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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 increasing.Adding an extra arm is a useful but general method for a legged robot to obtain manipulation ability.Hence,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 arm.The manipulation modes can be divided into coordinated manipulation condition and single-limb manipulation condition.The former condition mainly includes fixed coordinated clamping case and fixed coordinated shearing case.For 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 established.For the fixed coordinated shearing case,the coordinated working space is determined,and an ideal coordinated manipulation ball is presented to guide the coordinated shearing task.In addition,the constraint analysis of two adjacent integrated limbs is performed.Then,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 walking.Corresponding experiments are implemented,including clamping tasks with two integrated limbs,coordinated shearing task by using two integrated limbs,and mobile manipulation with pentapod gait.This robot provides a new approach to building a multifunctional locomotion platform.

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

Design and locomotion analysis of two kinds of rolling expandable mobile linkages with a single degree of freedom

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Frontiers of Mechanical Engineering 2020年第3期15卷 365-373页

作者： Yanlin HAO yaobin tian Jianxu WU Yezhuo LI Yan-An YAO School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China

This study presents two kinds of rolling robots that are able to roll by deforming their outer shapes with a single degree of freedom.Each robot is an essential multi-loop planar expandable linkage constructed by a concave outer loop and several inner parallelogram loops.In this study,the mechanical design of the robots is introduced.Dynamic rolling process is further analyzed on the basis of zero moment point method,and a morphing strategy is proposed to guarantee a stable dynamic rolling process.A novel passive rolling locomotion is also developed,which enables the robots to roll and stand on a slope.To verify the design,two prototypes are manufactured,wherein the dynamic and passive rolling locomotion are carried out.

关键词： rolling locomotion expandable mechanism mechanism design zero moment point(ZMP)analysis

Biped Robot with Triangle Configuration

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Chinese Journal of Mechanical Engineering 2012年第1期25卷 20-28页

作者： LIU Changhuan YAO Yan’an tian yaobin School of Mechanical and Electronic Control Engineering Beijing Jiaotong UniversityBeijing 100044China

A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.

关键词： biped robot closed chain mechanism gait analysis triangle configuration

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双模式双三角锥滚动机构设计与运动分析

哈尔滨工业大学学报 2014年第5期46卷 73-80页

作者：李晔卓田耀斌姚燕安北京交通大学机械与电子控制工程学院北京100044

基于3-RSR并联机构,应用平行四边形机构缩放技术提出一种双模式双三角锥滚动机构.该机构在一般位置状态和奇异位置状态分别具有折叠模式和移动模式.在折叠模式下,仅通过一个自由度即可完成折叠功能,用以减少其存放或运输时所占的空间,... 详细信息

基于3-RSR并联机构,应用平行四边形机构缩放技术提出一种双模式双三角锥滚动机构.该机构在一般位置状态和奇异位置状态分别具有折叠模式和移动模式.在折叠模式下,仅通过一个自由度即可完成折叠功能,用以减少其存放或运输时所占的空间,同时为其提供隐蔽能力;在移动模式下,机构展开且处于奇异位置,通过3个自由度来进行移动和转向.对自由度及其变化原因进行分析,规划了驱动配置方案.计算缩放比,根据机构的运动方式,规划了滚动步态并进行运动仿真.制作了一台样机,验证了机构变形方式与滚动功能的可行性.

关键词：折叠机构奇异位置双三角锥滚动机构

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可折叠双三角锥滚动机构

机械工程学报 2014年第11期50卷 68-79页

作者：李晔卓田耀斌姚燕安北京交通大学机械与电子控制工程学院北京100044

提出一种新概念的滚动机构,可通过折叠机构的变形,在展开状态下的双三角锥和折叠状态下的椭球体两种外部形态之间进行转换,并相应具有两种滚动模式。在双三角锥形态下,机构通过外形的变化实现滚动,并以偏心质量块驱动方式进行转向的控制... 详细信息

