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configuration design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Chinese Journal of Mechanical Engineering 2018年第2期31卷 45-53页

作者： Shang-Ling Qiao Rong-Qiang Liu Hong-Wei Guo Yu-Xuan Liu Zong-Quan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology College of International Cooperative Education Harbin Engineering University

Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.

关键词： Under?actuated robotic hand Tendon?pulley transmission Grasping space configuration design

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RESEARCH ON A METHOD OF INJECTION MOLDING MACHINE configuration design BASED ON INSTANCES

RESEARCH ON A METHOD OF INJECTION MOLDING MACHINE CONFIGURAT...

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2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： WEI Zhe, TAN Jianrong, FENG Yixiong *State key Laboratory of CAD&CG, Zhejiang University, Hangzhou 310027, China

To reduce the repeated work during the configuration design of injection molding machine and to improve the configuration design efficiency of the product which is complex, single-designed and individ

关键词： configuration design instance system integration function interference injection molding machine.

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STANDARDIZING COMPONENTS FOR PRODUCT FAMILY configuration design

STANDARDIZING COMPONENTS FOR PRODUCT FAMILY CONFIGURATION DE...

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2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： WEI Junmin, JIN Sun, LIN Zhongqin, LAI Xinmin Body Manufacturing Technology Center, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

configuration design for product families plays a very important role in mass customization. It focuses on the arrangements of components or modules in products and their connections and relationships

关键词： configuration design component standardization form feature similarity analysis.

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Customer-oriented configuration Model for Modular MechatronicProducts: Application in Industrial Robot design

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International Journal of Plant Engineering and Management 2013年第2期18卷 66-73页

作者： LI Jing TONG Shu-rong LIU De-teng School of Management Northwestern Polytechnical University

The contradiction between manufacturing costs and customer demand of mechatronic products can be balanced by configuration design. The article proposes a customer-oriented configuration model for modular mechatronic products which makes up the shortfall in meeting customer needs for the traditional configuration de- sign mode. The elements of the modular mechatronic products configuration model including module, module connection and configuration knowledge are analyzed. And a formal representation method for configuration model elements combining with their characteristics is given. Based on the above research, an abstract configuration model of modular mechatronic products is designed. Finally, an industrial robot is used as an application exam- ple to build a customer-oriented industrial robot configuration model.

关键词： customer-oriented modular mechatronic products configuration model configuration design

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Configurable Product design Considering the Transition of Multi-hierarchical Models

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 217-224页

作者： REN Bin QIU Lemiao ZHANG Shuyou TAN Jianrong CHENG Jin State Key Lab of Fluid Power Transmission and Control Zhejiang University

The current research of configurable product design mainly focuses on how to convert a predefined set of components into a valid set of product structures. With the scale and complexity of configurable products increasing, the interdependencies between customer demands and product structures grow up as well. The result is that existing product structures fails to satisfy the individual customer requirements and hence product variants are needed. This paper is aimed to build a bridge between customer demands and product structures in order to make demand-driven fast response design feasible. First of all, multi-hierarchical models of configurable product design are established with customer demand model, technical requirement model and product structure model. Then, the transition of multi-hierarchical models among customer demand model, technical requirement model and product structure model is solved with fuzzy analytic hierarchy process （FAHP） and the algorithm of multi-level matching. Finally, optimal structure according to the customer demands is obtained with the calculation of Euclidean distance and similarity of some cases. In practice, the configuration design of a clamping unit of injection molding machine successfully performs an optimal search strategy for the product variants with reasonable satisfaction to individual customer demands. The proposed method can automatically generate a configuration design with better alternatives for each product structures, and shorten the time of finding the configuration of a product.

关键词： configuration design optimal strategy variant design multi-hierarchical models

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Effect of configuration on magnetic field in cold crucible using for continuous melting and directional solidification

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Transactions of Nonferrous Metals Society of China 2012年第2期22卷 404-410页

作者：陈瑞润杨劼人丁宏升黄锋苏彦庆郭景杰傅恒志哈尔滨工业大学材料科学与工程学院哈尔滨150001

To improve the power efficiency and optimize the configuration of cold crucible using for continuous melting and directional solidification （DS）, based on experimental verification, 3D finite element （FE） models with various configuration-elements were developed to investigate the magnetic field in cold crucible. Magnetic flux density （B） was measured and calculated under different configuration parameters. These parameters include the inner diameter （D2）, the slit width （d）, the thickness of crucible wall, the section shape of the slit and the shield ring. The results show that the magnetic flux density in z direction （Bz） both at the slit and at the midpoint of segment will increase with the decrease of D2 or with the increase of the width of the slit and the section area of wedge slit or removing the shield ring. In addition, there is a worst wall thickness that can induce the minimum Bz for a cold crucible with a certain outer diameter.

