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Multimode Design and Analysis of an Integrated Leg-Arm Quadruped Robot with Deployable Characteristics

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 41-61页

作者： Fuqun Zhao Yifan Wu Xinhua Yang xilun ding Kun Xu Sheng Guo Xiaodong Jin School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China

To improve locomotion and operation integration, this paper presents an integrated leg-arm quadruped robot(ILQR) that has a reconfigurable joint. First, the reconfigurable joint is designed and assembled at the end of the legarm chain. When the robot performs a task, reconfigurable configuration and mode switching can be achieved using this joint. In contrast from traditional quadruped robots, this robot can stack in a designated area to optimize the occupied volume in a nonworking state. Kinematics modeling and dynamics modeling are established to evaluate the mechanical properties for multiple modes. All working modes of the robot are classified, which can be defined as deployable mode, locomotion mode and operation mode. Based on the stability margin and mechanical modeling, switching analysis and evaluation between each mode is carried out. Finally, the prototype experimental results verify the function realization and switching stability of multimode and provide a design method to integrate and perform multimode for quadruped robots with deployable characteristics.

关键词： Quadruped robot Multimode design Mode switching Locomotion Operation

Lift system optimization for hover-capable flapping wing micro air vehicle

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Frontiers of Mechanical Engineering 2024年第3期19卷 61-75页

作者： Shengjie XIAO Yongqi SHI Zemin WANG Zhe NI Yuhang ZHENG Huichao DENG xilun ding Department of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China Shenzhen International Graduate School Tsinghua UniversityShenzhen 518055China

A key challenge is using bionic mechanisms to enhance aerodynamic performance of hover-capable flapping wing micro air vehicle(FWMAV).This paper presented a new lift system with high lift and aerodynamic efficiency,which use a hummingbird as a bionic *** new lift system is able to effectively utilize the high lift mechanism of hummingbirds,and this study innovatively utilizes elastic energy storage elements and installs them at the wing root to help improve aerodynamic performance.A flapping angle of 154°is achieved through the optimization of the flapping mechanism *** optimized wing shape and parameters are obtained through experimental studies on the ***,the max net lift generated is 17.6%of the flapping wing vehicle’s ***,energy is stored and released periodically during the flapping cycle,by imitating the musculoskeletal system at the wing roots of hummingbirds,thereby improving the energy utilization rate of the FWMAV and reducing power consumption by 4.5%under the same ***,strength verification and modal analyses are conducted on the flapping mechanism,and the weight of the flapping mechanism is reduced through the analysis and testing of different *** results show that the lift system can generate a stable lift of 31.98 g with a wingspan of 175 mm,while the lift system weighs only 10.5 g,providing aerodynamic conditions suitable for high maneuverability flight of FWMAVs.

关键词： lift optimization flapping wing elastic energy hovering flapping mechanism

A novel stiffness optimization model of space telescopic boom based on locking mechanism

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Frontiers of Mechanical Engineering 2024年第3期19卷 41-59页

作者： Kun XU Xinghan ZHUANG Zhou SU Qiuhong LIN Shouzhi REN Hang XIAO xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Beijing Institute of Spacecraft System Engineering Beijing 100094China

The deployable telescopic boom,whose mass and stiffness play crucial roles,is extensively used in the design of space-deployable ***,the most existing optimal design that neglects the influence of the locking mechanisms in boom joints cannot raise the whole stiffness while reducing the boom *** tackle this challenge,a novel optimization model,which utilizes the arrangement of the locking mechanisms to achieve synchronous improvement of the stiffness and mass,is *** proposed optimization model incorporates a novel joint stiffness model developed based on an equivalent parallel mechanism that enables the consideration of multiple internal stiffness factors of the locking mechanisms and tubes,resulting in more accurate representations of the joint stiffness *** analysis shows that the proposed stiffness model achieves more than at least 11% improved accuracy compared with existing ***,case verification shows that the proposed optimization model can improve stiffness while effectively reducing mass,and it is applied in boom optimization design.

关键词： deployable telescopic boom locking mechanism stiffness model clearance error optimization model

Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 83-99页

作者： Yibo Han Hongtao Ma Yapeng Wang Di Shi Yanggang Feng Xianzhong Li Yanjun Shi xilun ding Wuxiang Zhang School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Beihang Goer(WeiFang)Intelligent Robot Co. Ltd.Beihang UniversityWeifangChina Research Center of Satellite Technology Harbin Institute of TechnologyHarbinChina Beijing Xinfeng Aerospace Equipment Co. LtdBeijingChina

The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial *** modeling errors of the exoskeleton in different application scenarios pose challenges to the robustness and stability of its control *** Radial Basis Function(RBF)neural network is used widely to compensate for modeling *** order to solve the problem that the current RBF neural network controllers cannot guarantee the asymptotic stability,a neural network robust control algorithm based on computed torque method is proposed in this paper,focusing on trajectory *** innovatively incorporates the robust adaptive term while introducing the RBF neural network term,improving the compensation ability for modeling *** stability of the algorithm is proved by Lyapunov method,and the effectiveness of the robust adaptive term is verified by the *** wearing the exoskeleton under different walking speeds and scenarios were carried out,and the results show that the absolute value of tracking errors of the hip and knee joints of the exoskeleton are consistently less than 1.5°and 2.5°,*** proposed control algorithm effectively compensates for modeling errors and exhibits high robustness.

