Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and p...Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and precise parameter identification,while this paper explores an altemative through data-driven model reconstruction.To tackle the curse of dimensionality in the model reconstruction of a serial robotic manipulator with multi-degree-of-freedom,a relative activation indicator is proposed.Based on this indicator,the k-means clustering algorithm is utilized to classify the data under different working conditions.Sub-sequently,we leverage the fundamental prior knowledge to find the dynamical characteristics of each cluster and reconstruct the dynamic model in a stepwise manner using the method of sparse identification of nonlinear dynamics(SINDy).For the library generation of SINDy,the strategy of double-feature-set for serial manipulators with common joint types is proposed.Simula-tion results show that the stepwise model reconstruction approach not only reduces the size of the library of candidate functions but also decreases the impact of data noise on the reconstruction results.Finally,controllers based on the reconstructed mod.els are deployed on the experimental platform and the experimental results demonstrate the improvement in trajectory tracking performance and the potential of the proposed method in engineering applications.展开更多
To break the limitations of the multi-dimensional(M-D)vibration isolation(VI)platforms with the Stewart-Gough design,such as strongly coupling motions,excessive friction in connections,heavy weight,and limited workspa...To break the limitations of the multi-dimensional(M-D)vibration isolation(VI)platforms with the Stewart-Gough design,such as strongly coupling motions,excessive friction in connections,heavy weight,and limited workspace,this study processes a novel platform integrated by a stiffness-adjustable origami spring sub-structure and a parallel mechanism.The origami-based stiffness-adjustable spring realizes low-frequency VI,and the parallel mechanism symmetry design realizes motions decoupling.In the origami-based sub-leg,the parallel-stack-assembly(PSA)design mechanism with two Miura origami configurations is proposed to generate a symmetrical negative stiffness property.Paired with a linear positive stiffness spring,the origami-based sub-leg has wide-amplitude-high-static-low-dynamic stiffness(WA-HSLDS)characteristics in one direction.Then,with construction of the parallel mechanism connected with origami-based sub-legs,an M-D VI platform is achieved,whose motions in the vertical direction and yaw direction are decoupled with the motions in the other directions.Based on the dynamic model and incremental harmonic balance(IHB)with the arc-length continuation method,appropriate structural parameters in the parallel mechanism part are figured out,and the accurate transmissibility in different directions is defined,which gives the parametric influencing investigations for realization of low-frequency VI performances.Finally,experiments are conducted to validate the accuracy and feasibility of the theoretical methods,and to demonstrate the performance of M-D low-frequency isolation with load-carrying capacity of the proposed VI platform.The integration of the origami into the parallel mechanism results in a compact,efficient,and flexible platform with nonlinear adjustability,offering new possibilities for lightweight M-D VI,and developing the practical applications in high-precision platforms in ocean and aerospace environments.展开更多
Inspired that the neck structure can stabilize the head from body movements and external dynamic vibration by the role of intervertebral disc and surrounding muscles,a novel multi-layer structure with nonlinear elasti...Inspired that the neck structure can stabilize the head from body movements and external dynamic vibration by the role of intervertebral disc and surrounding muscles,a novel multi-layer structure with nonlinear elastic components is proposed in this paper.The proposed structure is expected for loading the weight of the end effector and isolating bending vibration with lowfrequency in the range of 0.1 Hz to 1 Hz.First,considering the loading,the potential energy,restoring force,and structural configuration in axial direction are defined.Then,the dynamical restoring force and stiffness for bending are modelled for different structural parameters and configurations after the axial weight.According to the functions of the proposed structure required in applications including loading capacity and bending vibration isolation effectiveness,design criteria are carried out.Due to the realization of high-order quasi-zero stiffness property,the effective isolation band for bending vibration can be extended from about 0.08 Hz.In addition,based on the proposed design criteria,the constructed multi-layer structure displays remarkable dynamical stabilization effectiveness in ultralow frequency band.The proposed structure not only provides the biological explanations for car sickness,nausea,and airsickness of humans,but also solves the bottleneck techniques in bioinspired nonlinear isolation structural design for transverse dynamical stabilization,which has remarkable potential applications in the fields of mechanical arm,sensors in satellite etc.展开更多
In order to clarify the dynamic process of feldspar dissolution-precipitation and explore the formation mechanism of secondary porosity,six batch reactor experiments were conducted at 200℃and pH=7 measured at room te...In order to clarify the dynamic process of feldspar dissolution-precipitation and explore the formation mechanism of secondary porosity,six batch reactor experiments were conducted at 200℃and pH=7 measured at room temperature.Temporal evolution of fluid chemistry was analyzed with an inductively coupled plasma optical emission spectrometer(ICP-OES).Solid reaction products were retrieved from six batch experiments terminated after 36,180,276,415,766 and 1008 h.Scanning electron microscopy(SEM)revealed dissolution features and significant secondary mineral adhered on the feldspar surface.The process of feldspar dissolution-precipitation proceeded slowly and full equilibrium was not achieved after 1008 h.Saturation indices suggested that the albite and K-feldspar dissolution occurred throughout the experiments.The average dissolution rates for albite and K-feldspar were 2.28×10^-10 and 8.51×10^-11 mol m^-2 s^-1,respectively.Based on the experimental data,the reaction process of alkaline feldspar was simulated and the secondary porosity had increased 0.3%after the experiment.展开更多
