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Topology Structure Synthesis and Analysis of Spatial Pyramid Deployable Truss Structures for Satellite SAR Antenna

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 683-692页

作者： WANG Yan deng zongquan LIU Rongqiang YANG Hui GUO Hongwei State Key Laboratory of Robotics and System Harbin Institute of Technology

Many attentions for structural synthesis are paid to planar linkages and parallel mechanisms, while design novel pyramid deployable truss structure（PDTS） of satellite SAR mainly depends on experience of designer. To design novel configuration of PDTS, a two-step topology structure synthesis and analysis approach is proposed. Firstly, a conceptual configuration of PDTS is synthesized. Weighted graph and weighted adjacency matrix are established to realize topological description for PDTS. Graph properties are then summarized to distinguish differentia between PDTS and other type structures. According to graph properties, a procedure for synthesis conceptual configuration of PDTS is presented. Secondly, join relationship of components in a PDTS is analyzed. Kinematic chain and corresponding incidence/adjacency matrix are employed to analyze join relationship of PDTS. Properties and simplified rules of kinematic chain are extracted to construct kinematic chain. A procedure for construction kinematic chain of PDTS is then established. Finally, with this two-step approach all 11 rectangular pyramid deployable structures whose folded state is planar are discovered and their kinematic chains are constructed. Based on synthesis results, a novel deployable support structure for satellite SAR is designed. The proposed research can be applied to obtain some novel PDTSs, which is of great importance to design some novel deployable support structures for satellite SAR antenna.

关键词： structural synthesis deployable truss structure spatial linkage graph theory SAR antenna

Crashworthiness Analysis on Alternative Square Honeycomb Structure under Axial Loading

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Chinese Journal of Mechanical Engineering 2013年第4期26卷 784-792页

作者： LI Meng deng zongquan GUO Hongwei LIU Rongqiang DING Beichen State Key Laboratory of Robotics and System Harbin Institute of Technology

Hexagonal metal honeycomb is widely used in energy absorption field for its special construction. However, many other metal honeycomb structures also show good energy absorption characteristics. Currently, most of the researches focus on hexagonal honeycomb, while few are performed into different honeycomb structures. Therefore, a new alternative square honeycomb is developed to expand the non-hexagonal metal honeycomb applications in the energy absorption fields with the aim of designing low mass and low volume energy absorbers. The finite element model of alternative square honeycomb is built to analyze its specific energy absorption property. As the diversity of honeycomb structure, the parameterized metal honeycomb finite element analysis program is conducted based on PCL language. That program can automatically create finite element model. Numerical results show that with the same foil thickness and cell length of metal honeycomb, the alternative square has better specific energy absorption than hexagonal honeycomb. Using response surface method, the mathematical formulas of honeycomb crashworthiness properties are obtained and optimization is done to get the maximum specific energy absorption property honeycomb. Optimal results demonstrate that to absorb same energy, alternative square honeycomb can save 10% volume of buffer structure than hexagonal honeycomb can do. This research is significant in providing technical support in the extended application of different honeycomb used as crashworthiness structures, and is absolutely essential in low volume and low mass energy absorber design.

关键词： crashworthiness alternative square honeycomb energy-absorption characteristic response surface methodology numerical simulation

Design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN zongquan deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

Development of a Drilling and Coring Test-bed for Lunar Subsurface Exploration and Preliminary Experiments

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 673-682页

作者： SHI Xiaomeng deng zongquan QUAN Qiquan TANG Dewei HOU Xuyan JIANG Shengyuan School of Mechatronics Engineering Harbin Institute of Technology

Drill sampling has been widely employed as an effective way to acquire deep samples in extraterrestrial exploration. A novel sampling method, namely, flexible-tube coring, was adopted for the Chang＇e mission to acquire drilling cores without damaging stratification information. Since the extraterrestrial environment is uncertain and different from the terrestrial environment, automated drill sampling missions are at risk of failure. The principles of drilling and coring for the lunar subsurface should be fully tested and verified on earth before launch. This paper proposes a test-bed for conducting the aforementioned experiments on earth. The test-bed comprises a rotary-percussive drilling mechanism, penetrating mechanism, drilling medium container, and signal acquisition and control system. For granular soil, coring experiments indicate that the sampling method has a high coring rate greater than 80%. For hard rock, drilling experiments indicate that the percussive frequency greatly affects the drilling efficiency. A multi-layered simulant composed of granular soil and hard rock is built to test the adaptability of drilling and coring. To tackle complex drilling media, an intelligent drilling strategy based on online recognition is proposed to improve the adaptability of the sampling drill. The primary features of this research are the proposal of a scheme for drilling and coring a test-bed for validation on earth and the execution of drilling experiments in complex media.