关键词： Lower limb exoskeleton Model compensation RBF neural network Computed torque method

Dynamics modeling and error analysis for antenna pointing mechanisms with frictional spatial revolute joints on SE(3)

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Chinese Journal of Aeronautics 2022年第8期35卷 265-279页

作者： Long LI Shengnan LYU xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100083China

This paper presents a non-smooth multibody dynamic formulation and error analysis of an antenna pointing mechanism including frictional spatial revolute joints(FSRJs)with small clearance in the framework of the special Euclidian group SE(3).The formulation leads to an inertial frame-invariant,a compact and unified description for rigid bodies and spatial revolute joints(SRJs).The geometric constraint of the bearing is covered by four open semi-cylinders,which can be treated as bilateral constraints assuming that the impact effects are *** frictional contact problem is formulated as a horizontal linear complementary problem(HLCP),which is embedded in the Lie-group integration *** of the antenna pointing mechanism is modeled by means of the adjoint transformation and POE-based *** evolution of errors is obtained through the solution of non-smooth *** obtained numerical results illustrate the influences of FSRJs in dynamics modeling and error analysis of the antenna pointing mechanism.

关键词： LCP Lie-group integration Mechanism error analysis Non-smooth dynamics Spatial revolute joints

Learning from biological attachment devices:applications of bioinspired reversible adhesive methods in robotics

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Frontiers of Mechanical Engineering 2022年第3期17卷 1-33页

作者： Kun XU Peijin ZI xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing100191China

Many organisms have attachment organs with excellent functions,such as adhesion,clinging,and grasping,as a result of biological evolution to adapt to complex living *** nanoscale to macroscale,each type of adhesive organ has its own underlying *** biological adhesive mechanisms have been studied and can be incorporated into robot *** paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in *** study discussed how biological adhesive methods,such as dry adhesion,wet adhesion,mechanical adhesion,and sub-ambient pressure adhesion,progress in *** morphology of typical adhesive organs,as well as the corresponding attachment models,is *** current state of bioinspired attachment device design and fabrication is ***,the design principles of attachment devices are summarized in this *** following section provides a systematic overview of climbing robots with bioinspired attachment ***,the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

关键词： adhesion bioinspired attachment biomimetic gripper climbing robot

Adaptive gait planning for quadruped robot based on center of inertia over rough terrain

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Biomimetic Intelligence & Robotics 2022年第1期2卷 29-36页

作者： Jiawei Chen Kun Xu xilun ding School of Mechanical Engineering and Automatior Beihang UniversiyBejing 100191China

Controlling the quadruped robot for walking on a rough terrain without any visual perception is a great challenge. In the present study, a simple measuring method is proposed for obtaining the total force applied on the center of inertia of the quadruped robot with force sensing information in the static gait. Based on the zero moment point stable criterion, an extended criterion on the virtual supporting plane is presented to guarantee the stable walking of the quadruped robot. Moreover, an adaptive omnidirectional gait planning is developed for the quadruped robot applying the extended zero moment point on the center of inertia to obtain the stable criterion over rough terrain. It is found that when the proposed gait planning is applied on the quadruped robot, unknown surroundings successfully adapted without establishing the huge height map. Experiments are carried out to investigate walking of the quadruped robot at three different conditions, including the flat, rough terrain, and rough slope. It is concluded that the proposed method has reasonable performance in the studies case.

关键词： Legged locomotion Force control Center of inertia

Bionic Design and Analysis of a Novel Quadruped Robot with a Multistage Buffer System

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 56-76页

作者： Yi Zheng Kun Xu Yaobin Tian Huichao Deng xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Large quadruped mammals,such as ruminants,have outstanding motion ability,including running and *** advanced motion abilities are related to the buffer effect of their complicated musculoskeletal ***,the buffer effect of most bio-robots is not satisfactory owing to the simple design of their buffer *** this paper,a physiological analysis of the ruminant musculoskeletal system is presented to explain the intrinsic buffer mechanism of *** on the physical buffer parts of the ruminant limbs,the corresponding bionic mappings were *** mappings were used to guide the mechanism design of the robot multistage buffer *** multistage buffer system includes two main buffer mechanisms:the first stage and the second *** buffer mechanism analysis of the first stage and multiple stages is discussed in theory to compare the effects between the normal single buffer system and the novel multistage buffer ***,the detailed mechanical structure of the limbs was designed based on the limb mechanism *** further verify the superior efficacy of the multistage buffer system,the corresponding walking simulation experiments were conducted after the virtual prototype of a quadruped robot with a novel limb was built *** theoretical analysis and simulation experiments prove that the bionic robot design with the novel multistage buffer system achieves better motion performance than the traditional robot buffer design and can be regarded as the design template of the robot limb.

关键词： Ruminant musculoskeletal system Bioinspired multistage buffer system Mechanism design Robotics Quadruped robot

Different manipulation mode analysis of a radial symmetrical hexapod robot with leg-arm integration

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Frontiers of Mechanical Engineering 2022年第1期17卷 50-69页

作者： Yi ZHENG Kun XU Yaobin TIAN xilun ding School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

With the widespread application of legged robot in various fields,the demand for a robot with high locomotion and manipulation ability is *** an extra arm is a useful but general method for a legged robot to obtain manipulation ***,this paper proposes a novel hexapod robot with two integrated leg–arm limbs that obtain dexterous manipulation functions besides locomotion ability without adding an extra *** manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation *** former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing *** the fixed coordinated clamping case,the degrees of freedom(DOFs)analysis of equivalent parallel mechanism by using screw theory and the constraint equation of two integrated limbs are *** the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing *** addition,the constraint analysis of two adjacent integrated limbs is ***,mobile manipulation with one integrated leg–arm limb while using pentapod gait is discussed as the single-limb manipulation condition,including gait switching analysis between hexapod gait and pentapod gait,different pentapod gaits analysis,and a complex six-DOF manipulation while *** experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod *** robot provides a new approach to building a multifunctional locomotion platform.

关键词： leg-arm integration hexapod robot fixed coordinated manipulation mobile manipulation