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Aquatic unmanned aerial vehicles(AquaUAV):Bionic prototypes,key technologies,analysis methods,and potential solutions

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Science China(Technological Sciences) 2023年第8期66卷 2308-2331页

作者： wang XinYang YANG XingBang ZHAO JiaWei PEI Xuan SU HaoHong wang tianmiao HOU TaoGang School of Electronic and Information Engineering Beijing Jiaotong UniversityBeijing 100044China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100083China School of Biological Science and Medical Engineering Beijing Advanced Innovation Centre for Biomedical EngineeringKey Laboratory for Biomechanics and Mechanobiology of Ministry of EducationBeihang UniversityBeijing 100083China

Some research on aircraft is largely inspired by birds.Among them,aerial-aquatic amphibians with trans-media locomotion capabilities have greatly promoted the development of aquatic unmanned aerial vehicles(Aqua UAV).In this article,the studies of Aqua UAV are sorted out by their biological counterpart and summarized in chronological order from 2005 to 2021.To further understand the key technologies of Aqua UAV,we focus on the structural compatibility design of wing and aerial-aquatic propulsion methods by analyzing their advantages and disadvantages.In addition,the analysis methods of kinematics and dynamics performance of Aqua UAV for simulation and experiment are involved in the process of studying the kinematics,lift/drag,and propulsion of prototypes.Finally,we present several challenges and propose some potential solutions to improve the ability of Aqua UAV in the future.

关键词： aquatic unmanned aerial vehicle(AquaUAV) variable wing design propulsion system computer simulation

Variable-model SMA-driven spherical robot

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Science China(Technological Sciences) 2019年第8期62卷 1401-1411页

作者： PAN Jie SHI ZhenYun wang tianmiao Robotic Laboratory Beihang University

In this paper, we introduce a bionic spherical robot. This research has been inspired by the muscular organs and modularity of organisms such as starfish and octopuses. The robot that we fabricated uses five soft feet to crawl like a starfish, and the robotic feet are driven by the shape memory alloy springs. The robotic spherical structure and the soft feet were fabricated by 3 D printing. The robotic feet were made of silicone gel;these feet could bend upward and downward to help the robot to crawl on the ground and roll down a slope. The shell separation module installed inside the robot could divide the robot into two identical modules, and this smart structure could enhance the robotic flexibility in a small space. We performed force analysis and robotic simulation, and the results verified the feasibility of the model. The robot can switch between rigidity and softness by using human control. Three types of gaits have been proposed for controlling robotic movement and improving robotic flexibility in movement;these include rolling, crawling, and avoiding obstacles. The results of this study indicate that the variable-model design of the robot is an effective way to enhance the flexibility of soft robots.

关键词： bionic robot soft animals shape memory alloy smart structure variable model

Three-dimensional Tool Radius Compensation for Multi-axis Peripheral Milling

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Chinese Journal of Mechanical Engineering 2013年第3期26卷 547-554页

作者： CHEN Youdong wang tianmiao School of Mechanical Engineering and Automation Beihang University

Few function about 3D tool radius compensation is applied to generating executable motion control commands in the existing computer numerical control (CNC) systems. Once the tool radius is changed, especially in the case of tool size changing with tool wear in machining, a new NC program has to be recreated. A generic 3D tool radius compensation method for multi-axis peripheral milling in CNC systems is presented. The offset path is calculated by offsetting the tool path along the direction of the offset vector with a given distance. The offset vector is perpendicular to both the tangent vector of the tool path and the orientation vector of the tool axis relative to the workpiece. The orientation vector equations of the tool axis relative to the workpiece are obtained through homogeneous coordinate transformation matrix and forward kinematics of generalized kinematics model of multi-axis machine tools. To avoid cutting into the corner formed by the two adjacent tool paths, the coordinates of offset path at the intersection point have been calculated according to the transition type that is determined by the angle between the two tool path tangent vectors at the corner. Through the verification by the solid cutting simulation software VERICUTwith different tool radiuses on a table-tilting type five-axis machine tool, and by the real machining experiment of machining a soup spoon on a five-axis machine tool with the developed CNC system, the effectiveness of the proposed 3D tool radius compensation method is confirmed. The proposed compensation method can be suitable for all kinds of threeto five-axis machine tools as a general form.

