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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelPlanning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms

Keywords： feasibility study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism    

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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0740-0

Abstract: At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanismFirst, a general approach is proposed for constructing the novel leg mechanism.With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanismsIn verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanismFurthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built.

Keywords： design synthesis     parallel mechanism     hybrid leg mechanism     screw theory     quadruped robot    

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Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4,   Pages 357-370 doi: 10.1007/s11465-012-0340-5

Abstract:

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a singleThe 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 hasKinematic 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

Keywords： biped robots     leg mechanisms     simulation    

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Model testing of tripod caisson foundations in silty clay subjected to eccentric lateral loads

Frontiers of Structural and Civil Engineering 2023, Volume 17, Issue 3,   Pages 467-476 doi: 10.1007/s11709-023-0933-6

Abstract: In this study, model tests were conducted to investigate the bearing capacities of tripod caisson foundationsLateral load–rotation curves of five eccentric-shaped tripod suction foundations were plotted to analyzeangle significantly influenced the bearing capacity of the foundations, particularly for eccentric tripodCompared with eccentric tripod caisson foundations, the traditional tripod foundation has a relativelyBy analyzing the displacement of the caissons, a formula for the rotational center of the tripod caisson

Keywords： tripod caisson foundation     silty clay     eccentric lateral capacity     model tests    

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Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1,   Pages 8-8 doi: 10.1007/s11465-021-0664-0

Abstract: Hence, this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterousthe fixed coordinated clamping case, the degrees of freedom (DOFs) analysis of equivalent parallel mechanismThen, mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as

Keywords： leg–arm integration     hexapod robot     fixed coordinated manipulation     mobile manipulation    

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Performance investigation of artificial intelligence based controller for three phase four leg shunt

J. JAYACHANDRAN,R. MURALI SACHITHANANDAM

Frontiers in Energy 2015, Volume 9, Issue 4,   Pages 446-460 doi: 10.1007/s11708-015-0378-2

Abstract: this paper, the choice of power quality compensator is a DSTATCOM which constitutes a three phase four leg

Keywords： neural network     DSTATCOM     neutral current mitigation     total harmonic distortion (THD)     three phase four wire distribution system     unbalanced and/or distorted source    

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Theory and method of mechanism system design

Huijun ZOU, Qinghua LIANG, Qing ZHANG

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 4,   Pages 399-411 doi: 10.1007/s11465-010-0116-8

Abstract: Conceptual design is the most critical and creative phase of design. Recently, increasing attention has been directed to supporting conceptual-level computer aided creative design and its theories and methodologies. Specifically, for conceptual design of mechanical products, this paper presents a novel function solving model for mechanical product design and highlights the importance of systematic synthesis to achieve creative design. Then it builds a framework as a function-effect-process-action- mechanisms (FEPAM) mapping process, which enables creative design on the basis of conceiving different action schemes. After that, several key points are elaborated including 1) representing and decomposition methods of functions and motion behaviors; 2) action scheme representing method based on network plan techniques; and 3) variation and creation methods based on action scheme transformations.

Keywords： mechanism system creative design     process model     function solving model     process action procedure     mechanismsknowledge base     principle of mechanism system composition    

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Formation mechanism and modeling of surface waviness in incremental sheet forming

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0679-1

Abstract: surface quality has always been a challenge for incremental sheet forming (ISF), whereas the generation mechanismIn this paper, the formation mechanism and the prediction of waviness are both investigated through experimentsengineering application, a theoretical model for waviness height is proposed based on the generation mechanismThis work is favorable for the perfection of formation mechanism and control of surface quality in ISF

Keywords： surface waviness     incremental sheet forming     numerical simulation     formation mechanism     deformation history    

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Autogenous healing mechanism of cement-based materials

Frontiers of Structural and Civil Engineering   Pages 948-963 doi: 10.1007/s11709-023-0960-3

Abstract: However, systematic research on the autogenous healing mechanism of cement-based materials is lackingScanning electron microscopy and optical microscopy were used to examine the autogenous healing mechanism

Keywords： autogenous healing     cement-based materials     healing mechanism     aggregation effect    

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of freedom (DOFs) is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture. In this paper, a means to achieve redundant actuation by adding kinematic constraints is introduced, which reduces the DOFs of the end-effector (EE). A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs, which maps the generalized velocities of three points on the EE to the joint velocities. A new optimization algorithm derived from this dimensionally homogeneous Jacobian is proposed for the optimal design of this type of RAPMs. As an example, this paper presents a spatial RAPM involving linkages and cam mechanisms. This RAPM has 4 DOFs and 6 translational actuations. The linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Cryogenic minimum quantity lubrication machining: from mechanism to application

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 649-697 doi: 10.1007/s11465-021-0654-2

Abstract: Second, the cooling–lubrication mechanism of CMQL and its influence mechanism on material hardness, cuttingThe effects of CMQL are systematically analyzed based on its mechanism and application form.

Keywords： cryogenic minimum quantity lubrication (CMQL)     cryogenic medium     processing mode     device application     mechanism    

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Review on mechanism and process of surface polishing using lasers

Arun KRISHNAN, Fengzhou FANG

Frontiers of Mechanical Engineering 2019, Volume 14, Issue 3,   Pages 299-319 doi: 10.1007/s11465-019-0535-0

Abstract: This article gives a detailed overview of the laser polishing mechanism by explaining various process

Keywords： laser polishing     surface roughness     process parameters     mechanism    

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Creation and integration mechanism of instrumentation flexible developing system

Xiaoli XU, Qiushuang LIU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2,   Pages 235-240 doi: 10.1007/s11465-011-0122-5

Abstract: flexible developing system (IFDS), this paper discusses the creation and open flexible integration mechanismBased on the operation mechanism of the modern instrumentation developing system and the research and

Keywords： modern instrumentation developing     flexible interconnection     flexible integration mechanism     rapid integration    

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Mechanism and characterization of microplastic aging process: A review

Frontiers of Environmental Science & Engineering 2023, Volume 17, Issue 8, doi: 10.1007/s11783-023-1700-6

Abstract:

● Methods for estimating the aging of environmental micro-plastics were highlighted.

Keywords： Microplastics     Aging     Degradation     Characterization     Mechanism    

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The linkage mechanism between urban intelligence and low carbon innovation

Ming LIN

Frontiers of Engineering Management 2019, Volume 6, Issue 4,   Pages 584-586 doi: 10.1007/s42524-019-0076-6

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Title Author Date Type Operation

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Journal Article

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

Conghui LIANG, Marco CECCARELLI, Yukio TAKEDA

Journal Article

Model testing of tripod caisson foundations in silty clay subjected to eccentric lateral loads

Journal Article

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration

Journal Article

Performance investigation of artificial intelligence based controller for three phase four leg shunt

J. JAYACHANDRAN,R. MURALI SACHITHANANDAM

Journal Article

Theory and method of mechanism system design

Huijun ZOU, Qinghua LIANG, Qing ZHANG

Journal Article

Formation mechanism and modeling of surface waviness in incremental sheet forming

Journal Article

Autogenous healing mechanism of cement-based materials

Journal Article

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Cryogenic minimum quantity lubrication machining: from mechanism to application

Journal Article

Review on mechanism and process of surface polishing using lasers

Arun KRISHNAN, Fengzhou FANG

Journal Article

Creation and integration mechanism of instrumentation flexible developing system

Xiaoli XU, Qiushuang LIU

Journal Article

Mechanism and characterization of microplastic aging process: A review

Journal Article

The linkage mechanism between urban intelligence and low carbon innovation

Ming LIN

Journal Article