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A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 219-230 doi: 10.1007/s11465-012-0320-9

Abstract:

This article focuses on the dynamic index and performance of a radial symmetric six-legged robot.A characterization of the proposed six-legged robot is obtained by a parametric analysis of robot performance

Keywords： six-legged robots     dynamic modeling     performance index    

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A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 3,   Pages 351-364 doi: 10.1007/s11465-020-0594-2

Abstract: However, few mobile robots can accommodate the complex environment of industrial plants while performingThis study proposes a novel six-legged walking machine tool consisting of a legged mobile robot and aA hierarchical motion planning scheme is proposed to take advantage of the large workspace of the legged

Keywords： legged robot     parallel mechanism     mobile machine tool     in-situ machining    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal

Keywords： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular    

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Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 3,   Pages 264-275 doi: 10.1007/s11465-009-0060-7

Abstract: paper presents a system based on the integrated design and experiment for a one degree-of-freedom (DOF) leggedA six-bar linkage mechanism, which is derived from a four-bar linkage with a symmetrical coupler point

Keywords： integrated design     design for control     legged mechatronic system     computer aided rapid system integration    

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Landing control method of a lightweight four-legged landing and walking robot

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0707-1

Abstract: A lightweight four-legged landing and walking robot called “FLLWR” is designed in this study.

Keywords： landing and walking robot     lunar exploration     buffer landing     compliance control    

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The computational fluid dynamic modeling of downwash flow field for a six-rotor UAV

Yongjun ZHENG, Shenghui YANG, Xingxing LIU, Jie WANG, Tomas NORTON, Jian CHEN, Yu TAN

Frontiers of Agricultural Science and Engineering 2018, Volume 5, Issue 2,   Pages 159-167 doi: 10.15302/J-FASE-2018216

Abstract: the static wind field of multi-rotor UAVs in hovering state, a 3D full-size physical model of JF01-10 six-rotorThe entire flow field surrounding the UAV and the rotation flow fields around the six rotors were establishedThese results can be applied to six-rotor plant protection UAVs employed in pesticide spraying and spray

Keywords： CFD simulation     downwash flow field     numerical analysis     plant protection     six-rotor UAV    

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Economic Growth Model Based on Six Basic Factors of Production—Xu Growth Rate Equation

Shou-bo Xu,Zong-yuan Huang

Frontiers of Engineering Management 2014, Volume 1, Issue 2,   Pages 160-175 doi: 10.15302/J-FEM-2014024

Abstract: This paper proposes an economic growth model based on the Six Basic Factors of Production and Xu GrowthThe empirical analysis indicates that over the past three decades, the consumption of six basic factors

Keywords： six basic factors of production     economic growth model     Xu Growth Rate Equation    

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Sorption and desorption of pymetrozine on six Chinese soils

Mingxing GAO,Yingying LI,Hong YANG,Yucheng GU

Frontiers of Environmental Science & Engineering 2016, Volume 10, Issue 1,   Pages 1-10 doi: 10.1007/s11783-014-0715-4

Abstract: In this study, the sorption and desorption of pymetrozine on six Chinese soils were investigated usingA regression equation was proposed to predict the sorption of pymetrozine on six different soil samples

Keywords： desorption     pymetrozine     sorption     soil    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Study on the six dimension management method of producing technical documentation for warship maintenance

Chen Zhimin and Yang Bin

Strategic Study of CAE 2015, Volume 17, Issue 5,   Pages 83-89

Abstract:

The six dimension management method considering the characteristics of ship depot maintenance technicalTo solve these issues， a six dimension management method of request， kind example， maintain analysis，

Keywords： ship；maintenance technical documentation；six dimension management method；maintain analysis    

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Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 163-175 doi: 10.1007/s11465-020-0605-3

Abstract: Crawling robots have elicited much attention in recent years due to their stable and efficient locomotionIn this work, several crawling robots are developed using two types of soft pneumatic actuators (SPAsThe SPAs are fabricated by casting and developed into crawling robots with 3D-printing connectors.

Keywords： soft robot     soft pneumatic actuator     kinematic model     crawling robot     modular design    

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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1,   Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by theHowever, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complextests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots

Keywords： assistive robotics     non-anthropomorphic wearable robots     topology     kinematic synthesis     HR-isomorphism test    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robotsExisting inspection robots are usually involved in issues: Robots with manipulators need complicatedinstallation due to their fixed base; tube mobile robots suffer from low running efficiency because ofMost in-service robots check the task tubes using row-by-row and column-by-column planning.

Keywords： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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Title Author Date Type Operation

A total torque index for dynamic performance evaluation of a radial symmetric six-legged robot

Kejia LI, Xilun DING, Marco CECCARELL

Journal Article

A novel six-legged walking machine tool for

Jimu LIU, Yuan TIAN, Feng GAO

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

Integrated design of legged mechatronic system

Chin-Yin CHEN, I-Ming CHEN, Chi-Cheng CHENG

Journal Article

Landing control method of a lightweight four-legged landing and walking robot

Journal Article

The computational fluid dynamic modeling of downwash flow field for a six-rotor UAV

Yongjun ZHENG, Shenghui YANG, Xingxing LIU, Jie WANG, Tomas NORTON, Jian CHEN, Yu TAN

Journal Article

Economic Growth Model Based on Six Basic Factors of Production—Xu Growth Rate Equation

Shou-bo Xu,Zong-yuan Huang

Journal Article

Sorption and desorption of pymetrozine on six Chinese soils

Mingxing GAO,Yingying LI,Hong YANG,Yucheng GU

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Study on the six dimension management method of producing technical documentation for warship maintenance

Chen Zhimin and Yang Bin

Journal Article

Modular crawling robots using soft pneumatic actuators

Nianfeng WANG, Bicheng CHEN, Xiandong GE, Xianmin ZHANG, Wenbin WANG

Journal Article

A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Journal Article

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Journal Article