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Dynamic Analysis and Parametric Optimization of Telescopic Tubular Mast Applied on Solar Sail

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Chinese Journal of Mechanical Engineering 2023年第2期36卷 279-290页

作者： Chenyang Ji jinguo liu Chenchen Wu Pengyuan Zhao Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China University of Chinese Academy of Sciences Beijing 100049China

Large-scale solar sails can provide power to spacecraft for deep space exploration.A new type of telescopic tubular mast(TTM)driven by a bistable carbon fiber-reinforced polymer tube was designed in this study to solve the problem of contact between the sail membrane and the spacecraft under light *** with the traditional TTM,it has a small size,light weight,high extension ratio,and simple *** anti-blossoming and self-unlocking structure of the proposed TTM was *** aimed to simplify the TTM with a complex structure into a beam model with equal linear mass density,and the simulation results showed good *** dynamic equation was derived based on the equivalent model,and the effects of different factors on the vibration characteristics of the TTM were *** performance parameters were optimized based on a multiobjective genetic algorithm,and prototype production and load experiments were *** results show that the advantages of the new TTM can complete the deployment of large-scale solar sails,which is valuable for future deep space exploration.

关键词： Telescopic tubular mast Solar sail Genetic algorithm Modal analysis Optimization

Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao jinguo liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

ANALYSIS OF TIPOVER STABILITY FOR NOVEL SHAPE SHIFTING MODULAR ROBOT

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 181-186页

作者： liu jinguo WANG Yuechao MA Shugen LI Bin Robotics Laboratory Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016 China Department of Systems Engineering Ibaraki UniversityIbaraki 316-8511 Japan Robotics Laboratory Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 China

A novel three-module robot has been introduced. It can change its configuration to adapt to the uneven terrain and to improve its tipover stability. This three-module tracked robot has three kinds of symmetry configuration. They are line type, triangle type, and row type. After the factors and the countermeasures of mobile robot＇s tipover problem are analyzed, stability pyramid and tipover stabil-ity index are proposed to globally determinate the mobile robot＇s static stability and dynamic stability. The shape shifting robot is tested by this technique under the combined disturbance of pitch, roll and yaw in simulation. The simulation result shows that this technique is effective for the analysis of mobile robot＇s tipover stability, especially for the reconfigurable or shape shifting modular robot. Experiments on three symmetry configurations are made under unstructured environments. The environment experiment shows the same result as that of the simulation that the triangle type configuration has the best stability. Both simulation and experiment provide a valid reference for the reconfigurable robot＇s potential application.

关键词： Reconfigurable modular robot Shape shifting robot Stability pyramid Tipover stability index Unstructured environment

Comments on “Sidewinding with Minimal Slip: Snake and Robot Ascent of Sandy Slopes”

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机器人 2015年第2期37卷 254-256页

作者： liu jinguo GAO Yang WANG Yuechao MA Shugen LUO Yifan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences STAR Lab Surrey Space Centre University of Surrey Department of Robotics College of Science and Engineering Ritsumeikan University

Marvi et al(Science,2014,vol.346,p.224)concluded a sidewinder rattlesnake increases the body contact length with the sand when granular incline angle *** also claimed the same principle should work on robotic snake *** have evidence to prove that this conclusion is only partial in describing the snake body-sand *** should be three phases that fully represent the snake locomotion behaviors during ascent of sandy slopes,namely lifting,descending,and *** snake body-sand interaction during the descending and ceasing phases helps with the climbing while such interaction during the lifting phase in fact contributes resistance.

关键词：机器人设计工业机器人应用

Kinematics analysis of a robotic rock grinder

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Chinese Science Bulletin 2007年第23期52卷 3299-3304页

作者： liu jinguo WANG YueChao LI Bin MA ShuGen Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation Shenyang 110016 China Graduate School of Chinese Academy of Sciences Beijing 100039 China COE Research Institute Ritsumeikan University Shiga-ken 525-8577 Japan

With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geolo- gist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding sys- tem. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abra- sion experiments have been made to testify the feasibility and the basic function of this system.

关键词：岩石机器人研磨技术行星粉碎机

Network-based reconfiguration routes for a self-reconfigurable robot

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Science in China(Series F) 2008年第10期51卷 1532-1546页

作者： liu jinguo MA ShuGen WANG YueChao LI Bin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate-School of Chinese Academy of Sciences Bejing 100039 China Department of Robotics Faculty of Science and Engineering Ritsumeikan University Shiga-ken 525- 8577 Japan

This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named ＂AMOEBA-I＂ has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots＇ configuration control and reconfiguration planning.

关键词： self-reconfigurable robot modular robot reconfiguration route network-based reconfiguration configuration network

A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao liu jinguo JU ZhaoJie LENG YuQuan YANG ChenGuang 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 School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

Foldable Units and Wing Expansion of the Oakleaf Butterfly During Eclosion

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Journal of Bionic Engineering 2022年第3期19卷 724-736页

作者： Jinwen Zhang Xiaoming Chen Qin Lu jinguo liu Xiaofei Ling Weiwei Wang Pengfei liu Hang Chen Research Institute of Resource Insects Chinese Academy of ForestryKunming650224China Nanjing Forestry University Nanjing210037China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation(SIA)Liaoning110169China

Eclosion is a rapid process of morphological changes in insects,especially for the wings of *** orange oakleaf butterfly(Kallima inachus)transits from pupae to adults with a 9.3 fold instant increase in the surface area of their *** explore the mechanism for the rapid morphological changes in butterfly wings,we analyzed changes in microstructures in the wings of *** found that there were lots of micron-sized foldable units in the wings at the pupal *** foldable units could provide as much as 31.35 times of increase in wing surface *** eclosion,foldable units were flattened sequentially and resulted in a rapid increase in wing surface *** unfolding process was regulated by the structures and layouts of wing *** on our observation,foldable units play important roles in both deformation and stretching of *** foldable units of microstructures may provide mimics for simulating entities of large-deformational bionic structures with practical application.

关键词： Eclosion Foldable units Reserve surface area Wing spreading power

Advances in Space Robots

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Space(Science & Technology) 2022年第1期2022卷 83-84页

作者： Zhihong Jiang jinguo liu Yiwei liu Hui Li Beijing Institute of Technology BeijingChina Shenyang Institute of Automation Chinese Academy of SciencesChina Harbin Institute of Technology HarbinChina

*** Text Space robots are a type of specialized robots that assist and replace humans in conducting scientific experiments,external vehicular activities,space exploration,and other activities in *** robots are gradually changing traditional modes of space transportation,on-orbit construction,on-orbit maintenance,and planetary *** is one of the important enabling means for future unmanned and manned space *** development of space robots presents the design,fabrication,and control challenges,as such devices will operate in space where the environment differs greatly from Earth.

关键词： replace specialized Earth