Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified...Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.展开更多
A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is d...A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.展开更多
Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force esti...Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms.Robot Octopus III is a six-legged robot using spatial parallel mechanism（UP-2UPS） legs.This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism.The direct kinematics model and the inverse kinematics model are established.The force Jacobian matrix is derived based on the kinematics model.Thus,the indirect force estimation model is established.Then,the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described.Furthermore,an adaptive tripod static gait is designed.The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait.Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system.An experiment is carried out to validate the indirect force estimation model.The adaptive gait is tested in another experiment.Experiment results show that the robot can successfully step on a 0.2 m-high obstacle.This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot＇s foot tips.展开更多
This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait training.Th...This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait training.The rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC ADAMS.For the purposes of lightweight,the exoskeleton mechanism is optimized through finite element analysis.It can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.展开更多
For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is pro...For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.展开更多
Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measur...Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.展开更多
With the development of science and technology and with space exploration, hazardous environment work, and production requirements of small batch and quick change-over, the traditional concept of mechanisms and robots...With the development of science and technology and with space exploration, hazardous environment work, and production requirements of small batch and quick change-over, the traditional concept of mechanisms and robots development is facing a challenge in the 21 st century for adaptability and reconfigurability.展开更多
This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics...This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange’s method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.展开更多
In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is dis...In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgical component motion in manual comeal grafting microsurgery, as the reference of robotic mechanism synthesis. On the basis of study on the kinematic correlation between the arm structures and the wrist structures, configuration of joint is determined for the surgical task and motion in type synthesis of the mechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanism dexterity as a manipulation capability. The condition number based on Jacob matrix is chosen as dexterity measure of the mechanism. The prototype is developed.展开更多
Stingrays can undulate their wide pectoral fins to thrust themselves and swim freely underwater.Many researchers have used bionics to directly imitate their undulating mechanism and manufacture undulatory underwater r...Stingrays can undulate their wide pectoral fins to thrust themselves and swim freely underwater.Many researchers have used bionics to directly imitate their undulating mechanism and manufacture undulatory underwater robots.Based on the limitations of the existing undulatory underwater robots,this paper proposes a novel undulatory propulsion strategy,which aims to use the stingray undulating mechanism more thoroughly.First,the mathematical models of both traditional and novel structures are established to accurately describe their undulating mechanism.Then,based on the dynamic mesh technology,the flow field vortex structure they generated is analyzed through fluid-structure interaction simulation,and the thrust force and lateral force generated by them are calculated,which verified that this novel propulsion strategy is indeed more effective.Finally,a prototype robot based on the improved propulsion strategy is manufactured.Compared with the existing stingray robots,the prototype has obvious advantages,thus verifying the accuracy of the simulation results.展开更多
Artificial intelligence (AI) is the technique that enables computers to solve problems and perform tasks that traditionally require human intelligence. The availability of large amounts of medical data from electronic...Artificial intelligence (AI) is the technique that enables computers to solve problems and perform tasks that traditionally require human intelligence. The availability of large amounts of medical data from electronic medical records and powerful modern microcomputers enables the development of AI in medicine. AI has proven its applicability in many different medical areas, such as drug discovery, diagnostic radiology and pathology, as well as interventional applications in cardiology and surgery. However, until today, AI is scarcely used in the clinical practice of anesthesiology. Although there has been a significant body of research published on AI applications for anesthesiology in the literature, the number of developed robot systems for commercial use or those ready for clinical trials remains limited. The limitations of AI systems are identified and discussed, which include incorrect medical data formatting, individual patient variability, the lack of ability of current AI systems, anesthesiologist inexperience in AI usage, system unreliability, unexplainable AI conclusions and strict regulations. In order to ensure anesthesiologists’ trust in AI systems and improve their implementation in daily practice, strict quality control of the systems and algorithms should be undertaken. Further, anesthesiology personnel should play an integral role in the development of AI systems before we are able to see more AI integration in clinical anesthesiology.展开更多
The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoul...The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S（P for prismatic pair,S for spherical pair） spherical parallel mechanism（SPM）,is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.展开更多
Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive resea...Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still lacking.This review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic mechanisms.Examining the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial counterparts.Initially,approaches for parallel mechanisms were inherited or adopted from serial mechanisms.However,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel mechanisms.Therefore,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial role.This paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research community.The work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.展开更多
Cultivating talents in robotics requires the integration of multiple disciplines,including mechanical engineering,electronics,computer science,and control engineering.The rapid expansion of the robotics industry in re...Cultivating talents in robotics requires the integration of multiple disciplines,including mechanical engineering,electronics,computer science,and control engineering.The rapid expansion of the robotics industry in recent years has highlighted a significant talent gap and compelled universities to raise the standards of talent development in this field.This research examines the distinctive features of talent cultivation in robotics,draws on the practices of Wuhan University’s intelligent robotics program,and incorporates the concept of digital-intelligent education to propose an innovative talent cultivation framework termed system reconstruction and a fourfold integration education.This research emphasizes the importance of digital-intelligent interdisciplinarity and reports on the establishment of a progressive and comprehensive professional curriculum system.It also presents a supporting model that includes research-activated education,industry-driven education,competition-enhanced education,and interdisciplinary education,thereby creating a project-driven innovation practice platform and talent cultivation mechanism.Guided by systematic reconstruction and fourfold integration education mechanism,the digital-intelligent interdisciplinary curriculum and project-driven practice platform have significantly improved students’professional knowledge,innovative ability,and sense of social responsibility.This mechanism has not only improved the quality of talent cultivation in intelligent robotics but has also increased the impact of academic competitions and garnered widespread acclaim from peers.展开更多
基金National Key R&D Program of China(Grant No.2018YFB1307800)National Natural Science Foundation of China(Grant Nos.51875391,51675366)Tianjin Science and Technology Planning Project(Grant Nos.18YFS DZC00010,18YFZCSF00590).
