This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,a...This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,and 3-R(2-RPR)U.The research begins by elaborating in detail the similarities and differences among these four parallel mechanisms.By standardizing the definition of the coordinate system for each mechanism,the inverse kinematics and the Jacobian matrix of these four mechanisms are systematically derived.Employing a set of motion/force transmission indices,which are directly obtained from the Jacobian matrix,the kinematic performances of the four mechanisms are thoroughly analyzed and compared within the given workspaces while maintaining the same dimensional parameters for all cases.The comparison study of these four parallel mechanisms extends beyond local transmission indices to also include global transmission indices,covering both position and orientation workspaces,as well as assessments at both the local and global workspace levels.This comprehensive approach ensures a detailed and fair evaluation of their respective kinematic capabilities.The results indicate that the comprehensive kinematic performances of the four parallel mechanisms are similar,and providing a solid theoretical foundation for innovative design and practical guidance for selecting optimal architectures based on specific application requirements.展开更多
Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of intere...Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.展开更多
Hole-making for Carbon Fiber Reinforced Plastics(CFRP)/Ti-6Al-4V stacks is crucial for the assembling strength of aircraft structure parts.This work carried out experimental work for helical milling(HM)of the stacks w...Hole-making for Carbon Fiber Reinforced Plastics(CFRP)/Ti-6Al-4V stacks is crucial for the assembling strength of aircraft structure parts.This work carried out experimental work for helical milling(HM)of the stacks with sustainable cooling/lubrication(dry,MQL and cryogenic)conditions.Cutting forces and temperatures at the CFRP layer,Ti-6Al-4V layer and the interface of stacks were obtained by a developed measuring system.The temperatures in CFRP machining at cryogenic condition varied from-167℃to-94℃,which were much lower than those at dry and MQL conditions.The maximum temperature near the interface of stacks for the ninth hole was higher than 240℃due to heat conduction from Ti-6Al-4V layer.The hole quality,hole diameter and tool wear mechanism at different cooling/lubrication conditions were presented and discussed.MQL condition generated mainly extrusion fracture for the fibers,due to the reduced friction effect compared with dry condition.MQL was helpful to reduce the feed mark at the hole surface of Ti-6Al-4V alloy.The flank wear of cutting edge at MQL condition was better than those at dry and cryogenic conditions.Cryogenic cooling contributed to better CFRP surface with smaller delamination and hole entrance damage due to the increased resin strength and fiber brittleness.The damage near the entrance of CFRP were analyzed by the contact state of cutting edges and fibers.Additionally,hole diameters near the exit of CFPR layer were larger than other test positions.This work provided feasible processes for improving hole quality and tool life in hole-making of CFRP/Ti-6Al-4V stacks.展开更多
This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory...This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory, two steps are necessary to synthesize 2-DoF RPMs except describing the continuous desired motions of the moving platform. They are respectively generation of required open-loop limbs between the fixed base and the moving platform and definition of assembly principles for these limbs. Firstly, all available displacement subgroups or submanifolds are obtained readily according to that the continuous motion of the moving platform is the intersection of those of all open-loop limbs. These subgroups or submanifolds are used to generate all the topology structures of limbs. By describing the characteristics of the displacement subgroups and submanifolds intuitively through employing simple geometrical symbols, their intersection and union operations can be carried out easily. Based on this, the assembly principles of two types are defined to synthesize all 2-DoF RPMs using obtained limbs. Finally, two novel categories of 2-DoF RPMs are provided by introducing a circular track and an articulated rotating platform,respectively. This work can lay the foundations for analysis and optimal design of 2-DoF RPMs that actuate the inter-satellite link antenna.展开更多
This paper deals with geometric error modeling and sensitivity analysis of an overconstrained parallel tracking mechanism. The main contribution is the consideration of overconstrained features that are usually ignore...This paper deals with geometric error modeling and sensitivity analysis of an overconstrained parallel tracking mechanism. The main contribution is the consideration of overconstrained features that are usually ignored in previous research. The reciprocal property between a motion and a force is applied to tackle this problem in the framework of the screw theory. First of all, a nominal kinematic model of the parallel tracking mechanism is formulated. On this basis, the actual twist of the moving platform is computed through the superposition of the joint twist and geometric errors. The actuation and constrained wrenches of each limb are applied to exclude the joint displacement. After eliminating repeated errors brought by the multiplication of wrenches, a geometric error model of the parallel tracking mechanism is built. Furthermore,two sensitivity indices are defined to select essential geometric errors for future kinematic calibration. Finally, the geometric error model with minimum geometric errors is verified by simulation with SolidWorks software. Two typical poses of the parallel tracking mechanism are selected, and the differences between simulation and calculation results are very small. The results confirm the correctness and accuracy of the geometric error modeling method for over-constrained parallel mechanisms.展开更多
