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Design of a Servo Mechanical Press with Redundant Actuation

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Chinese Journal of Mechanical Engineering 2009年第4期22卷 574-579页

作者： guo weizhong GAO Feng State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China

A servo press is a new type of mechanical press that is driven by programmable motors and offers superior performance such as low noise, excellent efficiency and high precision for metal forming operations. Similar to multi-link mechanical presses, a servo mechanical press tends to grow in size as the tonnage increases that calls for larger, heavy duty servo motors, which could be expensive and may not even be available. In this paper, a new concept of servo mechanical press with redundant actuation is proposed firstly using two servo motors driving one input shaft, i.e. one-point-two-motor mode that makes it possible to produce a larger press with available servomotors. Then the punching mechanism design is detailed. The performance indices are set up including mechanical advantage reciprocal and link force ratios. A bounded feasible solution space is constructed for dimensional synthesis based on non-dimensional link lengths and assembly conditions. The performance atlases are depicted over the bounded feasible solution space that lead to a visual solution of the punching mechanism with global optimization. Finally, case studies are given to illustrate the design method with visual global optimization, and a prototype with 200 t punching force is being developed in our laboratory to demonstrate efficacy of the new concept for servo mechanical press. The presented research provides a feasible solution to the development of heavy-duty servo mechanical presses and finds potential applications in the development of other types of heavy equipments with electric drive.

关键词： servo mechanical press redundant actuation mechanism design visual global optimization prototype

Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot

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Chinese Journal of Mechanical Engineering 2019年第4期32卷 13-25页

作者： Xiaolong Jing weizhong guo Institute of Design and Control Engineering for Heavy Equipment School of Mechanical Engineering Shanghai Jiao Tong University

Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation(EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w =[0.9,1.1], d/w =[0.5,0.6] for uniform magnetic field and h/w =[1.0,1.2], d/w =[0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots.

关键词： Micro-robot/particle Coil configuration design and optimization Electromagnetic actuation Trajectory tracking

Innovative Group-Decoupling Design of a Segment Erector Based on G_F Set Theory

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 264-274页

作者： guo Wentao guo weizhong GAO Feng MO Pinxi State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong University

The segment erector is a key part of the shield machines for tunnel engineering. The available segment erectors are all of serial configuration which is suffering from the problems of low rigidity and accumulative motion errors. The current research mainly focuses on improving assembly accuracy and control performance of serial segment erectors. An innovative design method is proposed featuring motion group-decoupling, based on which a new type of segment erector is developed and investigated. Firstly, the segment installation manipulation is analyzed and decomposed into three motion groups that are decoupled. Then the type synthesis for the 4-DOF motion group is performed based on the general function（GF） set theory and a new configuration of （1T？1R？1PS3UPS） is attained according to the segment manipulation requirements. Consequently, the kinematic models are built and the reducibility and accuracy are analyzed. The dexterity is verified though numerical simulation and no singular points appear in the workspace. Finally, a positioning experiment is carried out by using the prototype developed in the lab that demonstrates a 13.1% improvement of positioning accuracy and the feasibility of the new segment erector. The presented group-decoupling design method is able to invent new type of hybrid segment erectors that avoid the accumulative motion error of erecting.

关键词： segment erector group-decoupling design type synthesis parallel mechanism GF Set

Design of A Novel Wheel-Legged Robot with Rim Shape Changeable Wheels

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Chinese Journal of Mechanical Engineering 2023年第6期36卷 62-72页

作者： Ze Fu Hao Xu Yinghui Li weizhong guo State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough ***,most of the wheel-legged robots only have one-directional obstacle-crossing *** the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the ***’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both *** paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing *** on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized *** kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal *** show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.

关键词： Mobile platform Transformable wheel-legged robot Kinematics analysis Mechanical design Obstacle

Conceptual design and analysis of legged landers with orientation capability

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Chinese Journal of Aeronautics 2023年第3期36卷 171-183页

作者： Rongfu LIN weizhong guo Changjie ZHAO Mingda HE State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong University200240China

The lander with orientation capability is of fundamental importance for the“Returning”mission because its body can be the base with a suitable launching angle for the ascender lifting *** paper proposes the conceptual design and verification of Landers with Orientation Capability(LOCs).Firstly,the topological composition of the lander is analyzed and expressed in the form of Lie group,which provides the fundamental principle for the type synthesis of ***,the type synthesis approach for designing LOCs is proposed,which includes designing the Equivalent Parallel Mechanism(EPM)and the auxiliary *** mechanisms of LOCs with twodimensional rotational motions are obtained based on the type synthesis approach by developing and combining the EPMs and auxiliary ***,kinematics and Jacobian matrix of a typical legged lander are developed,the workspace is analyzed,singularity configurations are analyzed based on the wrench graph method,and finally,the orientation capability is *** pitch and yaw angle reach 17.5°,considering the permissible range of *** proposed types of LOCs offer potential candidate for the“Returning”mission of the exploration mission.

