and settling velocity of particle. Two formulas for determining the velocity of particle in the forms of expression given by Einstein and Bagnold are obtained according to the statistical results of experimental data, respectively.

关键词： different longitudinal three-dimensional particle Bagnold

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Multi-scale investigation of active failure for various modes of wall movement

《结构与土木工程前沿（英文）》 2021年第15卷第4期页码 961-979 doi: 10.1007/s11709-021-0738-4

摘要： Retained backfill response to wall movement depends on factors that range from boundary conditions to the geometrical characteristic of individual particles. Hence, mechanical understanding of the problem warrants multi-scale analyses that investigate reciprocal relationships between macro and micro effects. Accordingly, this study attempts a multi-scale examination of failure evolution in cohesionless backfills. Therefore, the transition of retained backfills from at-rest condition to the active state is modeled using the discrete element method (DEM). DEM allows conducting virtual experiments, with which the variation of particle and boundary properties is straightforward. Hence, various modes of wall movement (translation and rotation) toward the active state are modeled using two different backfills with distinct particle shapes (spherical and nonspherical) under varying surcharge. For each model, cumulative rotations of single particles are tracked, and the results are used to analyze the evolution of shear bands and their geometric characteristics. Moreover, dependencies of lateral pressure coefficients and coordination numbers, as respective macro and micro behavior indicators, on particle shape, boundary conditions, and surcharge levels are investigated. Additionally, contact force networks are visually determined, and their influences on pressure distribution and deformation mechanisms are discussed with reference to the associated modes of wall movement and particle shapes.

关键词： discrete-element modelling granular materials retaining walls particle shape arching