关键词： tool compensation multi-axis machine tool offset vector

Dynamic Bending of Bionic Flexible Body Driven by Pneumatic Artificial Muscles(PAMs) for Spinning Gait of Quadruped Robot

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Chinese Journal of Mechanical Engineering 2016年第1期29卷 11-20页

作者： LEI Jingtao YU Huangying wang tianmiao School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

关键词： quadruped robot bionic flexible body PAM spinning gait dynamics

Energy Efficiency Analysis of Quadruped Robot with Trot Gait and Combined Cycloid Foot Trajectory

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Chinese Journal of Mechanical Engineering 2014年第1期27卷 138-145页

作者： LEI Jingtao wang Feng YU Huangying wang tianmiao YUAN Peijiang School of Mechatronic Engineering and Automation Shanghai University School of Mechanical Engineering and Automation Beihang University

Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.

关键词： quadruped robot trot gait trajectory planning dynamic modeling energy efficiency

New design of a compact aero-robotic drilling end effector: An experimental analysis

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Chinese Journal of Aeronautics 2016年第4期29卷 1132-1141页

作者： Shi Zhenyun Yuan Peijiang wang Qishen Chen Dongdong wang tianmiao School of Mechanical Engineering and Automation Beihang University Beijing Institute of Aerospace Control Devices

This paper presents the development of a normal adjustment cell(NAC) in aero-robotic drilling to improve the quality of vertical drilling, by using an intelligent double-eccentric disk normal adjustment mechanism(2-EDNA), a spherical plain bearing and a floating compress module with sensors. After the surface normal vector is calculated based on the laser sensors' feedback,the 2-EDNA concept is conceived specifically to address the deviation of the spindle from the surface normal at the drilling point. Following the angle calculation, depending on the actual initial position, two precise eccentric disks(PEDs) with an identical eccentric radius are used to rotate with the appropriate angles using two high-resolution DC servomotors. The two PEDs will carry the spindle to coincide with the surface normal, keeping the vertex of the drill bit still to avoid repeated adjustment and position compensation. A series of experiments was conducted on an aeronautical drilling robot platform with a precise NAC. The effect of normal adjustment on bore diameter, drilling force, burr size, drilling heat, and tool wear was analyzed. The results validate that using the NAC in robotic drilling results in greatly improved vertical drilling quality and is attainable in terms of intelligence and accuracy.

关键词： Drilling robot Eccentric disk Normal adaptive Normal adjustment cell Surface normals

Kinematic mechanism and path planning of the Essboard

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Science China(Technological Sciences) 2013年第6期56卷 1499-1516页

作者： SU BaiQuan wang tianmiao wang JunChen KUANG ShaoLong School of Mechanical Engineering and Automation Beijing University of Aeronautics and Astronautics School of Engineering University of Tokyo

In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.

关键词：路径规划算法运动机制倾斜角度旋转半径脚踏板位置移动连铸机连接点

On the thrust performance of an ionic polymer-metal composite actuated robotic fish: Modeling and experimental investigation

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Science China(Technological Sciences) 2012年第12期55卷 3359-3369页

作者： wang tianmiao SHEN Qi WEN Li LIANG JianHong Robotic Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China Museum of Comparative Biology Harvard University26 Oxford St.CambridgeMA 02138USA

In this paper, we theoretically predict and experimentally measure the thrust efficiency of a biomimetic robotic fish, which is propelled by an ionic polymer-metal composite (IPMC) actuator. A physics-based model that consists of IPMC dynamics and hydrodynamics was proposed, and simulation was conducted. In order to test the thrust performance of the robotic fish, a novel experimental apparatus was developed for hydrodynamic experiments. Under a servo towing system, the IPMC fish swam at a self-propelled speed where external force is averagely zero. Experimental results demonstrated that the theoretical model can well predict the thrust efficiency of the robotic fish. A maximum thrust efficiency of 2.3×10 3 at 1 Hz was recorded experimentally, the maximum thrust force was 0.0253 N, recorded at 1.2 Hz, while the maximum speed was 0.021 m/s, recorded at 1.5 Hz, and a peak power of 0.36 W was recorded at 2.6 Hz. Additionally, the optimal actuation frequency for the thrust efficiency was also recorded at the maximum self-propelled speed. The present method of examining the thrust efficiency may also be applied to the studies of other types of smart material actuated underwater robots.

关键词：仿生机器鱼金属复合材料离子聚合物推力性能实验测量动力学实验建模驱动

A fuzzy PID-controlled SMA actuator for a two-DOF joint

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Chinese Journal of Aeronautics 2014年第2期27卷 453-460页

作者： Shi Zhenyun wang tianmiao Liu Da Ma Chen Yuan Xiangnan Robotic Laboratory Beihang University

Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.

关键词： Fuzzy PID control Mechanical Joint Self-sensing Shape memory alloySmart structure