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
The aim of the present paper is to reveal the influence of different fiber orientations on the tool wear evolution and wear mechanism. Side-milling experiments with large-diameter milling tools are conducted. A finite...The aim of the present paper is to reveal the influence of different fiber orientations on the tool wear evolution and wear mechanism. Side-milling experiments with large-diameter milling tools are conducted. A finite element(FE) cutting model of carbon fiber reinforced plastics(CFRP)is established to get insight into the cutting stress status at different wear stages. The results show that different fiber orientations bring about distinct differences in the extent, profile and mechanism of tool wear. Severer wear occurs when cutting 45° and 90° plies, followed by 0°, correspondingly,the least wear is obtained when θ = 135°(θ represents the orientation of fibers). Moreover, the worn profiles of cutting tools when θ = 0° and 45° are waterfall edge, while round edge occurs whenθ = 135° and a combined shape of waterfall and round edge is obtained when θ = 90°. The wear mechanisms under different fiber orientations are strongly dependent on the cutting stress distributions. The evolution of tool wear profile is basically consistent with the stress distribution on the tool surface at different wear stages, and the extent of tool wear is determined by the magnitude of stress on the tool surface. Besides, the worn edges produce an actual negative clearance angle,which decreases the actual cutting thickness and leads to compressing and bending failure of fibers beneath the cutting region as well as low surface qualities.展开更多
Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and ot...Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured environments.In this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed.It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control.Wire-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness regulation.Through finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.展开更多
Based on a modified pseudo-rigid-body model,the frequency characteristics and sensitivity of the large-deformation compliant mechanism are studied.Firstly,the pseudo-rigid-body model under the static and kinetic condi...Based on a modified pseudo-rigid-body model,the frequency characteristics and sensitivity of the large-deformation compliant mechanism are studied.Firstly,the pseudo-rigid-body model under the static and kinetic conditions is modified to enable the modified pseudo-rigid-body model to be more suitable for the dynamic analysis of the compliant mechanism.Subsequently,based on the modified pseudo-rigid-body model,the dynamic equations of the ordinary compliant four-bar mechanism are established using the analytical mechanics.Finally,in combination with the finite element analysis software ANSYS,the frequency characteristics and sensitivity of the compliant mechanism are analyzed by taking the compliant parallel-guiding mechanism and the compliant bistable mechanism as examples.From the simulation results,the dynamic characteristics of compliant mechanism are relatively sensitive to the structure size,section parameter,and characteristic parameter of material on mechanisms.The results could provide great theoretical significance and application values for the structural optimization of compliant mechanisms,the improvement of their dynamic properties and the expansion of their application range.展开更多
Hybrid-driven Underwater Glider(HUG)is a new type of underwater vehicle which integrates the functions of an Autonomous Underwater Glider(AUG)and an Autonomous Unmanned Vehicle(AUV).Although HUG has the characteristic...Hybrid-driven Underwater Glider(HUG)is a new type of underwater vehicle which integrates the functions of an Autonomous Underwater Glider(AUG)and an Autonomous Unmanned Vehicle(AUV).Although HUG has the characteristics of long endurance distance,its maneuverability still has room to be improved.This work introduces a new movement form of the neck of the underwater creature into HUG and proposes a parallel mechanism to adjust the attitude angle and displacement of the HUG’s bow,which can improve the steering maneuverability.Firstly,the influence of bow movement and rotation on the hydrodynamic force and flow field of the whole machine is analyzed by using the Computational Fluid Dynamics(CFD)method.The degree of freedom,attitude control range and movement amount of the Movable Bow Mechanism(MBM)are obtained,and then the design of MBM is completed based on these constraints.Secondly,the kinematic and dynamic models of MBM are established based on the closed vector method and the Lagrange equation,respectively,which are fully verified by comparing the results of simulation in Matlab and Adams software,then a Radial Basis Function(RBF)neural network adaptive sliding mode controller is designed to improve the dynamic response effect of the output parameters of MBM.Finally,a prototype of MBM is manufactured and assembled.The kinematic,dynamics model and controller are verified by experiments,which provides a basis for applying MBM in HUGs.展开更多
