检索结果-南通市图书馆

Configuration analysis of a chain-type reconfigurable modular robot inspired by normal alkane

在线全文

学校读者我要写书评

暂无评论

Science China(Technological Sciences) 2021年第6期64卷 1167-1176页

作者： FENG JingKai liu jinguo State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Normal alkane is an unbranched alkane whose structural formula is H–CH2–CH2–…–CH2–…–CH2–H,which can be regarded as a reconfigurable chain-type structure composed of–CH2–*** by normal alkane,a normal-alkane-like reconfigurable modular robot (NAR) is *** module consists of two differential gear trains mounted *** differential gear train contains two input degrees of freedom and two output degrees of *** to the genderless interface design,multiple modules can be assembled into chain-type *** the genderless interfaces and flexible degrees of freedom,NAR can be reconfigured into different dimensions of spatial *** bond matrix is used to describe the configuration,which represents the bond attitude of the adjacent connected *** addition,full interconnected geometric feature (FIGF) algorithm is proposed for non-isomorphic configuration enumeration and *** configurations with three modules are simulated and the results verify the feasibility of the ***,a prototype with three modules is fabricated and the configuration motion sequence is demonstrated.

关键词： reconfigurable modular robot chain-type normal alkane configuration enumeration non-isomorphic configuration

Survey on research and development of on-orbit active debris removal methods

在线全文

学校读者我要写书评

暂无评论

Science China(Technological Sciences) 2020年第11期63卷 2188-2210页

作者： ZHAO PengYuan liu jinguo WU ChenChen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Space debris is growing dramatically with the rapid pace of human exploration of space,which seriously threatens the safety of artificial spacecraft in ***,the active debris removal(ADR)is *** review aims to review the ADR methods and to advance related research in the *** current research and development status are clearly demonstrated by mapping knowledge domain and *** this paper,the latest research results are classified and summarized in detail from two aspects of space debris capture and *** scheme comparison and evaluation of all ADR methods are performed,and the applicable scopes of various methods are *** ADR method is scored using a cobweb evaluation model based on six *** development of ADR is discussed to promote further research interest.

关键词： space debris active debris removal on-orbit servicing space robotics capture method

Special Issue on Reconfigurable Robots

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2020年第5期33卷 1-3页

作者： jinguo liu Yuwang liu Guangbo Hao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China School of Engineering University College CorkCorkIreland

Reconfigurable robots have the characteristics that structures can be changed or *** can adapt to different environments and tasks through changing configurations or structures,which is a hot research direction in recent *** researches has not yet formed a complete theoretical method system of reconfigurable ***,exploring new design theories,key technologies and typical applications is an effective way to promote the rapid development of this field.

关键词： Reconfigurable environments robots

Review of in-space assembly technologies

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2021年第11期34卷 21-47页

作者： Zhihui XUE jinguo liu Chenchen WU Yuchuang TONG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

With the rapid development of space technology and the increasing demand for space missions,the traditional spacecraft manufacturing,deployment and launch methods have been unable to meet existing ***-space assembly(ISA)technologies can effectively adapt to the assembly of large space structures,improve spacecraft performance,and reduce operating *** this paper,the development and technologies for ISA are *** is classified from multiple angles,and the research status of ISA is shown clearly through the visual mapping knowledge *** the development status of autonomous robot assembly in the United States,Europe,Japan,Canada and China is ***,the key technologies of ISA are analyzed from three aspects:assembly structure design,robot technologies and integrated management *** technologies are still facing major challenges and need to be further explored to promote future ***,future development trends and potential applications of ISA are given,which show that ISA will play a vital role in human space exploration in the future.

关键词： In-situ resource utilization In-space assembly Modular On-orbit servicing Space robots

Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2020年第5期33卷 101-119页

作者： Li Chen Ying Ma Yu Zhang jinguo liu School of Air Transportation Shanghai University of Engineering ScienceShanghai 201620China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China School of Aeronautics and Astronautics Shanghai Jiao Tong UniversityShanghai 200240China

A super redundant serpentine manipulator has slender structure and multiple degrees of *** can travel through narrow spaces and move in complex *** manipulator is composed of many modules that can form different lengths of robot arms for different application *** increase in degrees of freedom causes the inverse kinematics of redundant manipulator to be typical and immensely increases the calculation load in the joint *** paper presents an integrated optimization method to solve the path planning for obstacle avoidance and discrete trajectory tracking of a super redundant *** this integrated optimization,path planning is established on a Bezier curve,and particle swarm optimization is adopted to adjust the control points of the Bezier curve with the kinematic constraints of manipulator.A feasible obstacle avoidance path is obtained along with a discrete trajectory tracking by using a follow-the-leader *** relative distance between each two discrete path points is limited to reduce the fitting error of the connecting rigid links to the smooth *** results show that this integrated optimization method can rapidly search for the appropriate trajectory to guide the manipulator in obtaining the target while achieving obstacle avoidance and meeting joint *** proposed algorithm is suitable for 3D space obstacle avoidance and multitarget path tracking.