文摘Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.
基金This project is supported by National Hi-tech Research and Development Program of China(863 Program, No.2003AA404190).
文摘A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.
基金Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035501)Research Fund of the State Key Lab of MSV of China(Grant No.MSV201208)
文摘Adaptive gaits for legged robots often requires force sensors installed on foot-tips,however impact,temperature or humidity can affect or even damage those sensors.Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms.Robot Octopus III is a six-legged robot using spatial parallel mechanism（UP-2UPS） legs.This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism.The direct kinematics model and the inverse kinematics model are established.The force Jacobian matrix is derived based on the kinematics model.Thus,the indirect force estimation model is established.Then,the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described.Furthermore,an adaptive tripod static gait is designed.The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait.Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system.An experiment is carried out to validate the indirect force estimation model.The adaptive gait is tested in another experiment.Experiment results show that the robot can successfully step on a 0.2 m-high obstacle.This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot＇s foot tips.
基金The work is supported in part by the National Natural Science Foundation of China under Grants(61873304)in part by the China Postdoctoral Science Foundation Funded Project under Grant(2018M641784)also in part by the Funding of Jilin Province Science and Technology(JJKH20210745KJ).
文摘This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait training.The rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC ADAMS.For the purposes of lightweight,the exoskeleton mechanism is optimized through finite element analysis.It can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.
基金supported by National Natural Science Foundation of China (No. 61075099) FP7-PEOPLE-2012-IRSES:Marie Curie Action "International Research Staf Exchange Scheme" (No. 318902)
文摘For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.
文摘Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.
文摘With the development of science and technology and with space exploration, hazardous environment work, and production requirements of small batch and quick change-over, the traditional concept of mechanisms and robots development is facing a challenge in the 21 st century for adaptability and reconfigurability.
文摘This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange’s method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.
基金This project is supported by National Hi-tech Research and DevelopmentProgram of China (863 Program, No.2002AA420110).
文摘In order to enhance the effect of comeal grafting, an assisting microsurgical robot has been developed. As one of principal issues for the robotic system design, type and size synthesis of the robotic mechanism is discussed. For this purpose, timeline subtask is analyzed with surgical component motion in manual comeal grafting microsurgery, as the reference of robotic mechanism synthesis. On the basis of study on the kinematic correlation between the arm structures and the wrist structures, configuration of joint is determined for the surgical task and motion in type synthesis of the mechanism. The objective for size synthesis of robotic mechanism is optimization of the mechanism dexterity as a manipulation capability. The condition number based on Jacob matrix is chosen as dexterity measure of the mechanism. The prototype is developed.
基金This work is supported by the National Science Foundation of China(No.91748123)the Natural Science Foundation of Shaanxi Province(Grant No.2019JM-145).
文摘Stingrays can undulate their wide pectoral fins to thrust themselves and swim freely underwater.Many researchers have used bionics to directly imitate their undulating mechanism and manufacture undulatory underwater robots.Based on the limitations of the existing undulatory underwater robots,this paper proposes a novel undulatory propulsion strategy,which aims to use the stingray undulating mechanism more thoroughly.First,the mathematical models of both traditional and novel structures are established to accurately describe their undulating mechanism.Then,based on the dynamic mesh technology,the flow field vortex structure they generated is analyzed through fluid-structure interaction simulation,and the thrust force and lateral force generated by them are calculated,which verified that this novel propulsion strategy is indeed more effective.Finally,a prototype robot based on the improved propulsion strategy is manufactured.Compared with the existing stingray robots,the prototype has obvious advantages,thus verifying the accuracy of the simulation results.