This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator ...This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.展开更多
In the aerospace industry,double-sided friction stir welding has gradually become a crucial solid-state welding technology for rocket manufacturing.During the welding process,the welding equipment on both sides may en...In the aerospace industry,double-sided friction stir welding has gradually become a crucial solid-state welding technology for rocket manufacturing.During the welding process,the welding equipment on both sides may encounter complex conditions involving unsynchronized collaborative movements.The resulting bending stress and destructive vibration affect workpiece processing quality.Therefore,this study proposes an adaptive admittance-based dual-robot collaborative forging force control method for double-sided friction stir welding.Specifically,the following steps are required:First,we analyzed the mechanism model of the hybrid robot and indirectly estimated the forging force value of friction stir welding using the Jacobian matrix of the hybrid robot.Second,an adaptive variable admittance controller was designed based on the reference admittance model with ideal stiffness.Subsequently,an adaptive variable admittance controller was applied to the dual-machine hybrid robot.By adjusting the welding trajectory and correcting the position error,the forging force was corrected,allowing adaptive tracking control of the forging force in complex environments.Finally,we conducted double-sided friction stir welding experiments to compare and verify the effectiveness of the adaptive tracking control algorithm for the forging force.展开更多
Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using li...Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.展开更多
Mesh reflector antennas are the mainstream of large space-borne antennas,and the stretching of the truss achieves their deployment.Currently,the truss is commonly designed to be a single degree of freedom(DOF)deployab...Mesh reflector antennas are the mainstream of large space-borne antennas,and the stretching of the truss achieves their deployment.Currently,the truss is commonly designed to be a single degree of freedom(DOF)deployable mechanism with synchronization constraints.However,each deployable unit’s drive distribution and resistance load are uneven,and the forced synchronization constraints lead to the flexible deformation of rods and difficulties in the deployment scheme design.This paper introduces an asynchronous deployment scheme with a multi-DOF closed-chain deployable truss.The DOF of the truss is calculated,and the kinematic and dynamic models are established,considering the truss’s and cable net’s real-time coupling.An integrated solving algorithm for implicit differential-algebraic equations is proposed to solve the dynamic models.A prototype of a six-unit antenna was fabricated,and the experiment was carried out.The dynamic performances in synchronous and asynchronous deployment schemes are analyzed,and the results show that the cable resistance and truss kinetic energy impact under the asynchronous deployment scheme are minor,and the antenna is more straightforward to deploy.The work provides a new asynchronous deployment scheme and a universal antenna modeling method for dynamic design and performance improvement.展开更多
Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising ...Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.展开更多
Cryogenic ion traps offer substantial advantages over their room-temperature counterparts,particularly in terms of stable ion confinement and cooling.However,this technological advancement has introduced a significant...Cryogenic ion traps offer substantial advantages over their room-temperature counterparts,particularly in terms of stable ion confinement and cooling.However,this technological advancement has introduced a significant challenge,namely the generation of additional vibrational noise.This noise is pronounced during the compression and expansion phases of the Gifford–McMahon cycle refrigerator and stems from the mechanical operation of the cold head.The residual vibrational noise can modulate the Rabi oscillation frequency,thereby compromising the fidelity of the quantum logic gate.In this study,we quantitatively assess the impact of residual vibrational noise and introduce an innovative strategy for its mitigation.This strategy was designed to reduce superimposed potential fluctuations within a cryogenic surface electrode ion trap.The measured residual vibrational noise was used for real-time feedback control.Addressing the inverse determination of the compensating potential for a stable superimposed trapping potential is an inherently ill-posed problem considering known measurement noise results.By applying quadratic programming,we numerically calculated the optimal time series for the compensation potential.An ensemble of these compensation voltages was applied in real time to the static compensation electrodes.Although this method is in the theoretical stage,we believe that it can effectively suppress the translation induced by vibrational noise and foster the creation of a stable superimposed harmonic potential.The deployment of this technique is expected to substantially improve the accuracy of quantum operations,thereby fueling the evolution of quantum technologies.展开更多