The effects of time-delayed vibration absorber(TDVA) on the dynamic characteristics of a flexible beam are investigated. First, the vibration suppression effect of a single TDVA on a continuous beam is studied. The fi...The effects of time-delayed vibration absorber(TDVA) on the dynamic characteristics of a flexible beam are investigated. First, the vibration suppression effect of a single TDVA on a continuous beam is studied. The first optimization criterion is given,and the results show that the introduction of time-delayed feedback control(TDFC) is beneficial to improving the vibration suppression at the anti-resonance band. When a single TDVA is used, the anti-resonance is located at a specific frequency by the optimum design of TDFC parameters. Then, in order to obtain low-frequency and broad bands for vibration suppression, multiple TDVAs are uniformly distributed on a continuous beam,and the relationship between the dynamic responses and the TDFC parameters is investigated. The obtained relationship shows that the TDVA has a significant regulatory effect on the vibration behavior of the continuous beam. The effects of the number of TDVAs and the nonlinearity on the bandgap variation are discussed. As the multiple TDVAs are applied, according to the different requirements on the location and bandwidth of the effective vibration suppression band, the optimization criteria for the TDFC parameters are given, which provides guidance for the applications of TDVAs in practical projects such as bridge and aerospace.展开更多
By the biological construction of a bird neck,a bionic bird-neck multilevel rigid-flexible structure is proposed and some biometric properties are explained.The proposed structure can flexibly deform in six directions...By the biological construction of a bird neck,a bionic bird-neck multilevel rigid-flexible structure is proposed and some biometric properties are explained.The proposed structure can flexibly deform in six directions,which inspires the study of its mechanical properties for flexible deformations.First,the structural configuration and composition are determined based on the study of the anatomical characteristics of the woodpeckers.Since the skeletons and muscles have very different values for the elasticity modulus and the deformation is mostly dependent on the muscle tension,the bionic structure consists of rigid units and bio-syncretic components.For combined deformations,the mechanical model is established by the connectivity matrix to describe the connection of each level.Second,based on the principle of minimum potential energy,an integral form-finding method is proposed for flexible combination deformations.All of the integral forms obtained with the theoretical analysis are compared with the results with Finite Element Analysis.The structural parameters of the bionic structure were then tightly fixed to the actual shape of the bird’s neck and the corresponding overall form took on an"S"shape,which perfectly matched the construction of the bird’s neck.In addition,for the pre-deformation form,by analyzing the potential energy of the bionic structure,due to the adjustable dynamic stiffness property,an explanation is provided for the significant dynamic stability of the bird neck in bending.This study not only proposes a bionic rigid-flexible structure with high spatial accessibility but also explains biological properties of a bird neck based on the study of its mechanics characteristics.Based on the modeling and the mechanical properties of the bionic structure in flexible spatial combination deformations,the multi-steady state,and the variable dynamic stiffness,the bird-neck bionic rigid-flexible structure has significant applications such as aeronautical deployable systems,manipulator positioning,and dynamic stability fields.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.12072237,12472022,12372022,12372065,and U2441202)the Fundamental Research Funds for the Central Universities(Grant No.22120220590)。
文摘Advancements in dynamic modeling methods of robotic manipulator are critical to the effective implementation of model-based control.Traditional approaches rely on rigorous first-principles-based dynamic modeling and precise parameter identification,while this paper explores an altemative through data-driven model reconstruction.To tackle the curse of dimensionality in the model reconstruction of a serial robotic manipulator with multi-degree-of-freedom,a relative activation indicator is proposed.Based on this indicator,the k-means clustering algorithm is utilized to classify the data under different working conditions.Sub-sequently,we leverage the fundamental prior knowledge to find the dynamical characteristics of each cluster and reconstruct the dynamic model in a stepwise manner using the method of sparse identification of nonlinear dynamics(SINDy).For the library generation of SINDy,the strategy of double-feature-set for serial manipulators with common joint types is proposed.Simula-tion results show that the stepwise model reconstruction approach not only reduces the size of the library of candidate functions but also decreases the impact of data noise on the reconstruction results.Finally,controllers based on the reconstructed mod.els are deployed on the experimental platform and the experimental results demonstrate the improvement in trajectory tracking performance and the potential of the proposed method in engineering applications.
