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Design and Mechanics of a Composite Wave-driven Soft Robotic Fin for Biomimetic Amphibious Robot

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Journal of Bionic Engineering 2023年第3期20卷 934-952页

作者： Minghai Xia He Wang Qian Yin jianzhong shang Zirong Luo Qunwei Zhu College of Intelligence Science and Technology National University of Defense TechnologyChangsha410073China College of Energy and Power Engineering Changsha University of Science and TechnologyChangsha410076China

Bionic amphibious robots have important prospects in scientific, commercial, and military fields. Compared with traditional amphibious robots which use propellers/jets for aquatic medium and wheels/tracks for terrestrial medium, bionic propulsion method has great advantages in terms of manoeuvrability, efficiency, and reliability, because there is no need to switch between different propulsion systems. To explore the integrated driving technology of amphibious robot, a novel bio-inspired soft robotic fin for amphibious use is proposed in this paper. The bionic fin can swim underwater and walk on land by the same undulating motion. To balance the conflicting demands of flexibility underwater and rigidity on land, the undulating fin adopts a special combination of a membrane fin and a bending spring. A periodic longitudinal wave in horizontal direction has been found generating passively in dynamic analysis. To find the composite wave-driven mechanics, theoretical analysis is conducted based on the walking model and swimming model. A virtual prototype is built in ADAMS software to verify the walking mechanics. The simulation result reveals that the passive longitudinal wave is also periodical and the composite wave contributes to land walking. Finally, an amphibious robot prototype actuated by a pair of undulating fins has been developed. The experiments show that the robot can achieve multiple locomotion, including walking forward/backward, turning in place, swimming underwater, and crossing medium, thus giving evidence to the feasibility of the newly designed undulating fin for amphibious robot.

关键词： Undulating fin Amphibious robot Composite wave driven Locomotion mechanism

Development of conductive hydrogels: from design mechanisms to frontier applications

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Bio-Design and Manufacturing 2022年第4期5卷 729-756页

作者： Yang Hong Zening Lin Zirong Luo Tao Jiang jianzhong shang Yun Yang College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

Owing to their excellent mechanical flexibility, electrical conductivity, and biocompatibility, conductive hydrogels(CHs) are widely used in the fields of energy and power, and biomedical technology. To arrive at a better understanding of the design methods and development trends of CHs, this paper summarizes and analyzes related research published in recent years. First,we describe the properties and characteristics of CHs. Using Scopus, the world’s largest abstract and citation database, we conducted a quantitative analysis of the related literature from the past 15 years and summarized development trends in the field of CHs. Second, we describe the types of CH network crosslinking and basic functional design methods and summarize the three-dimensional(3D) structure-forming methods and conductive performance tests of CHs. In addition, we introduce applications of CHs in the fields of energy and power, biomedical technology, and others. Lastly, we discuss several problems in current CH research and introduce some prospects for the future development of CHs.

关键词： Conductive hydrogels Crosslinking mechanism Design methods 3D structure-forming methods Conductive hydrogel applications

Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

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Journal of Bionic Engineering 2023年第6期20卷 2570-2589页

作者： Yuze Xu Zirong Luo Xiangjuan Bai Huixiang Xie Yiming Zhu Shanjun Chen jianzhong shang College of Intelligence Science and Technology National University of Defense TechnologyChangsha410073China PLA Rocket Force University of Engineering Xi’an710025China

Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living *** the smart design could efficiently improve the performance of a robotic *** by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the ***,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic *** this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are ***,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s ***,we present an OmniLeg-based single legged mobile *** capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.

关键词： Human leg Robotic leg Omnidirectional legged locomotion Spatial dual-parallelogram-linkages Spatial closed-loop four-bar

MOBILITY EVALUATION AND INNOVATION OF WHEELED SPACE ROVER

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 187-190页

作者： shang jianzhong LU0 Zirong LI Shengyi TANG Li School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074 China School of Mechatronics Engineering and Automation National University of Defense TechnologyChangsha 410073 China

The mission and function requirements of lunar rover are analyzed, based on virtual prototype technology, the mobility evaluation theory and method for wheeled space rover are proposed, which provide a new way to study the innovative design of lunar rover. Based on the above theoretical system, an innovative lunar rover suspension system, which adopts a two-crank-slider mechanism, is proposed, and its dynamics model is created. Adopting virtual prototype technology, the ground adaptability, over-obstacle ability and driving placidity of the rover are evaluated in the virtual prototype software ADAMS. The analysis results show that the rover provides a high degree of mobility.

关键词： Space rover Mobility Virtual prototype Suspension

CFD Simulation and Experimental Study of a New Elastic Blade Wave Energy Converter

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Fluid Dynamics & Materials Processing 2020年第6期16卷 84-96页

作者： Chongfei Sun jianzhong shang Zirong Luo Xin Li Zhongyue Lu Guoheng Wu College of Intelligence Science and Technology National University of Defense TechnologyChangsha410073China College of Electronic Engineering National University of Defense TechnologyHefei230031China

Small moving vehicles represent an important category of marine engineering tools and devices(equipment)typically used for ocean resource detection and maintenance of marine rights and *** lack of efficient power supply modes is one of the technical bottlenecks restricting the effective utilisation of this type of *** this work,the performance characteristics of a new type of elastic-blade/wave-energy converter(EBWEC)and its core energy conversion component(named wave energy absorber)are comprehensively *** particular,computational fluid dynamics(CFD)simulations and experiments have been used to analyze the hydrodynamics and performance characteristics of the *** pressure cloud diagrams relating to the surface of the elastic blade were obtained through two-way fluid-solid coupling *** influence of blade thickness and relative speed on the performance characteristics of EBWEC was analyzed accordingly.A prototype of the EBWEC and its bucket test platform were also *** power characteristics of the EBWEC were analyzed and studied by using the blade thickness and motion cycle as control *** present research shows that the EBWEC can effectively overcome the performance disadvantages related to the transmission shaft torque load and power curve fluctuations of rigid blade wave energy converters(RBWEC).