Strategic fluorination of solvent,a prominent strategy to enhance the electrolyte oxidation resistance and engineer a robust cathode-electrolyte interface,is crucial for realizing high-voltage lithium-ion batteries.Ac...Strategic fluorination of solvent,a prominent strategy to enhance the electrolyte oxidation resistance and engineer a robust cathode-electrolyte interface,is crucial for realizing high-voltage lithium-ion batteries.Actually,the adaptability of fluorinated solvents to high voltages is critically determined by the degree of fluorination and the fluorination site,yet lacks systematic design principles.Herein,we introduce a solvent screening descriptor based on ionization energy and Fukui function to assess molecular and site-specific reactivity.Computational and experimental results demonstrate that an optimal solvent with low ground-state energies and reactive sites is required as an ideal candidate for high-voltage electrolytes.Among derivatives from anisole,(trifluoromethoxy)benzene is identified as a superior candidate,enabling the formulation of a low reactivity solution(LPT)as electrolyte.Remarkably,the prepared Li‖LCO cell using LPT electrolyte maintained a high-capacity retention of 78.8%after 600 cycles at 4.5 V.In addition,the formation of an inorganic-rich interphase from LPT electrolyte effectively suppresses structural degradation to ensure a fast dynamic behavior.The utilization of LPT electrolyte also greatly reduces the amount of heat released and the production of O_(2)gas,which is favorable for addressing thermal runaway hazards.This screening strategy offers a practical approach for the design of flame-retardant high-voltage electrolytes.展开更多
Current researches have not yet found the effect law of the cutter parameters and machining parameters on the interference in gear slicing,the interference between the cutter and machined gear often happens because th...Current researches have not yet found the effect law of the cutter parameters and machining parameters on the interference in gear slicing,the interference between the cutter and machined gear often happens because the appropriate cutter parameters and machining parameters cannot be set,which reduces the gear machining accuracy.The relative position between the major flank face and edge-sweeping surface,distribution law of the interference area in forming process of edge-sweeping surface,and effect law of relative positions among edge-sweeping surfaces on the interference are studied by graphical analysis.The effect law of the cutter parameters and machining parameters on the interference is found.The effect law shows that the interference in gear slicing can be controlled when the relief angle measured on the top edge and feed of every rotation are chosen respectively larger than 9~and smaller than 0.15 mrn/r.An internal helical gear is sliced with the spur slice cutter and the cutter parameters and machining parameters are set based on above the effect law.The machined gear is measured in Gear Measuring Center and the detection result shows that the comprehensive accuracy reaches GB/T Class 7,where some reach GB/T Class 6.The result can meet the gear machining accuracy requirement and shows that the effect law found is valid.The problem of the interference in gear slicing is solved and the gear machining accuracy can be improved.展开更多
Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for bot...Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors’ previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non?redundant screws in quasi?vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two?translational and three?rotational(2T3R)5?axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthe?sized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,and 3-R(2-RPR)U.The research begins by elaborating in detail the similarities and differences among these four parallel mechanisms.By standardizing the definition of the coordinate system for each mechanism,the inverse kinematics and the Jacobian matrix of these four mechanisms are systematically derived.Employing a set of motion/force transmission indices,which are directly obtained from the Jacobian matrix,the kinematic performances of the four mechanisms are thoroughly analyzed and compared within the given workspaces while maintaining the same dimensional parameters for all cases.The comparison study of these four parallel mechanisms extends beyond local transmission indices to also include global transmission indices,covering both position and orientation workspaces,as well as assessments at both the local and global workspace levels.This comprehensive approach ensures a detailed and fair evaluation of their respective kinematic capabilities.The results indicate that the comprehensive kinematic performances of the four parallel mechanisms are similar,and providing a solid theoretical foundation for innovative design and practical guidance for selecting optimal architectures based on specific application requirements.
基金Supported by National Key R&D program of China(Grant No.2017YFB1301800)National Natural Science Foundation of China(Grant No.51622508)National Defense Basic Scientific Research program of China(Grant No.JCKY2017203B066)
文摘Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.