关键词： Super redundant manipulator Multi target tracking Follow-the-leader Obstacle avoidance Bezier curve PSO

A flat-foldable equiangular spiral folding pattern inspired by sunflowers for deployable structures

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2024年第6期37卷 425-438页

作者： Shuangqing YU jinguo liu Pengyuan ZHAO Yingying TANG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable ***,flasher origami cannot be folded fully flat,and they still have great potential for optimization in terms of storage volume and folding *** this paper,a flat foldable equiangular spiral folding pattern inspired by the sunflower disk is ***,a parametric design method for this equiangular spiral crease diagram is introduced in ***,a kinematic model of the equiangular spiral folding pattern is established based on the kinematic equivalence between rigid origami and spherical linkages.A simulation of the developed model demonstrates that the equiangular spiral folding pattern can be folded *** the folded ratio as an evaluation index,the calculated results and experiments show that the equiangular spiral crease pattern can yield fewer creases and improve stowage efficiency in comparison to flasher origami *** spiral folding pattern can save a considerable amount of space and provide a new approach to spatially deployable structures.

关键词： Flasher origami Sunflower-inspired Deployable structures Flat-foldability Equiangular spiral folding pattern

Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

在线全文

学校读者我要写书评

暂无评论

Science China(Technological Sciences) 2024年第6期67卷 1798-1816页

作者： XING FangYi XU Cheng liu jinguo XUE ZhiHui State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110158China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China

Aromatic hydrocarbons generally refer to compounds containing benzene *** types of isomers can be formed by replacing hydrogen atoms on the benzene *** this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is *** robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the *** system primarily consists of two stages:a remote guidance stage and a precise docking *** the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with *** the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to *** this process,a Kalman filter is used to reduce target occlusion and jitter *** addition,the docking system feasibility is verified via several simulation *** module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the *** the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.

关键词： modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification

Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2019年第2期32卷 513-530页

作者： Zhiyu NI jinguo liu Zhigang WU Xinhui SHEN State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Structural Analysis for Industrial Equipment School of Aeronautics and AstronauticsDalian University of Technology

The on-orbit parameter identification of a space structure can be used for the modification of a system dynamics model and controller coefficients. This study focuses on the estimation of a system state-space model for a two-link space manipulator in the procedure of capturing an unknown object, and a recursive tracking approach based on the recursive predictor-based subspace identification(RPBSID) algorithm is proposed to identify the manipulator payload mass parameter. Structural rigid motion and elastic vibration are separated, and the dynamics model of the space manipulator is linearized at an arbitrary working point(i.e., a certain manipulator configuration).The state-space model is determined by using the RPBSID algorithm and matrix transformation. In addition, utilizing the identified system state-space model, the manipulator payload mass parameter is estimated by extracting the corresponding block matrix. In numerical simulations, the presented parameter identification method is implemented and compared with the classical algebraic algorithm and the recursive least squares method for different payload masses and manipulator configurations. Numerical results illustrate that the system state-space model and payload mass parameter of the two-link flexible space manipulator are effectively identified by the recursive subspace tracking method.

关键词： Flexible space manipulator Linearization Parameter identification State-space model Subspace methods

Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

在线全文

学校读者我要写书评

暂无评论

Frontiers of Mechanical Engineering 2021年第1期16卷 32-45页

作者： Yuwang liu Dongqi WANG Shangkui YANG jinguo liu Guangbo HAO State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Engineering-Electrical and Electronic Engineering University College CorkCorkIreland

Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased *** passive variable stiffness joints rely mainly on sensors and special control algorithms,resulting in a bandwidth-limited response speed of the *** propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot *** new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical *** variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload,and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human *** response speed is high because sensors and control algorithms are not *** variable stiffness principle is explained,and the design of the variable stiffness mechanism is analyzed.A prototype is fabricated,and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism stiffness self-regulation bionic robot modeling