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Design,Mobility Analysis and Gait Planning of a Leech-like Soft Crawling Robot with Stretching and Bending Deformation

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Journal of Bionic Engineering 2023年第1期20卷 69-80页

作者： Manjia Su Rongzhen Xie Yu Qiu yisheng guan Biomimetic and Intelligent Robotics Lab(BIRL) School of Electromechanical EngineeringGuangdong University of TechnologyHEMCGuangzhou510006GuangdongChina

Soft climbing/crawling robots have been attracting increasing attention in the soft robotics community,and many prototypes with basic locomotion have been *** existing soft robots achieve locomotion by planar bending deformation and lack sufficient *** the mobility of soft climbing/crawling robots is still an open and challenging *** this end,we present a novel pneumatic leech-like soft robot,Leechbot,with both bending and stretching deformation for *** a morphological structure,the robot consists of a three-chambered actuator in the middle for the main motion,two chamber-net actuators that act as ankles,and two suckers at the ends for anchoring on *** peristaltic motion for locomotion is implemented by body stretching,and direction changing is achieved by body *** to the novel design and two deformation modes,the robot can make turns and transit between different surfaces;the robot,hence,has excellent *** development of the robot prototype is presented in detail in this *** control its motion,tests were carried out to determine the relationship between step length and air pressure as well as the relationship between motion speed and periodic delay time.A kinematic model was established,and the kinematic mobility and surface transitionability were *** planning based on the inflating sequence of the actuating chambers is presented for straight crawling,turn making,and transiting between surfaces and was verified by a series of experiments with the *** results show that a high mobility in soft climbing/crawling robots can be achieved by a novel design and by proper gait planning.

关键词： Biomimetic robot-Soft robot Climbing robot-Bio-inspiration-Kinematic mobility Gait planning

ESTIMATION OF OBJECT GRAVITY AND WRENCH EXERTED ON OBJECT USING MULTIFINGERED HAND WITH FORCE/TORQUE SENSORS

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维普期刊数据库

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Chinese Journal of Mechanical Engineering 1998年第2期11卷 23-29页

作者： guan, yisheng Zhang, Qixian Li, Zexiang Beijing Univ of Aeronautics and Astronautics China

From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathematically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST HAND, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.

关键词： Multifingered hand Estimation Object gravity Wrench

Multi-objective Topology Optimization of Thermo-mechanical Compliant Mechanisms

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Chinese Journal of Mechanical Engineering 2011年第6期24卷 1123-1129页

作者： LI Dongmei ZHANG Xianmin guan yisheng ZHANG Hong WANG Nianfeng School of Mechanical andAutomotive Engineering South China University of Technology Guangzhou 510640 China guangdong Polytechnic Normal University Guangzhou 510665 China School of Computing Science University of Alberta Edmonton AB Canada

The material characteristics of a structure will change with temperature variation,and will induce stress within the ***,the optimal design for the topology of compliant mechanisms is mainly performed in single physical ***,when compliant mechanisms work in high temperature environments,their displacement outputs are generated not only by mechanical load,but also by the temperature variation which may become the prominent ***,the influence of temperature must be considered in the *** this paper,a novel optimization method for multi-objective topology of thermo-mechanical compliant mechanisms is ***,the thermal field is analyzed with finite-element method,where the thermal strain is taken into account in the constitutive relation,and the equivalent nodal thermal load is derived with the principle of virtual *** the thermal load is converted into physical loads in elastic field,and the control equation of the thermo-mechanical compliant mechanism is ***,the mathematical model of the multi-objective topology optimization is built by incorporating both the flexibility and ***,the coupling sensitivity function and the sensitivity analysis equations of thermal steady-state response are ***,optimality criteria algorithm is employed to obtain numerical solution of the multi-objective topology *** examples show that the compliant mechanisms have better performance and are more applicable if the temperature effect is taken into account in the design *** presented modeling and analysis methods provide a new idea and an effective approach to topology optimization of compliant mechanisms in electrothermic coupling field and multiphysics fields.

关键词： compliant mechanisms topology optimization thermo-mechanical coupling multi-objective coupling sensitivity

A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables

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Frontiers of Mechanical Engineering 2023年第1期18卷 197-215页

作者： Bin WANG Tao ZHANG Jiazhen CHEN Wang XU Hongyu WEI Yaowei SONG yisheng guan School of Electro-mechanical Engineering Guangdong University of TechnologyGuangzhou 510006China

This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms(APMs)and Bowden *** lightweight arm realizes the advantage of joint independence and the rational layout of the driving units on the ***,this paper analyzes the kinematic performance of the APM and uses the rolling motion between two ellipses to approximate a pure-circular-rolling ***,a novel type of one-degree-of-freedom(1-DOF)elbow joint is proposed based on this principle,which is also applied to design the 3-DOF wrist and shoulder ***,Bowden cables are used to connect the joints and their driving units to obtain a modular cable-driven arm with excellent joint *** that,both the forward and inverse kinematics of the entire arm are ***,a humanoid arm prototype was developed,and the assembly velocity,joint motion performance,joint stiffness,load carrying,typical humanoid arm movements,and repeatability were tested to verify the arm performance.