基金co-supported by the National Key Research and Development Program(No.2017YFE0111300)Natural Science Foundation of China(No.51575384 and No.51675369)。
文摘Hole-making for Carbon Fiber Reinforced Plastics(CFRP)/Ti-6Al-4V stacks is crucial for the assembling strength of aircraft structure parts.This work carried out experimental work for helical milling(HM)of the stacks with sustainable cooling/lubrication(dry,MQL and cryogenic)conditions.Cutting forces and temperatures at the CFRP layer,Ti-6Al-4V layer and the interface of stacks were obtained by a developed measuring system.The temperatures in CFRP machining at cryogenic condition varied from-167℃to-94℃,which were much lower than those at dry and MQL conditions.The maximum temperature near the interface of stacks for the ninth hole was higher than 240℃due to heat conduction from Ti-6Al-4V layer.The hole quality,hole diameter and tool wear mechanism at different cooling/lubrication conditions were presented and discussed.MQL condition generated mainly extrusion fracture for the fibers,due to the reduced friction effect compared with dry condition.MQL was helpful to reduce the feed mark at the hole surface of Ti-6Al-4V alloy.The flank wear of cutting edge at MQL condition was better than those at dry and cryogenic conditions.Cryogenic cooling contributed to better CFRP surface with smaller delamination and hole entrance damage due to the increased resin strength and fiber brittleness.The damage near the entrance of CFRP were analyzed by the contact state of cutting edges and fibers.Additionally,hole diameters near the exit of CFPR layer were larger than other test positions.This work provided feasible processes for improving hole quality and tool life in hole-making of CFRP/Ti-6Al-4V stacks.
基金supported by the National Natural Science Foundation of China (No. 51475321)Tianjin Research Program of Application Foundation and Advanced Technology (No. 15JCZDJC38900 and No. 16JCYBJC19300)
文摘This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory, two steps are necessary to synthesize 2-DoF RPMs except describing the continuous desired motions of the moving platform. They are respectively generation of required open-loop limbs between the fixed base and the moving platform and definition of assembly principles for these limbs. Firstly, all available displacement subgroups or submanifolds are obtained readily according to that the continuous motion of the moving platform is the intersection of those of all open-loop limbs. These subgroups or submanifolds are used to generate all the topology structures of limbs. By describing the characteristics of the displacement subgroups and submanifolds intuitively through employing simple geometrical symbols, their intersection and union operations can be carried out easily. Based on this, the assembly principles of two types are defined to synthesize all 2-DoF RPMs using obtained limbs. Finally, two novel categories of 2-DoF RPMs are provided by introducing a circular track and an articulated rotating platform,respectively. This work can lay the foundations for analysis and optimal design of 2-DoF RPMs that actuate the inter-satellite link antenna.
基金supported by the National Natural Science Foundation of China [No. 51475321]Tianjin Research Program of Application Foundation and Advanced Technology [No. 15JCZDJC38900 and 16JCYBJC19300]the International Postdoctoral Exchange Fellowship Program [No. 32 Document of OCPC, 2017]
文摘This paper deals with geometric error modeling and sensitivity analysis of an overconstrained parallel tracking mechanism. The main contribution is the consideration of overconstrained features that are usually ignored in previous research. The reciprocal property between a motion and a force is applied to tackle this problem in the framework of the screw theory. First of all, a nominal kinematic model of the parallel tracking mechanism is formulated. On this basis, the actual twist of the moving platform is computed through the superposition of the joint twist and geometric errors. The actuation and constrained wrenches of each limb are applied to exclude the joint displacement. After eliminating repeated errors brought by the multiplication of wrenches, a geometric error model of the parallel tracking mechanism is built. Furthermore,two sensitivity indices are defined to select essential geometric errors for future kinematic calibration. Finally, the geometric error model with minimum geometric errors is verified by simulation with SolidWorks software. Two typical poses of the parallel tracking mechanism are selected, and the differences between simulation and calculation results are very small. The results confirm the correctness and accuracy of the geometric error modeling method for over-constrained parallel mechanisms.
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supported by the National Natural Science Foundation of China(No.52075380)the Natural Science Foundation of Tianjin(Nos.21JCYBJC00610 and 19JCYBJC19000).
文摘The aim of the present paper is to reveal the influence of different fiber orientations on the tool wear evolution and wear mechanism. Side-milling experiments with large-diameter milling tools are conducted. A finite element(FE) cutting model of carbon fiber reinforced plastics(CFRP)is established to get insight into the cutting stress status at different wear stages. The results show that different fiber orientations bring about distinct differences in the extent, profile and mechanism of tool wear. Severer wear occurs when cutting 45° and 90° plies, followed by 0°, correspondingly,the least wear is obtained when θ = 135°(θ represents the orientation of fibers). Moreover, the worn profiles of cutting tools when θ = 0° and 45° are waterfall edge, while round edge occurs whenθ = 135° and a combined shape of waterfall and round edge is obtained when θ = 90°. The wear mechanisms under different fiber orientations are strongly dependent on the cutting stress distributions. The evolution of tool wear profile is basically consistent with the stress distribution on the tool surface at different wear stages, and the extent of tool wear is determined by the magnitude of stress on the tool surface. Besides, the worn edges produce an actual negative clearance angle,which decreases the actual cutting thickness and leads to compressing and bending failure of fibers beneath the cutting region as well as low surface qualities.