提出一种新概念的滚动机构,可通过折叠机构的变形,在展开状态下的双三角锥和折叠状态下的椭球体两种外部形态之间进行转换,并相应具有两种滚动模式。在双三角锥形态下,机构通过外形的变化实现滚动,并以偏心质量块驱动方式进行转向的控制;在椭球体形态下,机构运用偏心质量块驱动方式进行直线方向上的滚动。在机构设计上,折叠机构通过1个自由度实现了移动功能的同时减少了存放时所需的空间。通过自由度分析,机构需要三个驱动电动机来实现其所具有的功能。以运动学计算为基础分析双三角锥形态下的翻滚条件并规划滚动步态。建立仿真模型,验证该机构能够完成折叠/展开的动作,并能够按照步态规划进行滚动。制作一台样机,对其进行折叠/展开方式与滚动功能的可行性验证,实现了预期的结果。

关键词：折叠机构双三角锥滚动机构

Space advanced technology demonstration satellite

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Science China(Technological Sciences) 2024年第1期67卷 240-258页

作者： ZHANG XiaoFeng CHEN Wen ZHU XiaoCheng MENG Na HE JunWang BI XingZi ZHANG YongHe SHI Qi LI Fei LIU Rui FENG ZhengGong LIU Liu LI JinSong WU HaiChen XU DongXiao LI TaiJie HUANG JiangJiang LIU Shuo LI tianTong YU XianSheng GAO Yang ZHOU Heng BAN HanYu ZHANG YanLi ZHANG YueTing YANG YingQuan HE Tao DUAN XuLiang CHEN Xin WANG YaMin SUN AnTai ZHANG KuoXiang SUN Ying WANG yaobin FAN ChengCheng XIONG ShaoLin LI XinQiao WEN XiangYang LING ZhiXing SUN XiaoJin ZHANG Chen BAI XianYong WANG ZhanShan DENG YuanYong tian Hui YANG JianFeng XUE HongBo SANG Peng LIU JinGuo ZHENG HuiLong ZHU Xiang HE JianWu LI Hui XU LuXiang XU ShuYan CHEN WenWu LIU ZhenDong WANG ZhaoLi MAO XiangLong GAO Rong LI ZongXuan DING GuoPeng WANG XinYu DOU RunJiang WENG LuBin LUO Hao WANG YaPing LIANG XianFeng FANG ZiRuo Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 201203China Institute of High Energy Physics Chinese Academy of SciencesBeijing 100049China National Astronomical Observatory of China Beijing 100101China Shanghai Institute of Technical Physics Chinese Academy of SciencesShanghai 200083China Institute of Precision Optical Engineering School of Physics Science and EngineeringTongji UniversityShanghai 200092China School of Earth and Space Sciences Peking UniversityBeijing 100871China Xi’an Institute of Optics and Precision Mechanics Chinese Academy of SciencesXi’an 710119China National Space Science Center Chinese Academy of SciencesBeijing 100190China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China Institute of Engineering Thermophysics Chinese Academy of SciencesBeijing 100190China Institute of Mechanics Chinese Academy of SciencesBeijing 100190China Shanghai Institute of Organic Chemistry Chinese Academy of SciencesShanghai 200032China Hangzhou Institute for Advanced Study University of Chinese Academy of SciencesHangzhou 310024China Nanyang Technological University Singapore 569830Singapore Dalian Institute of Chemical Physics Chinese Academy of SciencesDalian 116023China Technical Institute of Physics and Chemistry Chinese Academy of SciencesBeijing 100049China Changchun Institute of Optics Fine Mechanics and PhysicsChinese Academy of SciencesChangchun 130033China Institute of Semiconductors Chinese Academy of SciencesBeijing 100083China Institute of Automation Chinese Academy of SciencesBeijing 100190China School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310058China

