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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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Finding buckling points for nonlinear structures by dynamic relaxation scheme

Mohammad REZAIEE-PAJAND, Hossein ESTIRI

Frontiers of Structural and Civil Engineering 2020, Volume 14, Issue 1, Pages 23-61 doi: 10.1007/s11709-019-0549-z

Abstract: In this paper, a new way for calculating the load factor is proposed by setting the external work zeroMixing the dynamic relaxation scheme with external work technique has not been formulated so far.Therefore, the sign determinations are required in the common work control methods.

Keywords： load factor external work dynamic relaxation static equilibrium path large displacement

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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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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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nitride enabled benzimidazoles production from furyl/aryl bio-alcohols and -nitroanilines without an external

Frontiers of Chemical Science and Engineering 2023, Volume 17, Issue 1, Pages 68-81 doi: 10.1007/s11705-022-2174-y

Abstract: carbon catalysts (Co/CN_x-T, T denotes the pyrolysis temperature) without using an external

Keywords： biomass conversion furanic compounds benzimidazoles hydrogen transfer bifunctional catalysis

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Unified solution of limit loads of thick wall cylinder subject to external pressure considering strain

CHEN Changfu, XIAO Shujun, YANG Yu

Frontiers of Structural and Civil Engineering 2007, Volume 1, Issue 3, Pages 329-333 doi: 10.1007/s11709-007-0043-x

Abstract: and the elastic and plastic limit loads of a thick-walled cylinder made of these materials subject to externalIn addition, the influence of some factors on the limit loads of such cylinders as the ratio of the external

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monitoring of the strengthening construction of a segmental box girder bridge and field testing of external

Ali Fadhil NASER, Zonglin WANG

Frontiers of Structural and Civil Engineering 2012, Volume 6, Issue 3, Pages 308-320 doi: 10.1007/s11709-012-0140-3

Abstract: either precast or cast in situ and then joined together by longitudinally post-tensioning internal, externalThe objectives of this study are to monitor the construction process of the external prestressing tendonsperform a field load test to measure the strain and the deflection of the anchorage devices of the externalThe monitoring process of the external prestressing tendons construction includes inspecting the cracksTherefore, there is no damage during the construction and the tensioning of the external prestressing

Keywords： prestressed concrete box girder monitoring external tendons strain deflection

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Shear behavior of ultra-high-performance concrete beams prestressed with external carbon fiber-reinforced

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 6, Pages 1426-1440 doi: 10.1007/s11709-021-0783-z

Abstract: investigation on the shear behavior of UHPC beams reinforced with glass FRP (GFRP) and prestressed with external

Keywords： beam external prestressing ultra-high-performance concrete fiber-reinforced polymers shear behavior

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Ductile extension of 3-D external circumferential cracks in pipe structures

Wuchao YANG, Xudong QIAN

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 3, Pages 294-303 doi: 10.1007/s11709-011-0115-9

Abstract: This study investigates the ductile fracture resistance of 3-D external circumferential cracks in the

Keywords： ductile fracture computational cell method G-T model J-R curve

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Mesh relationship modeling and dynamic characteristic analysis of external spur gears with gear wear

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, Pages 9-9 doi: 10.1007/s11465-021-0665-z

Abstract: paper aims to establish the model of mesh relationship and reveal the vibration characteristics of external

Keywords： gear wear mesh relationship mesh stiffness transmission error vibration characteristics

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Study on Finite Element Method for Calculation of Stress on External Ring of One-way Clutch

Luo Yixin,Wu Bo

Strategic Study of CAE 2004, Volume 6, Issue 9, Pages 56-59

Abstract:

At present there is no appropriate method for calculation of stress on external ring of a one-wayIn this paper, according to characteristics of the external ring, the method of finite element analyaisused, the factors which have influence on computational accuracy have been studied, and the stress on externalfinite element analyais is really an attractive method for the calculation of stress on parts similar to external

Keywords： clutch external ring stress finite element