基金Supported by National Key R&D Program of China(Grant Nos.2019YFB1309800,2018YFB1304600)National Natural Science Foundation of China(Grant No.51875393)State Key Laboratory of Robotics Foundation-China(Grant No.2019-O04).
文摘Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined workspace.However,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured environments.In this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is proposed.It is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning control.Wire-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness regulation.Through finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.
基金Supported by Fundamental Research Funds for the Central Universities of China(Grant Nos.2014QNB18,2015XKMS022)National Natural Science Foundation of China(Grant No.51475456)+1 种基金Priority Academic Programme Development of Jiangsu Higher Education Institutionsthe Visiting Scholar Foundation of China Scholarship Council
文摘Based on a modified pseudo-rigid-body model,the frequency characteristics and sensitivity of the large-deformation compliant mechanism are studied.Firstly,the pseudo-rigid-body model under the static and kinetic conditions is modified to enable the modified pseudo-rigid-body model to be more suitable for the dynamic analysis of the compliant mechanism.Subsequently,based on the modified pseudo-rigid-body model,the dynamic equations of the ordinary compliant four-bar mechanism are established using the analytical mechanics.Finally,in combination with the finite element analysis software ANSYS,the frequency characteristics and sensitivity of the compliant mechanism are analyzed by taking the compliant parallel-guiding mechanism and the compliant bistable mechanism as examples.From the simulation results,the dynamic characteristics of compliant mechanism are relatively sensitive to the structure size,section parameter,and characteristic parameter of material on mechanisms.The results could provide great theoretical significance and application values for the structural optimization of compliant mechanisms,the improvement of their dynamic properties and the expansion of their application range.
基金supported by the National Key R&D Program of China,the Laoshan Laboratory Science and Technology Innovation Project (Nos.LSKJ202200200,LSKJ202202801 and LSKJ202202802)the National Natural Science Foundation of China (No.51721003)Aoshan Talent Cultivation Program (No.2017ASTCP-OE01)of the Pilot National Laboratory for Marine Science and Technology (Qingdao).
文摘Hybrid-driven Underwater Glider(HUG)is a new type of underwater vehicle which integrates the functions of an Autonomous Underwater Glider(AUG)and an Autonomous Unmanned Vehicle(AUV).Although HUG has the characteristics of long endurance distance,its maneuverability still has room to be improved.This work introduces a new movement form of the neck of the underwater creature into HUG and proposes a parallel mechanism to adjust the attitude angle and displacement of the HUG’s bow,which can improve the steering maneuverability.Firstly,the influence of bow movement and rotation on the hydrodynamic force and flow field of the whole machine is analyzed by using the Computational Fluid Dynamics(CFD)method.The degree of freedom,attitude control range and movement amount of the Movable Bow Mechanism(MBM)are obtained,and then the design of MBM is completed based on these constraints.Secondly,the kinematic and dynamic models of MBM are established based on the closed vector method and the Lagrange equation,respectively,which are fully verified by comparing the results of simulation in Matlab and Adams software,then a Radial Basis Function(RBF)neural network adaptive sliding mode controller is designed to improve the dynamic response effect of the output parameters of MBM.Finally,a prototype of MBM is manufactured and assembled.The kinematic,dynamics model and controller are verified by experiments,which provides a basis for applying MBM in HUGs.
基金supported by National Natural Science Foundation of China under Grant no.52475067.
文摘This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.
基金Supported by National Key R&D program of China(Grant No.2019YFA0709004)National Natural Science Foundation of China(Grant Nos.52325501,52175025).