基金Project supported by the National Natural Science Foundation of China(Nos.U2441202,12372043,and 12372022)the Fundamental Research Funds for Central Universities。
文摘To break the limitations of the multi-dimensional(M-D)vibration isolation(VI)platforms with the Stewart-Gough design,such as strongly coupling motions,excessive friction in connections,heavy weight,and limited workspace,this study processes a novel platform integrated by a stiffness-adjustable origami spring sub-structure and a parallel mechanism.The origami-based stiffness-adjustable spring realizes low-frequency VI,and the parallel mechanism symmetry design realizes motions decoupling.In the origami-based sub-leg,the parallel-stack-assembly(PSA)design mechanism with two Miura origami configurations is proposed to generate a symmetrical negative stiffness property.Paired with a linear positive stiffness spring,the origami-based sub-leg has wide-amplitude-high-static-low-dynamic stiffness(WA-HSLDS)characteristics in one direction.Then,with construction of the parallel mechanism connected with origami-based sub-legs,an M-D VI platform is achieved,whose motions in the vertical direction and yaw direction are decoupled with the motions in the other directions.Based on the dynamic model and incremental harmonic balance(IHB)with the arc-length continuation method,appropriate structural parameters in the parallel mechanism part are figured out,and the accurate transmissibility in different directions is defined,which gives the parametric influencing investigations for realization of low-frequency VI performances.Finally,experiments are conducted to validate the accuracy and feasibility of the theoretical methods,and to demonstrate the performance of M-D low-frequency isolation with load-carrying capacity of the proposed VI platform.The integration of the origami into the parallel mechanism results in a compact,efficient,and flexible platform with nonlinear adjustability,offering new possibilities for lightweight M-D VI,and developing the practical applications in high-precision platforms in ocean and aerospace environments.
基金This work was supported by the National Natural Science Foundation of China(Grant Nos.12122208 and 11972254)。
文摘Inspired that the neck structure can stabilize the head from body movements and external dynamic vibration by the role of intervertebral disc and surrounding muscles,a novel multi-layer structure with nonlinear elastic components is proposed in this paper.The proposed structure is expected for loading the weight of the end effector and isolating bending vibration with lowfrequency in the range of 0.1 Hz to 1 Hz.First,considering the loading,the potential energy,restoring force,and structural configuration in axial direction are defined.Then,the dynamical restoring force and stiffness for bending are modelled for different structural parameters and configurations after the axial weight.According to the functions of the proposed structure required in applications including loading capacity and bending vibration isolation effectiveness,design criteria are carried out.Due to the realization of high-order quasi-zero stiffness property,the effective isolation band for bending vibration can be extended from about 0.08 Hz.In addition,based on the proposed design criteria,the constructed multi-layer structure displays remarkable dynamical stabilization effectiveness in ultralow frequency band.The proposed structure not only provides the biological explanations for car sickness,nausea,and airsickness of humans,but also solves the bottleneck techniques in bioinspired nonlinear isolation structural design for transverse dynamical stabilization,which has remarkable potential applications in the fields of mechanical arm,sensors in satellite etc.