文摘Artificial intelligence (AI) is the technique that enables computers to solve problems and perform tasks that traditionally require human intelligence. The availability of large amounts of medical data from electronic medical records and powerful modern microcomputers enables the development of AI in medicine. AI has proven its applicability in many different medical areas, such as drug discovery, diagnostic radiology and pathology, as well as interventional applications in cardiology and surgery. However, until today, AI is scarcely used in the clinical practice of anesthesiology. Although there has been a significant body of research published on AI applications for anesthesiology in the literature, the number of developed robot systems for commercial use or those ready for clinical trials remains limited. The limitations of AI systems are identified and discussed, which include incorrect medical data formatting, individual patient variability, the lack of ability of current AI systems, anesthesiologist inexperience in AI usage, system unreliability, unexplainable AI conclusions and strict regulations. In order to ensure anesthesiologists’ trust in AI systems and improve their implementation in daily practice, strict quality control of the systems and algorithms should be undertaken. Further, anesthesiology personnel should play an integral role in the development of AI systems before we are able to see more AI integration in clinical anesthesiology.
基金Supported by National Natural Science Foundation of China(Grant No.51275443)Key Project of Ministry of Education of China(Grant No.212012)+2 种基金Hebei Provincial Natural Science Foundation of China(Grant No.E2012203034)Specialized Research Fund for the Doctoral Program of Higher Education of China(Grant No.20111333120004)Research Fund for Outstanding Youth in Higher Education Institutions of Hebei Province,China(Grant No.Y2011114)
文摘The structure design for high ratio of carrying capacity to deadweight is one of the challenges for the bionic mechanism,while the problem concerning high carrying capacity has not yet be solved for the existing shoulder complex.A new type biomimetic shoulder complex,which adopts 3-PSS/S（P for prismatic pair,S for spherical pair） spherical parallel mechanism（SPM）,is proposed.The static equilibrium equations of each component are established by using the vector method and the equations for constrain forces with certain load are solved.Then the constrain force on the middle limb and that on the side limbs are compared in order to verify the unloading performance of the mechanism.In addition,the prototype mechanism of the shoulder complex is developed,and the force feedback experiment is conducted to verify the static analysis,which indicates that the middle limb suffers most of the external force and the effect of mechanics unloading is achieved.The 3-PSS/S spherical parallel mechanism is presented for the shoulder complex,and the realization of mechanics unloading is benefit for the improvement of the carrying capacity of the shoulder complex.
基金supported by the National Natural Science Foundation of China(Grant No.52105026).
文摘Parallel robotic mechanisms have emerged as a vital subfield in robotics science and engineering over the past few decades,receiving widespread attention and undergoing significant advancements.Despite extensive research encompassing type synthesis,dimension optimization,control theory,design principles,manufacturing techniques,and others,comprehensive reviews on the motion–force-related performance of parallel robotic mechanisms and their applications to real-world problems are still lacking.This review aims to fill this gap by analyzing and summarizing significant studies on the motion–force interaction performance of parallel robotic mechanisms.Examining the historical development of theoretical paradigms,the research of parallel robotic mechanisms began relatively late compared with their serial counterparts.Initially,approaches for parallel mechanisms were inherited or adopted from serial mechanisms.However,many cases have demonstrated that parallel robotic mechanisms possess unique characteristics,making it infeasible to directly transfer the theories developed for serial mechanisms to parallel mechanisms.Therefore,new methodologies are needed to properly analyze and evaluate the intrinsic properties of parallel robotic mechanisms,where the interaction between motion and force plays a crucial role.This paper offers an extensive and systematic review of the existing journal literature that analyzes and evaluates motion–force interaction performance of parallel robotics mechanisms,also known as motion/force transmission and constraint performance,providing a broad and detailed bibliography that will serve as a reference for the research community.The work examines research strategies,evaluation methods,performance indices,and real-world applications concerning the motion–force interaction performance of parallel robotic mechanisms,offering a foundation to stimulate future research and innovation.
文摘Cultivating talents in robotics requires the integration of multiple disciplines,including mechanical engineering,electronics,computer science,and control engineering.The rapid expansion of the robotics industry in recent years has highlighted a significant talent gap and compelled universities to raise the standards of talent development in this field.This research examines the distinctive features of talent cultivation in robotics,draws on the practices of Wuhan University’s intelligent robotics program,and incorporates the concept of digital-intelligent education to propose an innovative talent cultivation framework termed system reconstruction and a fourfold integration education.This research emphasizes the importance of digital-intelligent interdisciplinarity and reports on the establishment of a progressive and comprehensive professional curriculum system.It also presents a supporting model that includes research-activated education,industry-driven education,competition-enhanced education,and interdisciplinary education,thereby creating a project-driven innovation practice platform and talent cultivation mechanism.Guided by systematic reconstruction and fourfold integration education mechanism,the digital-intelligent interdisciplinary curriculum and project-driven practice platform have significantly improved students’professional knowledge,innovative ability,and sense of social responsibility.This mechanism has not only improved the quality of talent cultivation in intelligent robotics but has also increased the impact of academic competitions and garnered widespread acclaim from peers.