文摘In the aerospace industry,double-sided friction stir welding has gradually become a crucial solid-state welding technology for rocket manufacturing.During the welding process,the welding equipment on both sides may encounter complex conditions involving unsynchronized collaborative movements.The resulting bending stress and destructive vibration affect workpiece processing quality.Therefore,this study proposes an adaptive admittance-based dual-robot collaborative forging force control method for double-sided friction stir welding.Specifically,the following steps are required:First,we analyzed the mechanism model of the hybrid robot and indirectly estimated the forging force value of friction stir welding using the Jacobian matrix of the hybrid robot.Second,an adaptive variable admittance controller was designed based on the reference admittance model with ideal stiffness.Subsequently,an adaptive variable admittance controller was applied to the dual-machine hybrid robot.By adjusting the welding trajectory and correcting the position error,the forging force was corrected,allowing adaptive tracking control of the forging force in complex environments.Finally,we conducted double-sided friction stir welding experiments to compare and verify the effectiveness of the adaptive tracking control algorithm for the forging force.
基金supported by the National Natural Science Foundation of China(No.52475067).
文摘Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.
基金supported by the National Key R&D Program of China(Grant No.2023YFB3407103)the National Natural Science Foundation of China(Grant Nos.52175242 and 52175027)Young Elite Scientists Sponsorship Program by China Association for Science and Technology(Grant No.2022QNRC001).
文摘Mesh reflector antennas are the mainstream of large space-borne antennas,and the stretching of the truss achieves their deployment.Currently,the truss is commonly designed to be a single degree of freedom(DOF)deployable mechanism with synchronization constraints.However,each deployable unit’s drive distribution and resistance load are uneven,and the forced synchronization constraints lead to the flexible deformation of rods and difficulties in the deployment scheme design.This paper introduces an asynchronous deployment scheme with a multi-DOF closed-chain deployable truss.The DOF of the truss is calculated,and the kinematic and dynamic models are established,considering the truss’s and cable net’s real-time coupling.An integrated solving algorithm for implicit differential-algebraic equations is proposed to solve the dynamic models.A prototype of a six-unit antenna was fabricated,and the experiment was carried out.The dynamic performances in synchronous and asynchronous deployment schemes are analyzed,and the results show that the cable resistance and truss kinetic energy impact under the asynchronous deployment scheme are minor,and the antenna is more straightforward to deploy.The work provides a new asynchronous deployment scheme and a universal antenna modeling method for dynamic design and performance improvement.
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘Current research on robot calibration can be roughly classified into two categories,and both of them have certain inherent limitations.Model-based methods are difficult to model and compensate the pose errors arising from configuration-dependent geometric and non-geometric source errors,whereas the accuracy of data-driven methods depends on a large amount of measurement data.Using a 5-DOF(degrees of freedom)hybrid machining robot as an exemplar,this study presents a model data-driven approach for the calibration of robotic manipulators.An f-DOF realistic robot containing various source errors is visualized as a 6-DOF fictitious robot having error-free parameters,but erroneous actuated/virtual joint motions.The calibration process essentially involves four steps:(1)formulating the linear map relating the pose error twist to the joint motion errors,(2)parameterizing the joint motion errors using second-order polynomials in terms of nominal actuated joint variables,(3)identifying the polynomial coefficients using the weighted least squares plus principal component analysis,and(4)compensating the compensable pose errors by updating the nominal actuated joint variables.The merit of this approach is that it enables compensation of the pose errors caused by configuration-dependent geometric and non-geometric source errors using finite measurement configurations.Experimental studies on a prototype machine illustrate the effectiveness of the proposed approach.
基金supported by the National Natural Science Foundation of China(Grant Nos.12204543,12004430,12074433,12174447,and 12174448)。
文摘Cryogenic ion traps offer substantial advantages over their room-temperature counterparts,particularly in terms of stable ion confinement and cooling.However,this technological advancement has introduced a significant challenge,namely the generation of additional vibrational noise.This noise is pronounced during the compression and expansion phases of the Gifford–McMahon cycle refrigerator and stems from the mechanical operation of the cold head.The residual vibrational noise can modulate the Rabi oscillation frequency,thereby compromising the fidelity of the quantum logic gate.In this study,we quantitatively assess the impact of residual vibrational noise and introduce an innovative strategy for its mitigation.This strategy was designed to reduce superimposed potential fluctuations within a cryogenic surface electrode ion trap.The measured residual vibrational noise was used for real-time feedback control.Addressing the inverse determination of the compensating potential for a stable superimposed trapping potential is an inherently ill-posed problem considering known measurement noise results.By applying quadratic programming,we numerically calculated the optimal time series for the compensation potential.An ensemble of these compensation voltages was applied in real time to the static compensation electrodes.Although this method is in the theoretical stage,we believe that it can effectively suppress the translation induced by vibrational noise and foster the creation of a stable superimposed harmonic potential.The deployment of this technique is expected to substantially improve the accuracy of quantum operations,thereby fueling the evolution of quantum technologies.