基金supported by the National Science and Technology Major Project ‘‘Bohai Bay Basin deep oil and gas geology and reserves increasing direction’’ (No. 2016ZX05006007)the National Natural Fund (Youth) ‘‘Relationship between rich feldspar sandstone reservoirs in feldspar alteration and pyrolysis of hydrocarbons’’ (41602138)
文摘In order to clarify the dynamic process of feldspar dissolution-precipitation and explore the formation mechanism of secondary porosity,six batch reactor experiments were conducted at 200℃and pH=7 measured at room temperature.Temporal evolution of fluid chemistry was analyzed with an inductively coupled plasma optical emission spectrometer(ICP-OES).Solid reaction products were retrieved from six batch experiments terminated after 36,180,276,415,766 and 1008 h.Scanning electron microscopy(SEM)revealed dissolution features and significant secondary mineral adhered on the feldspar surface.The process of feldspar dissolution-precipitation proceeded slowly and full equilibrium was not achieved after 1008 h.Saturation indices suggested that the albite and K-feldspar dissolution occurred throughout the experiments.The average dissolution rates for albite and K-feldspar were 2.28×10^-10 and 8.51×10^-11 mol m^-2 s^-1,respectively.Based on the experimental data,the reaction process of alkaline feldspar was simulated and the secondary porosity had increased 0.3%after the experiment.
基金Project supported by the National Natural Science Foundation of China (Nos. 12122208, 11972254,and 11932015)。
文摘The effects of time-delayed vibration absorber(TDVA) on the dynamic characteristics of a flexible beam are investigated. First, the vibration suppression effect of a single TDVA on a continuous beam is studied. The first optimization criterion is given,and the results show that the introduction of time-delayed feedback control(TDFC) is beneficial to improving the vibration suppression at the anti-resonance band. When a single TDVA is used, the anti-resonance is located at a specific frequency by the optimum design of TDFC parameters. Then, in order to obtain low-frequency and broad bands for vibration suppression, multiple TDVAs are uniformly distributed on a continuous beam,and the relationship between the dynamic responses and the TDFC parameters is investigated. The obtained relationship shows that the TDVA has a significant regulatory effect on the vibration behavior of the continuous beam. The effects of the number of TDVAs and the nonlinearity on the bandgap variation are discussed. As the multiple TDVAs are applied, according to the different requirements on the location and bandwidth of the effective vibration suppression band, the optimization criteria for the TDFC parameters are given, which provides guidance for the applications of TDVAs in practical projects such as bridge and aerospace.
基金the National Natural Science Foundation of China(12122208,11972254 and 11932015).
文摘By the biological construction of a bird neck,a bionic bird-neck multilevel rigid-flexible structure is proposed and some biometric properties are explained.The proposed structure can flexibly deform in six directions,which inspires the study of its mechanical properties for flexible deformations.First,the structural configuration and composition are determined based on the study of the anatomical characteristics of the woodpeckers.Since the skeletons and muscles have very different values for the elasticity modulus and the deformation is mostly dependent on the muscle tension,the bionic structure consists of rigid units and bio-syncretic components.For combined deformations,the mechanical model is established by the connectivity matrix to describe the connection of each level.Second,based on the principle of minimum potential energy,an integral form-finding method is proposed for flexible combination deformations.All of the integral forms obtained with the theoretical analysis are compared with the results with Finite Element Analysis.The structural parameters of the bionic structure were then tightly fixed to the actual shape of the bird’s neck and the corresponding overall form took on an"S"shape,which perfectly matched the construction of the bird’s neck.In addition,for the pre-deformation form,by analyzing the potential energy of the bionic structure,due to the adjustable dynamic stiffness property,an explanation is provided for the significant dynamic stability of the bird neck in bending.This study not only proposes a bionic rigid-flexible structure with high spatial accessibility but also explains biological properties of a bird neck based on the study of its mechanics characteristics.Based on the modeling and the mechanical properties of the bionic structure in flexible spatial combination deformations,the multi-steady state,and the variable dynamic stiffness,the bird-neck bionic rigid-flexible structure has significant applications such as aeronautical deployable systems,manipulator positioning,and dynamic stability fields.