关键词： Elastic blade wave energy converter structural design energy conversion mechanism computational fluid dynamics simulation experiment hydrodynamic characteristics

The Course Reform of Mechanical Design Fundamentals to Cultivate Engineering Literacy and Innovation Ability

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Journal of Contemporary Educational Research 2022年第7期6卷 6-11页

作者： Keshan Liang jianzhong shang Zirong Luo College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073Hunan ProvinceChina

In view of the shortcomings of traditional teaching in the Mechanical Design Fundamentals course,the teaching resources are integrated,the teaching content,teaching methods,and assessment methods are reformed,scientific research results are introduced into course teaching,and the task-driven teaching practice is *** measures have improved classroom activity,stimulated independent learning,and laid the foundation for the cultivation of students’engineering literacy and innovative ability.

关键词： Mechanical Design Fundamentals Course reform Task-driven

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基于复合波动推进的柔性鳍运动机理研究

工程热物理学报 2023年第7期44卷 1966-1972页

作者：殷谦尚建忠罗自荣长沙理工大学能源与动力工程学院长沙410073 国防科技大学智能科学学院长沙410073

仿鱼机器人具有高效游动能力与良好的环境适应性,被广泛应用于资源开发、环境勘探以及两栖救援等复杂任务中。本文提出了一种基于横纵波复合运动的柔性波动鳍推进器,对其水下运动机理进行分析,构建了复合波动推进的波动鳍运动模型,通过... 详细信息

仿鱼机器人具有高效游动能力与良好的环境适应性,被广泛应用于资源开发、环境勘探以及两栖救援等复杂任务中。本文提出了一种基于横纵波复合运动的柔性波动鳍推进器,对其水下运动机理进行分析,构建了复合波动推进的波动鳍运动模型,通过数值方法对其水下运动性能进行研究,探究其水下推进力、推进速度和推进效率等参数的变化规律。结果表明:柔性鳍在运动时所受推进力呈波动变化,一段时间后波动均值为零,鳍面高压区与低压区呈周期性变化;波动鳍驱动其周围流体获得动能,推进器最大速度达到1.2m/s,周围流体速度可达1m/s左右;随着偏转角增加,复合波动鳍面推进效率也相应增大,相比未偏转时其效率提高了11%左右。

关键词：横纵波复合柔性波动鳍动网格水下运动仿真

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四足机器人对角小跑动态控制

国防科技大学学报 2014年第4期36卷 146-151页

作者：谢惠祥罗自荣尚建忠国防科技大学机电工程与自动化学院湖南长沙410073

基于虚拟模型控制方法,根据四足机器人单腿雅克比矩阵得到支撑相与摆动相的控制法则。为实现机器人躯体的完全控制,提出了一种控制目标分解的方法,将四足机器人躯体的控制目标分解到每条支撑腿的控制上。通过构建每条支撑腿的虚拟构件,... 详细信息

基于虚拟模型控制方法,根据四足机器人单腿雅克比矩阵得到支撑相与摆动相的控制法则。为实现机器人躯体的完全控制,提出了一种控制目标分解的方法,将四足机器人躯体的控制目标分解到每条支撑腿的控制上。通过构建每条支撑腿的虚拟构件,并将虚拟构件产生的虚拟力转换为期望关节力矩,从而实现支撑腿的虚拟模型控制;实时规划摆动足的运动轨迹,利用虚拟构件连接摆动腿的足端与期望的摆动轨迹,实现摆动腿的虚拟模型控制。在设定四条腿的相位轮换规律的基础上,对一个四足机器人二维平面模型进行对角小跑步态下的速度控制及抗干扰仿真试验。仿真结果证明该控制方法能够有效控制机器人躯体的高度、速度及倾角,实现四足机器人对角小跑运动的动态控制并具有一定的抗冲击干扰能力。

关键词：四足机器人虚拟模型控制对角小跑步态运动控制

基于夏克-哈特曼传感器的计算机辅助装调方法

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光学学报 2021年第20期41卷 131-137页

作者：吴伟罗自荣于乃辉尚建忠国防科技大学智能科学学院湖南长沙410073 中国人民解放军31636部队云南昆明650300

夏克-哈特曼传感器是自适应光学中应用最广泛的波前传感器,它不仅可以测量大气湍流引起的畸变,还可以测量由风、温度变化和机械应力产生的镜面位置误差引起的像差。基于夏克-哈特曼传感器,推导了子孔径斜率与装配误差之间的函数关系,提... 详细信息

夏克-哈特曼传感器是自适应光学中应用最广泛的波前传感器,它不仅可以测量大气湍流引起的畸变,还可以测量由风、温度变化和机械应力产生的镜面位置误差引起的像差。基于夏克-哈特曼传感器,推导了子孔径斜率与装配误差之间的函数关系,提出了一种基于光学系统失调前后点阵光斑质心偏差信息的计算机辅助装调方法,将装配误差求解问题转换成多目标优化问题,可采用多目标智能优化算法进行求解该问题。以某三反光学系统为例,基于Python和Zemax联合仿真进行模拟装调,仿真结果表明,经三次迭代可将失调误差校正到微米级,这可满足实际装调需求,结果验证了所提方法的正确性。

关键词：光学设计计算机辅助装调夏克-哈特曼传感器失调计算主动光学光学装调