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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0678-2

Abstract: Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

Keywords： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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The psychology of organizational and social sustainability

Wei-Tau LEE, Hao ZHANG, Kenneth H. FUNK II

Frontiers of Engineering Management 2019, Volume 6, Issue 3,   Pages 336-350 doi: 10.1007/s42524-019-0029-0

Abstract: This paper presents 12 dimensions of work with the aim of providing further understanding of the relationshipbetween work and the psychological well-being of workers.dimensions are significant in establishing such a relationship, which is essential to creating good workThis set of dimensions also serves as a basis for further development of work design and evaluation tools

Keywords： work design     work dimensions     psychological factors     good work    

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Basic model study on efficiency evaluation in collaborative design work process

XIE Qiu, YANG Yu, LI Xiaoli, ZHAO Ningyu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 3,   Pages 344-349 doi: 10.1007/s11465-007-0060-4

Abstract: During the efficiency evaluation process of collaborative design work, because of the lack of efficiencyevaluation models, a basic analytical model for collaborative design work efficiency evaluation is proposedFirst, the characteristics of the networked collaborative design system work process were studied; thenThis model, which is built for centralized collaborative design work, includes an analytical frame, a

Keywords： function     system work     evaluation process     efficiency evaluation     design work    

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Heat, mass, and work exchange networks

Zhiyou CHEN, Jingtao WANG

Frontiers of Chemical Science and Engineering 2012, Volume 6, Issue 4,   Pages 484-502 doi: 10.1007/s11705-012-1221-5

Abstract: Heat (energy), water (mass), and work (pressure) are the most fundamental utilities for operation unitsnetworks (HENs), mass exchange networks (MENs), water allocation heat exchange networks (WAHENs) and work

Keywords： process system engineering     integration methods     heat exchange network     mass exchange network     work exchange    

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Rheological behavior’s effect on the work performance of oil film

Zhaomiao LIU, Qiuying JIN, Chengyin ZHANG, Feng SHEN

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 254-262 doi: 10.1007/s11465-011-0129-y

Abstract: The shear thickening non-Newtonian fluid has a better work property.and high-speed hydrostatic support system, choose lubricant oils, and investigate oil film’s work

Keywords： non-Newtonian fluid     rotation speed     pressure on wall     viscosity    

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Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3,   Pages 350-355 doi: 10.1007/s11465-006-0031-1

Abstract: Function and principle innovation is the ultimate innovation of a product.To achieve Function and principle innovation design of mechanical products, a new process model of functionand principle solving is proposed, based on TRI

Keywords： TRI     principle solving     product     principle innovation     ultimate innovation    

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Robotized machining of big work pieces: Localization of supporting heads

Wojciech SZYNKIEWICZ, Teresa ZIELIŃSKA, Włodzimierz KASPRZAK

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 4,   Pages 357-369 doi: 10.1007/s11465-010-0103-0

Abstract: A planner for a self adaptable and reconfigurable fixture system is proposed. The system is composed of mobile support agents that support thin sheet metal parts to minimize part dimensional deformation during drilling and milling operations. Compliant sheet metal parts are widely used in various manufacturing processes including automotive and aerospace industries. The main role of the planner is to generate an admissible plan of relocation of the mobile agents. It has to find the admissible locations for the supporting heads that provide continuous support in close proximity to the tool and trajectories of the mobile bases characterized by very high speeds during the relocation phases.

Keywords： fixture     robot     milling     drilling    

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Making central-local relations work: Comparing America and China environmental governance systems

Dan GUTTMAN, SONG Yaqin

Frontiers of Environmental Science & Engineering 2007, Volume 1, Issue 4,   Pages 418-433 doi: 10.1007/s11783-007-0068-3

Abstract: The challenge of making central requirements work at local levels is a common problem for environmental
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Creating technical heritage object replicas in a virtual environment

Olga EGOROVA,Dmitry SHCHERBININ

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 1,   Pages 108-115 doi: 10.1007/s11465-016-0363-4

Abstract:

The paper presents innovative informatics methods for creating virtual technical heritage replicas

Keywords： 3D document     history of science and technology     technical knowledge     popularization     virtual environment    