关键词： modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design

A RBPF Algorithm with Non-intact Particle Data for FastSLAM

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Journal of Harbin Institute of Technology(New Series) 2018年第5期25卷 70-77页

作者： Weinan Chen yisheng guan Hong Zhang Lei Zhu School of Electro-Mechanical Engineering Guangdong University of Technology

RBPF( Rao-Blackwellized Particle Filter) is a popular PF( Particle Filter) in decreasing the dimension of estimation problems and FastSLAM( Fast Simultaneous Localization and Mapping) is a RBPFbased algorithm. In FastSLAM,each particle carries a large amount of data which results in low computing efficiency and large memory space occupancy. To solve this problem,a RBPF algorithm with non-intact particle data is studied. The key idea is to differentiate the particle data. Through the screening of particles,the number of particles carrying individual map data is limited to reduce the data occupied space and speed up the computational efficiency. The simulation and experiment results have verified the effectiveness and accuracy of the algorithm. Compared with the original one,this proposed algorithm reduces time consumption by 18%-34% and considerably saves memory space.

关键词： RBPF non-intact particle data SLAM

Burr Contour Recognition and Coordinates Sequence Real⁃Time Generation for Robotic Deburring Efficiency Optimization

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Journal of Harbin Institute of Technology(New Series) 2020年第5期27卷 59-67页

作者： Rentao Xiong Zengliang Lai yisheng guan Yufeng Yang Chuanwu Cai School of Electromechanical Engineering Guangdong University of TechnologyGuangzhou 510006China Foshan Biowin Robotics and Automation Technology Co. Ltd.Foshan 528000GuangdongChina

The phenomenon of burring is common in the manufacturing of metal *** phenomenon directly influences the assembly accuracy and service performance of the mechanical *** this work,we propose a vision⁃based method for two⁃dimensional planar *** proposed technique has the ability to recognize burr contour and generate the coordinate sequence in real⁃time along x and y *** robotic deburring efficiency is improved based on the quantitative information of the burr ***,by utilizing the local deformable template matching algorithm,we match the standard workpiece contour with the workpiece contour to be processed and compute the corresponding pixels distance between the two ***,we set the distance thresholds in order to divide the burr contours into different *** extract the coordinates of the burr contours and map them to the standard workpiece *** a result,the closed⁃loop robotic deburring path sequence is ***,on the basis of the quantitative information of burr size,we adjust the deburring speed in real⁃time during the deburring *** experiments performed in this work show that the deburring time of the proposed method is reduced by 15.45%,as compared with the conventional off⁃line programming deburring ***,for industrial mass production,the deburring efficiency is greatly improved.

关键词： robotic deburring assembly accuracy contour recognition template matching deburring efficiency

构形可变移动机器人的构形评价、优选及变换规划

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机器人 2022年第2期44卷 167-175页

作者：冯婷婷谭炯钰谷世超叶文达朱海飞管贻生广东工业大学机电工程学院广东广州510006

为提升移动机器人对环境的适应能力,提出了一种适用于车体构形、轮距和轮向可变的轮式移动机器人的构形评价、优选和变换规划方法。该方法以转弯所需半径、通过宽度和稳定角为指标评价不同构形下机器人的移动性和稳定性,然后构建权系数... 详细信息

为提升移动机器人对环境的适应能力,提出了一种适用于车体构形、轮距和轮向可变的轮式移动机器人的构形评价、优选和变换规划方法。该方法以转弯所需半径、通过宽度和稳定角为指标评价不同构形下机器人的移动性和稳定性,然后构建权系数多目标模型从构形集合中优选与环境特征匹配的构形,再将任意两构形之间的变换规划转化为网络路径搜索问题来求解耗能最少的变换路径。最后,通过实验验证了所提评价指标、构形优选以及变换路径规划方法的合理性和有效性。研究结果可为此类构形可变轮式移动机器人的设计分析和运动规划提供指导或参考。

关键词：移动机器人构形评价构形优选构形变换

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带缺口的玻璃纤维筋拉伸破坏行为研究

机械强度 2010年第5期32卷 781-784页

作者：李冬梅管贻生广东水利电力职业技术学院机械工程系广州510635 华南理工大学机械与汽车工程学院广州510640

为了揭示带缺口的玻璃纤维筋拉伸破坏机理,预估其破坏规律,文中基于剪滞理论,建立一种对单向玻璃纤维筋划分各单层为有限子单元的剪滞分析模型,分析含表面缺口的玻璃纤维筋在拉伸载荷作用下的应力重新分布问题,获得表面缺口附近完整纤... 详细信息

为了揭示带缺口的玻璃纤维筋拉伸破坏机理,预估其破坏规律,文中基于剪滞理论,建立一种对单向玻璃纤维筋划分各单层为有限子单元的剪滞分析模型,分析含表面缺口的玻璃纤维筋在拉伸载荷作用下的应力重新分布问题,获得表面缺口附近完整纤维的应力集中因子。在此基础上进一步采用细观破坏理论,研究缺口纤维筋的拉伸破坏强度。最后与试验结果进行对比,说明文中的模型和分析方法的可行性和有效性。

关键词：缺口玻璃纤维筋拉伸应力集中剪滞分析

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基于非完整运动规划的多指手灵巧操作

自动化学报 2000年第1期26卷 7-15页

作者：管贻生何永强张启先北京航空航天大学机器人研究所北京100083

灵巧操作是多指手操作的一个重要方面,探讨实现这种操作的纯滚动方法.首先利用纯滚动的非完整特性,进行非完整运动的最优路径规划,然后根据规划结果应用多指手操作运动学方程确定手指的运动.为多指手灵巧操作的实现提供了一条途径.

关键词：多指手运动学灵巧操作非完整运动规划机器人