关键词： drilling and coring device test-bed lunar soil sampling

Simulation and analysis of asteroid force closure anchoring performance based on discrete element method

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Chinese Journal of Aeronautics 2023年第8期36卷 381-394页

作者： Tingzhang WANG Qiquan QUAN Hongshuai GAO Mengxue LI Dewei TANG zongquan deng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Asteroid exploration is significant for studying the origin of the solar system,establishing planetary defenses,and alleviating the resource crisis of the *** anchoring is the basis of in-situ exploration and resource development and ***,the performance of asteroid force-closure anchoring is investigated using the discrete element *** micro parameters of the simulated materials are calibrated with angle of repose and uniaxial compression experiments,based on which the regional modeling method is adopted to establish the anchoring discrete element *** anchoring experiments are conducted on a self-developed microgravity simulation platform to verify the accuracy of the simulation *** asteroid anchoring simulations are performed to investigate the influence of external force on the anchoring *** analysis of anchoring force varying with time and the interaction between the anchor and regolith particles reveals the influence mechanism of external force direction on the anchoring *** external force direction affects the critical anchoring force by influencing the failure of the force-closure *** comprehensive analysis of simulation results clarifies the variation of the critical anchoring force with the external ***,a stable anchoring region is established,beneficial for asteroid anchoring device design.

关键词： Anchoringforce Asteroid exploration Discrete element method Force closureanchoring Simulationverification

A review of heavy-duty legged robots

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Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： ZHUANG HongChao GAO HaiBo deng zongquan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and *** problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,***,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ***,various heavy-duty legged robots and their performances are reviewed *** review presents the current developments with regard to heavy-duty legged ***,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are ***,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is *** assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are ***,problems that need further research are addressed.

关键词： heavy-duty legged robot mechanical structure force distribution control method power source

Multi-state autonomous drilling for lunar exploration

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Chinese Journal of Aeronautics 2016年第5期29卷 1397-1404页

作者： Chen Chongbin Quan Qiquan Shi Xiaomeng deng zongquan Tang Dewei Jiang Shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media （i.e., lunar soil and lunar rock）, this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo- rithm, lunar drilling process was categorized into three drilling states： the interface detection, initi- ation of drilling parameters for recognition and drilling medium recognition. Support vector machine （SVM） and continuous wavelet transform were employed for the online recognition of drilling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detecting drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.

关键词： Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform

Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint

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Science China(Technological Sciences) 2015年第8期58卷 1299-1317页

作者： DING Liang GAO HaiBo deng zongquan LI YuanKai LIU GuangJun YANG HuaiGuang YU HaiTao State Key Laboratory of Robotics and System Harbin Institute of Technology School of Aeronautics and Astronautics University of Electronic Science and Technology of China Department of Aerospace Engineering Ryerson University

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or *** WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) *** article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic ***-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is *** challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be ***-level virtual simulation architecture to realize virtint is *** technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction *** generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.

关键词： planetary exploration rovers robot intelligence virtual intelligence three-layer architecture

Research progress of space non-pyrotechnic low-shock connection and separation technology(SNLT):A review

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Chinese Journal of Aeronautics 2022年第11期35卷 113-154页

作者： Honghao YUE Yifei YANG Yifan LU Fei YANG Jun WU Qi RUAN zongquan deng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Space missions have become diversified in recent years, where connection and separation devices play a crucial role as key components of various spacecraft. Traditional pyrotechnic devices have the advantages of large carrying capacity, rapid motion and functional reliability. However,their shortcomings such as great release shock, poor safety, unrepeatability and other prominent defects make them unsuitable for new generation spacecraft such as microsatellites to separate at low shock or lock repeatedly, etc. Therefore, it is necessary to develop space non-pyrotechnic low-shock connection and separation devices(SNLD) which are required for advanced aerospace missions. In this paper, the progress of the research on space non-pyrotechnic low-shock connection and separation technology(SNLT) is summarized and reviewed. Proceed from the principle of reducing shock for non-pyrotechnic devices, present studies are classified from the perspective of actuating technology and systematic designing methods. For non-pyrotechnic actuating techniques,according to different driving sources, the separation devices are classified into several main categories: electric, magnetic, gas and thermal actuating devices. The actuation principle and application prospect of separation techniques are introduced and the working process, dimension and mechanical properties of typical devices are compared and evaluated. For the systematic designing method, the common mechanism types of SNLDs are summarized according to the designing concept of reducing shock. Then connection configurations are classified according to the structural forms of connection devices, of which the principles, bearing capacities and general applications are discussed. This paper systematically summarizes the key problems, puts forward the future development trend of SNLT, and points out the breakthrough direction for related scholars.

关键词： Connection Low-shock Non-pyrotechnic Separation Space