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连续变形柔性连杆鱼尾推进机构设计与运动静力分析

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机械设计与研究 2024年第3期40卷 64-69,74页

作者：刘嘉乐陈根良王皓上海交通大学上海市复杂薄板结构数字化制造重点实验室上海200240 上海交通大学机械系统与振动国家重点实验室上海200240

针对现有水下仿生推进机构结构复杂、运动生硬、柔性不足、效率较低的问题,本文提出了一种新型鱼尾结构,通过弹性板的连续变形来模拟鱼尾的体干波曲线,差动驱动产生鱼尾往复摆动。该构型由两个变截面弹性板和尾鳍刚性平台组成,通过双侧... 详细信息

针对现有水下仿生推进机构结构复杂、运动生硬、柔性不足、效率较低的问题,本文提出了一种新型鱼尾结构,通过弹性板的连续变形来模拟鱼尾的体干波曲线,差动驱动产生鱼尾往复摆动。该构型由两个变截面弹性板和尾鳍刚性平台组成,通过双侧直线驱动产生大尺度变形,在机构的末端产生类似于真实鱼类尾鳍的运动。针对该方案建立运动静力模型,用于模拟和计算不同驱动输入下尾部的位姿和驱动力,采用主轴分解法建立的协调连续变形模型,将弹性梁大变形问题转化串联机构静力学问题,进而通过梯度迭代法可以快速而准确地对运动静力模型进行求解。解析模型的建立为连续变形柔性鱼尾的运动控制提供了依据,实验验证了该方法的可行性。

关键词：仿生鱼水下推进柔性机构主轴分解法

Forward Dynamics Analysis of the 6-PUS Mechanism Based on Platform-Legs Composite Simulation

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 496-504页

作者： WANG Hao chen genliang LIN Zhongqin Key Laboratory of Auto-body Engineering in Shanghai City Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

The dynamics analysis plays an important role for the control, simulation and optimization of the parallel manipulators. Normally, the Stewart type manipulators have a platform and several legs. The inverse dynamics can be solved efficiently by taking the advantage of such structural characteristics. However, for the forward dynamics analysis, this structural decomposition still faces challenges from both modeling and computation. In this paper, an efficient approach is proposed for the forward dynamics of the 6-PUS manipulator based on the platform-legs composite simulation. By composite method, the dynamics modeling of the parallel manipulator is separated into the forward dynamics of the platform and the kineto-statics of the legs. The global simulation model can be constructed by connecting the predefined platform model and leg models according to the manipulator＇s topology. Thus, the global simulation can be decomposed into the independent calculations of purely algebraic equations and ordinary differential equations （ODEs）, the computational cost can be reduced and the stability of the simulation can be improved. For the purpose of solving the manipulator＇s forward dynamics accurately, the algebraic-loop problem is discussed and a closed form algorithm is proposed. A numerical example of the 6-PUS manipulator is given to demonstrate the effectiveness of the proposed approach. The example results show that the modeling efficiency can be improved and the simulation stability can be ensured for decomposing the system equations into purely algebraic equations and ODEs.

关键词： forward dynamics Gough-Stewart platform simulation

Optimum Selection of Mechanism Type for Heavy Manipulators Based on Particle Swarm Optimization Method

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 763-770页

作者： ZHAO Yong chen genliang WANG Hao LIN Zhongqin State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai Key Laboratory of Thin-wall Structure Manufacturing Technology Shanghai Jiao Tong University

The mechanism type plays a decisive role in the mechanical performance of robotic manipulators. Feasible mechanism types can be obtained by applying appropriate type synthesis theory, but there is still a lack of effective and efficient methods for the optimum selection among different types of mechanism candidates. This paper presents a new strategy for the purpose of optimum mechanism type selection based on the modified particle swarm optimization method. The concept of sub-swarm is introduced to represent the different mechanisms generated by the type synthesis, and a competitive mechanism is employed between the sub-swarms to reassign their population size according to the relative performances of the mechanism candidates to implement the optimization. Combining with a modular modeling approach for fast calculation of the performance index of the potential candidates, the proposed method is applied to determine the optimum mechanism type among the potential candidates for the desired manipulator. The effectiveness and efficiency of the proposed method is demonstrated through a case study on the optimum selection of mechanism type of a heavy manipulator where six feasible candidates are considered with force capability as the specific performance index. The optimization result shows that the fitness of the optimum mechanism type for the considered heavy manipulator can be up to 0.578 5. This research provides the instruction in optimum selection of mechanism types for robotic manipulators.