基金financial support from the National Natural Science Foundation of China(22522814,22278378,and 52402318)Zhejiang Provincial Natural Science Foundation of China(LDQ24E030001 and LQN25E020003)Science Foundation of Zhejiang Sci-Tech University(22212011-Y and 24212149-Y).
文摘Strategic fluorination of solvent,a prominent strategy to enhance the electrolyte oxidation resistance and engineer a robust cathode-electrolyte interface,is crucial for realizing high-voltage lithium-ion batteries.Actually,the adaptability of fluorinated solvents to high voltages is critically determined by the degree of fluorination and the fluorination site,yet lacks systematic design principles.Herein,we introduce a solvent screening descriptor based on ionization energy and Fukui function to assess molecular and site-specific reactivity.Computational and experimental results demonstrate that an optimal solvent with low ground-state energies and reactive sites is required as an ideal candidate for high-voltage electrolytes.Among derivatives from anisole,(trifluoromethoxy)benzene is identified as a superior candidate,enabling the formulation of a low reactivity solution(LPT)as electrolyte.Remarkably,the prepared Li‖LCO cell using LPT electrolyte maintained a high-capacity retention of 78.8%after 600 cycles at 4.5 V.In addition,the formation of an inorganic-rich interphase from LPT electrolyte effectively suppresses structural degradation to ensure a fast dynamic behavior.The utilization of LPT electrolyte also greatly reduces the amount of heat released and the production of O_(2)gas,which is favorable for addressing thermal runaway hazards.This screening strategy offers a practical approach for the design of flame-retardant high-voltage electrolytes.
基金supported by National Natural Science Foundation of China(Grant No.51175376)
文摘Current researches have not yet found the effect law of the cutter parameters and machining parameters on the interference in gear slicing,the interference between the cutter and machined gear often happens because the appropriate cutter parameters and machining parameters cannot be set,which reduces the gear machining accuracy.The relative position between the major flank face and edge-sweeping surface,distribution law of the interference area in forming process of edge-sweeping surface,and effect law of relative positions among edge-sweeping surfaces on the interference are studied by graphical analysis.The effect law of the cutter parameters and machining parameters on the interference is found.The effect law shows that the interference in gear slicing can be controlled when the relief angle measured on the top edge and feed of every rotation are chosen respectively larger than 9~and smaller than 0.15 mrn/r.An internal helical gear is sliced with the spur slice cutter and the cutter parameters and machining parameters are set based on above the effect law.The machined gear is measured in Gear Measuring Center and the detection result shows that the comprehensive accuracy reaches GB/T Class 7,where some reach GB/T Class 6.The result can meet the gear machining accuracy requirement and shows that the effect law found is valid.The problem of the interference in gear slicing is solved and the gear machining accuracy can be improved.
基金Supported by National Natural Science Foundation of China(Grant No.51675366)Tianjin Research Program of Application Foundation and Advanced Technology(Grant Nos.16JCYBJC19300,15JCZDJC38900)
文摘Unifying the models for topology design and kinematic analysis has long been a desire for the research of parallel kinematic machines(PKMs). This requires that analytical description, formulation and operation for both finite and instantaneous motions are performed by the same mathematical tool. Based upon finite and instantaneous screw theory, a unified and systematic approach for topology design and kinematic analysis of PKMs is proposed in this paper. Using the derivative mapping between finite and instantaneous screws built in the authors’ previous work, the finite and instantaneous motions of PKMs are analytically described by the simple and non?redundant screws in quasi?vector and vector forms. And topological and parametric models of PKMs are algebraically formulated and related. These related topological and parametric models are ready to do type synthesis and kinematic analysis of PKMs under the unified framework of screw theory. In order to show the validity of the proposed approach, a kind of two?translational and three?rotational(2T3R)5?axis PKMs is taken as example. Numerous new structures of the 2T3R PKMs are synthe?sized as the results of topology design, and their Jacobian matrix is obtained easily for parameter optimization and performance evaluation. Some of the synthesized PKMs have outstanding capabilities in terms of large workspaces and flexible orientations, and have great potential for industrial applications of machining and manufacture. Among them, METROM PKM is a typical example which has attracted a lot of attention from global companies and already been developed as commercial products. The approach is a general and unified approach that can be used in the innovative design of different kinds of PKMs.