关键词： Legged lander Orientation analysis Orientation capability Parallel mechanism Type synthesis

Type Synthesis for 4-DOF Parallel Press Mechanism Using G_F Set Theory

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 851-859页

作者： HE Jun GAO Feng MENG Xiangdun guo weizhong State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Parallel mechanisms is used in the large capacity servo press to avoid the over-constraint of the traditional redundant actuation. Currently, the researches mainly focus on the performance analysis for some specific parallel press mechanisms. However, the type synthesis and evaluation of parallel press mechanisms is seldom studied, especially for the four degrees of freedom（DOF） press mechanisms. The type synthesis of 4-DOF parallel press mechanisms is carried out based on the generalized function（GF） set theory. Five design criteria of 4-DOF parallel press mechanisms are firstly proposed. The general procedure of type synthesis of parallel press mechanisms is obtained, which includes number synthesis, symmetrical synthesis of constraint GF sets, decomposition of motion GF sets and design of limbs. Nine combinations of constraint GF sets of 4-DOF parallel press mechanisms, ten combinations of GF sets of active limbs, and eleven combinations of GF sets of passive limbs are synthesized. Thirty-eight kinds of press mechanisms are presented and then different structures of kinematic limbs are designed. Finally, the geometrical constraint complexity（GCC）, kinematic pair complexity（KPC）, and type complexity（TC） are proposed to evaluate the press types and the optimal press type is achieved. The general methodologies of type synthesis and evaluation for parallel press mechanism are suggested.

关键词： parallel mechanism type synthesis GF Set type evaluation press mechanism

NuBot:A Magnetic Adhesion Robot with Passive Suspension to Inspect the Steel Lining

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 161-178页

作者： Hao Xu Youcheng Han Mingda He Yinghui Li weizhong guo State Key Lab of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

The steel lining of huge facilities is a significant structure,which experiences extreme environments and needs to be inspected periodically after ***,due to the complexity(crisscross welds,curved surface,etc.)of their inside environments,high demands for stable adhesion and curvature adaptability are put *** paper presents a novel wheeled magnetic adhesion robot with passive suspension applied in nuclear power containment called NuBot,and mainly focuses on the following aspects:(1)proposing the wheeled locomotion suspension to adapt the robot to the uneven surface;(2)implementing the parameter optimization of NuBot.A comprehensive optimization model is established,and global optimal dimensions are properly chosen from performance atlases;(3)determining the normalization factor and actual dimensional parameters by constraints of the steel lining environment;(4)structure design of the overall robot and the magnetic wheels are *** show that the robot can achieve precise locomotion on both strong and weak magnetic walls with various inclination angles,and can stably cross the 5 mm weld ***,its maximum payload capacity reaches 3.6 *** show that the NuBot designed by the proposed systematic method has good comprehensive capabilities of surface-adaptability,adhesion stability,and ***,the robot can be applied in more ferromagnetic environments and the design method offers guidance for similar wheeled robots with passive suspension.

关键词： Wheeled robot Passive suspension Magnetic adhesion Steel lining Design method

Space truss construction modeling based on on-orbit assembly motion feature

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Chinese Journal of Aeronautics 2024年第3期37卷 365-379页

作者： Changjie ZHAO weizhong guo Meng CHEN Jiaxing HU Youcheng HAN Rongfu LIN State Key Lab of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Institute of Aerospace System Engineering Shanghai Shanghai 201109China

More space truss construction has been planned to develop and utilize space *** trusses are designed in the way of large-scale,complex,modular,and on-orbit *** meet the upcoming challenge of large-scale space infrastructure construction,it is necessary to study space truss automation design and robotic *** paper proposes an ordinal finite screw adjacency matrix model(OFSAMM),focusing on the relationship between assembly motions,to express and compute a space truss *** this model,a space truss is abstracted as a set of ordered assembly motions,each of which is recorded as a finite screw as the basic element of the truss and its *** operation of truss transformation is also derived under this ***,the truss configuration,the assembly sequence,the truss sub-assembly,the truss components,and the on-orbit assembly task can be expressed and calculated in a unified model,which is calculated and stores the truss topology and assembly with the minimum storage *** the end of this paper,we introduce how to synthesize and optimize space truss design through two *** study will help to improve design ***,it provides a theoretical basis for the automatic construction of space truss structures,especially in the next stage.

关键词： Adjacency matrix Finite screw On-orbit construction modeling Space applications Space trusses Topology design

Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 89-109页

作者： Youcheng Han Ziyue Li Gaohan Zhu weizhong guo Jianzhong Yang Wei Liu State Key Lab of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Beijing Institute of Spacecraft System Engineering Beijing 100094China

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to *** with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force *** reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission *** reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure *** identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological ***,simulation verifies the whole task implementation process to ensure the reasonability of design.

关键词： Legged mobile lander Topology synthesis Active and passive metamorphoses Finite screw Metamorphic joint Reconfigurable mechanism