关键词： robot manipulators performance analysis type selection particle swarm optimization

A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu Lingyu Kong Qinchuan Li Hao Wang genliang chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE)

Energy Distribution Index for robot manipulators and its application to buffering capability evaluation

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Science China(Technological Sciences) 2011年第2期54卷 457-470页

作者： WANG Hao ZHAO Kai chen genliang LIN ZhongQin State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Shanghai Key Laboratory of Digital Autobody Engineering Shanghai Jiao Tong University Shanghai 200240 China

This paper proposes an approach to evaluate the performance of robot manipulator from the view of energy analysis. Based on the dynamics analysis of the manipulator, the Energy Distribution Index （EDI） is defined to depict the energy increment contribution of its subsystem to the whole manipulator. EDI is applied to the evaluation of the buffeting capability of the manipulator working under unpredictable and heavy external loads. A series of buffering indices, the Static Buffering Index （SBI）, Kineto-Static Buffering Index （KBI）, Dynamic Buffering Index （DBI）, and Global Buffering Index （GBI） are proposed to evaluate the buffering capability under different conditions. In order to acquire higher calculation accuracy, the general stiffness mapping of manipulators considering the actuator stiffness, inertia of the manipulator, damping, as well as elasticity of linkages is developed. Three different robot manipulators are studied as evaluation cases, in which the buffering structures are mechanism with variable topology, linear springs, and the elasticity of linkages respectively. The case studies show that the indices based on energy analysis have the advantage of coordinate free and are effective for buffering capability evaluation.

关键词： robot manipulator performance evaluation energy analysis stiffness mapping

Stability Analysis for a Planar Parallel Manipulator with the Capability of Self-Coordinating the Load Distribution

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 821-829页

作者： KONG Lingyu WANG Hao ZHANG Pu ZHAO Yong chen genliang ZHAO Longhai State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai Jiao Tong University

Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.

关键词： redundantly actuated parallel manipulator load distribution stability

A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 75-87页

作者： Zhuang Zhang genliang chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang Shanghai Key Laboratory of Digital Manufacture for Thin‑walled Structures Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China

Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,*** this paper,the authors report on the design,analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami *** main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in *** stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast,simple and straightforward *** kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links.A prototype is fabricated to conduct experiments for the assessment of the proposed *** results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.

关键词： Variable stiffness Passive compliance device Reconfigurable skeleton Origami shell

A Stiffness Variable Passive Compliance Device with Recon gurable Elastic Inner Skeleton and Origami Shell

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Chinese Journal of Mechanical Engineering 2020年第5期 85-97页

作者： Zhuang Zhang genliang chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Intelligent Robot Research Center Zhejiang Lab

Devices with variable sti ness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a sti ness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal. The sti ness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast, simple and straightforward manner. The kinetostatics and the compliance of the device are analyzed based on an e-cient approach to the large deflection problem of the elastic links. A prototype is fabricated to conduct experiments for the assessment of the proposed concept. The results show that the prototype possesses relatively low sti ness under the compliant status and high sti ness under the sti status with a status switching speed around 80 ms.

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机器人型装备在航空装配中的应用现状与研究展望

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航空学报 2022年第5期43卷 41-63页

作者：王皓陈根良上海交通大学上海市复杂薄板结构数字化制造重点实验室上海200240 上海交通大学机械系统与振动国家重点实验室上海200240

机器人型装备具有自动化程度高、运动灵活性好、定位精度高以及生产布置柔性等诸多优势,在航空产品装配工艺环节具有广泛应用。从大型部件自动化对接、机器人装配理论、人机协作互动装配、柔性自适应工装夹具、人工智能辅助装配以及自... 详细信息

机器人型装备具有自动化程度高、运动灵活性好、定位精度高以及生产布置柔性等诸多优势,在航空产品装配工艺环节具有广泛应用。从大型部件自动化对接、机器人装配理论、人机协作互动装配、柔性自适应工装夹具、人工智能辅助装配以及自动引导车等方面,综述了机器人型装备在航空产品自动化装配环节的应用现状。在此基础上,详细分析了机构构型在对接装配类装备中的演进历程与发展趋势,并从应用场景、技术成熟度以及装备性能等方面系统地比较了国内外航空工业在自动化装配领域的技术差距。最后,概括总结了航空装配中机器人型装备的技术挑战、发展趋势以及与工业4.0、智能制造等新兴技术相融合的发展机遇。

关键词：航空工业装配自动化机器人型装备人机协作人工智能