The Space Advanced Technology demonstration satellite(SATech-01),a mission for low-cost space science and new technology experiments,organized by Chinese Academy of Sciences(CAS),was successfully launched into a Sun-synchronous orbit at an altitude of~500 km on July 27,2022,from the Jiuquan Satellite Launch Centre.Serving as an experimental platform for space science exploration and the demonstration of advanced common technologies in orbit,SATech-01 is equipped with 16 experimental payloads,including the solar upper transition region imager(SUTRI),the lobster eye imager for astronomy(LEIA),the high energy burst searcher(HEBS),and a High Precision Magnetic Field Measurement System based on a CPT Magnetometer(CPT).It also incorporates an imager with freeform optics,an integrated thermal imaging sensor,and a multi-functional integrated imager,etc.This paper provides an overview of SATech-01,including a technical description of the satellite and its scientific payloads,along with their on-orbit performance.

关键词： SATech-01 spacecraft design scientific instruments on-orbit performance

Synhelminthosporium gen.et sp.nov.and Two New Species of Helminthosporium(Massarinaceae,Pleosporales) from Sichuan Province,China

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Synhelminthosporium gen.et sp.nov.and Two New Species of Hel...

重复拇指畸形矫正术后继发偏斜畸形的临床研究

中国菌物学会2023年学术年会

作者： Yanpeng Chen Wenhui tian yaobin Guo Hugo Madrid Sajeewa S.N.Maharachchikumbura School of Life Science and Technology Center for Informational BiologyUniversity of Electronic Science and Technology of China Departamento de Tecnología Médica Facultad de Ciencias de la SaludUniversidad de TarapacáSede Iquique

Helminthosporium is a polyphyletic genus in Massarinaceae(Pleosporales).Species of Helminthosporium are characterized by having septate and erect conidiophores,acro-pleurogenous and distoseptate conidia with a ring-shaped scar at the base.During a survey of fungal diversity in Sichuan Province,China,six Helminthosporium-like isolates were collected from dead branches of unknown trees.Five barcodes,including ITS(ITS1-5.8S-ITS2),SSU,LSU,TEF1,and RPB2 were amplified and sequenced.Morphological examination and multi-locus phylogenetic analyses revealed two new Helminthosporium species(H.chengduense sp.nov.,and H.chinense sp.nov.),a new genus(Synhelminthosporium gen.nov.) with a type species Synhelminthosporium synnematoferum sp.nov.,and two known species(Helminthosporium submersum and H.velutinum) within Massarinaceae.The new genus Synhelminthosporium differs from the phylogenetically closest genus Helminthosporium by producing synnematous conidiophores.This work expands our understanding of the diversity of Helminthosporium-like taxa in Sichuan Province,China.

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中国修复重建外科杂志 2014年第7期28卷 835-839页

作者：殷耀斌田文赵俊会田光磊北京积水潭医院手外科北京100035

目的探讨重复拇指畸形矫正术后继发偏斜畸形的原因及治疗方法。方法回顾分析2007年2月-2013年6月收治的32例（33侧）重复拇指畸形矫正术后继发偏斜畸形患者临床资料。男13例,女19例;年龄2-34岁,中位年龄8岁。左侧7例,右侧24例;双侧1例... 详细信息

目的探讨重复拇指畸形矫正术后继发偏斜畸形的原因及治疗方法。方法回顾分析2007年2月-2013年6月收治的32例（33侧）重复拇指畸形矫正术后继发偏斜畸形患者临床资料。男13例,女19例;年龄2-34岁,中位年龄8岁。左侧7例,右侧24例;双侧1例。重复拇指畸形参照Wassel分型标准,Ⅱ型2侧,Ⅲ型4侧,Ⅳ型10侧,Ⅴ型7侧,Ⅶ型10侧。多指切除术距该次入院时间1-29年,平均6.5年。拇指单纯掌指关节尺偏9侧,单纯指间关节桡偏8侧、尺偏10侧,掌指关节尺偏合并指间关节桡偏6侧。掌指关节偏斜20-40°,平均32.3°;指间关节偏斜30-110°,平均42.5°。根据手指偏斜畸形不同程度,选择个体化矫形方式,包括切除异常残留的骨或软骨,重建拇指正常轴线及软组织平衡。结果术后切口均Ⅰ期愈合,无手术相关并发症发生。32例均获随访,随访时间6-70个月,平均34个月。X线片复查示,骨骼轴线均改善;截骨处均获骨性愈合,愈合时间5-10周,平均6周。术后31例（31侧）拇指偏斜完全矫正;1例（双侧）术前偏斜角度过大者,术中未完全矫正,术后遗留偏斜角度10°。13侧手指关节活动度同术前,20侧活动度较术前下降,但未明显影响手指功能。19例（20侧）随访2年以上者无偏斜畸形复发,拇指发育良好,但14例（14侧）拇指外观小于健侧。结论重复拇指畸形矫正术中需重建拇短展肌止点,对屈、伸拇长肌腱止点移位重建及必要的截骨矫形可避免术后偏斜畸形发生;对偏斜畸形应根据畸形程度及导致畸形的原因选择个体化矫形方式。