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Principle of maximum entropy for reliability analysis in the design of machine components

Yimin ZHANG

Frontiers of Mechanical Engineering 2019, Volume 14, Issue 1,   Pages 21-32 doi: 10.1007/s11465-018-0512-z

Abstract: reliability of machine components with parameters that follow an arbitrary statistical distribution using the principle

Keywords： machine components     reliability     arbitrary distribution parameter     principle of maximum entropy    

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Traces and echoes of De Architectura by Marcus Vitruvius Pollio in the work of Xu Guangqi in 17th

Michela CIGOLA,Yibing FANG

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 1,   Pages 3-11 doi: 10.1007/s11465-015-0359-5

Abstract: which are included in Vitruvius’ De Architectura volumes, also appear in the work

Keywords： Vitruvius’ De Architectura     Xu Guangqi’s Taixi Shuifa     Jesuit missionaries     Italian Renaissance     drawing     representation    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle

Keywords： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Analysis on the principle-agent model in construction project supply chain

Wu Yuhua,Zhang Qingmin

Strategic Study of CAE 2008, Volume 10, Issue 5,   Pages 75-78

Abstract:

General form of principle-agent model in integrated supply chain hasbeen discussed from principle-agent Theories.Based on the above model, construction project supply chain one-period principle-agent model and multi-periodconstruction project supply chain reputation model have been built with the characters of principle

Keywords： principle- agent model     incentive compatibility     reputation model     random walk    

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Development of a hydrodynamic model and the corresponding virtual software for dual-loop circulating

Shanwei Hu, Xinhua Liu

Frontiers of Chemical Science and Engineering 2021, Volume 15, Issue 3,   Pages 579-590 doi: 10.1007/s11705-020-1953-6

Abstract: general method for modeling multi-loop CFB systems by utilizing the energy minimization multiscale (EMMS) principlethe design and scale-up of gas-solid CFB reactors and lay a solid foundation for the realization of virtual

Keywords： multi-loop circulating fluidized bed     mathematical modeling     energy minimization multiscale     virtual fluidization    

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A virtual reality system for arm and hand rehabilitation

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

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 23-32 doi: 10.1007/s11465-011-0202-6

Abstract:

This paper presents a virtual reality (VR) system for upper limb rehabilitation.

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

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Title Author Date Type Operation

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

Journal Article

The psychology of organizational and social sustainability

Wei-Tau LEE, Hao ZHANG, Kenneth H. FUNK II

Journal Article

Basic model study on efficiency evaluation in collaborative design work process

XIE Qiu, YANG Yu, LI Xiaoli, ZHAO Ningyu

Journal Article

Heat, mass, and work exchange networks

Zhiyou CHEN, Jingtao WANG

Journal Article

Rheological behavior’s effect on the work performance of oil film

Zhaomiao LIU, Qiuying JIN, Chengyin ZHANG, Feng SHEN

Journal Article

Function and principle innovative design of mechanical products based on TRIZ/FA

YUAN Feng, WANG Tai-yong, NIE Hui-juan

Journal Article

Robotized machining of big work pieces: Localization of supporting heads

Wojciech SZYNKIEWICZ, Teresa ZIELIŃSKA, Włodzimierz KASPRZAK

Journal Article

Making central-local relations work: Comparing America and China environmental governance systems

Dan GUTTMAN, SONG Yaqin

Journal Article

Creating technical heritage object replicas in a virtual environment

Olga EGOROVA,Dmitry SHCHERBININ

Journal Article

Principle of maximum entropy for reliability analysis in the design of machine components

Yimin ZHANG

Journal Article

Traces and echoes of De Architectura by Marcus Vitruvius Pollio in the work of Xu Guangqi in 17th

Michela CIGOLA,Yibing FANG

Journal Article

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Journal Article

Analysis on the principle-agent model in construction project supply chain

Wu Yuhua,Zhang Qingmin

Journal Article

Development of a hydrodynamic model and the corresponding virtual software for dual-loop circulating

Shanwei Hu, Xinhua Liu

Journal Article

A virtual reality system for arm and hand rehabilitation

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

Journal Article