关键词：重复拇指畸形偏斜畸形并发症畸形矫正

Poland综合征手部不同类型骨骼的发育特征

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中华外科杂志 2016年第7期54卷 508-512页

作者：吴冯胜田文赵俊会马炜郭阳殷耀斌清华大学附属北京市垂杨柳医院骨科 100022 北京大学第四临床医学院北京积水潭医院手外科

目的探讨Poland综合征患儿患侧手部不同类型骨骼的骨龄发育状况及其发育特征。方法2013年2月至2014年8月北京积水潭医院手外科共收治诊断明确且行双侧手部标准正位X线检查的Poland综合征患者32例，男性24例，女性8例；年龄1～15岁，中... 详细信息

目的探讨Poland综合征患儿患侧手部不同类型骨骼的骨龄发育状况及其发育特征。方法2013年2月至2014年8月北京积水潭医院手外科共收治诊断明确且行双侧手部标准正位X线检查的Poland综合征患者32例，男性24例，女性8例；年龄1～15岁，中位年龄2．4岁，畸形位于有侧23例，位于左侧9例。分别选取每例患者患侧手部和健侧手部的20块目标骨（尺骨、桡骨、7块腕骨、11块掌指骨），应用Greulich—Pyle图谱法逐一检测骨龄，并行两侧对比，从而评定患侧手部不同类型骨骼的发育状况；同时按畸形程度将32例病例的手部畸形分为Ⅰ～Ⅴ型。取各骨龄平均数作为个体骨龄，取尺、桡骨骨龄平均数作为长骨骨龄，取腕骨骨龄平均数作为腕骨骨龄，取掌指骨骨龄平均数作为短骨骨龄；骨龄落后指骨龄与生活年龄的差值为负值。采用独立样本差异性分析患侧手部各骨骨龄与健侧是否存在差距，以及该差距与性别、患侧及手部畸形程度的相关性，应用3次方回归曲线分析骨龄差值与年龄的相关性。结果与健侧相比，患侧手部长骨骨龄落后0～1．9岁，平均（0．5±0．5）岁，腕骨骨龄落后0～2．2岁，平均（0．7±0．5）岁，短骨骨龄落后0．5～2．0岁，平均（0．6±0．4）岁，总体骨龄落后0．1～1．7岁，平均（0．6±0．4）岁。32例患者中，Ⅱ型手部畸形12例、Ⅲ型15例、Ⅳ型5例。男性患者患侧手部与健侧手部各骨骨龄差值与女性患者相比差异无统计学意义（P值均〉0．05）；患侧为左侧患者各骨骨龄差值与患侧为有侧患者相比差异无统计学意义（P值均〉0．05）。各骨骨龄差值与手部畸形程度呈正相关（F：3．663～12．971，P=0．000～0．038），且随年龄的增长呈先增后减的特征。结论Poland综合征患儿患侧手部与健侧相比，各类型骨的骨龄发育落后，且该骨龄差异与年龄和手部畸形程度相关，与性别、患侧并无相关性。

关键词： Poland综合征手骨骨龄评定骨龄差值