关键词： cold crucible magnetic flux density configuration design directional solidification

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Numerical simulation of RCS for carrier electronic warfare airplanes

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Chinese Journal of Aeronautics 2015年第2期28卷 545-555页

作者： Yue Kuizhi Liu Wenlin Li Guanxiong Ji Jinzu Yu Dazhao Department of Airborne Vehicle Engineering Naval Aeronautical and Astronautical University School of Aeronautic Science and Engineering Beihang University

This paper studies the radar cross section （RCS） of carrier electronic warfare airplanes. Under the typical naval operations section, the mathematical model of the radar wave＇s pitch angle incidence range analysis is established. Based on the CATIA software, considering dynamic deflec- tions of duck wing leading edge flaps, flaperons, horizontal tail, and rudder, as well as aircraft with air-to-air missile, anti-radiation missile, electronic jamming pod, and other weapons, the 3D models of carrier electronic warfare airplanes Model A and Model B with weapons were established. Based on the physical optics method and the equivalent electromagnetic flow method, by the use of the RCSAnsys software, the characteristics of carrier electronic warfare airplanes＇ RCS under steady and dynamic flights were simulated under the UHF, X, and S radar bands. This paper researches the detection probability of aircraft by radars under the condition of electronic warfare, and com- pletes the mathematical statistical analysis of the simulation results. The results show that： The Model A of carrier electronic warfare airplane is better than Model B on stealth performance and on discover probability by radar detection effectively.

关键词： Carrier aircraft configuration design Electronic warfare Physical optics method Stealth

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Floquet-based design and control approach to spacecraft formation flying in libration point orbits

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Science China(Technological Sciences) 2011年第3期54卷 758-766页

作者： MENG YunHe ZHANG YueDong DAI JinHai College of Aerospace and Material Engineering National University of Defense Technology Changsha 410073 China

A method for spacecraft formation flying (SFF) design and control near libration point orbits was developed by making use of the Floquet theory for periodic orbits. Firstly, the Floquet theory used in libration point orbits was introduced and the coefficients of four Floquet periodic modes were proved to be nearly constant when the amplitude in z direction of earth-moon L1 halo orbits is less than 20000 km. On this basis, a configuration design approach to SFF in L1 halo orbits was proposed, and several types of special configurations were obtained with periodic mode 3 and mode 5 or mode 4 and mode 6. Then, in order to control the SFF configuration concisely, those coefficients of the 5 modes (except the stable one) must be kept constant. A stationkeeping method for SFF was developed, which controls 5 Floquet modes simultaneously. Finally, simulations showed that the Floquet-based approach of configuration design and control for SFF is effective, simple and convenient. The research may be of value for deep space explorations.

关键词： circular restricted three body problem spacecraft formation flying Floquet modes configuration design formation control

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Dynamic Analysis and Dimensional Synthesis of Easy-to-Protect Large-Load Robot for Extracting Fermented Grains

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Journal of Beijing Institute of Technology 2023年第4期32卷 529-550页

作者： Yubin Zhang Jinzhu Zhang Congming Li Xiaoyan Xiong Hongjie Du College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024China National Key Laboratory of Metal Forming Technology and Heavy Equipment Taiyuan University of TechnologyTaiyuan 030024China Engineering Research Center of Advanced Metal Composites Forming Technology and Equipment Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains(FG),a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed,and a reclaiming effector is designed according to the operating ***,the kinematics and singularity of the mechanism are analyzed.A multi-domain polar coordinate search method is proposed to obtain the workspace and the volume of the ***,the dynamic modeling is completed and the example simulation is carried ***,the motion-force transmission index of the mechanism is *** based on the global transmissibility and the good-transmission workspace,the dimensional synthesis of the driving mechanism is completed by using the performance atlas-based ***,aiming at the regular workspace size,stiffness and loading capacity,the Pareto optimal solution set of the executive mechanism dimension is obtained by using the multi-objective particle swarm optimization(MOPSO)*** paper can provide a theoretical basis for the optimal design and control of FG reclaiming robot.

关键词： reclaiming robot configuration design performance index dynamic modeling multi-objective optimization

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design and test of robotic harvesting system for cherry tomato

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International Journal of Agricultural and Biological Engineering 2018年第1期11卷 96-100页

作者： Qingchun Feng Wei Zou Pengfei Fan Chunfeng Zhang Xiu Wang Beijing Research Center of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China National Research Center of Intelligent Equipment for Agriculture Beijing 100097China Beijing Key Laboratory of Intelligent Equipment Technology for Agriculture Beijing 100097China

Harvesting of fresh-eating cherry tomato was highly costly on labor and *** order to achieve mechanical harvesting for the fresh-eating tomato,a new harvesting robot was designed,which consisted of a stereo visual unit,an end-effector,manipulator,a fruit collector,and a railed *** robot configuration and workflow design focused on the special cultivating *** key parts were introduced in detail:a railroad vehicle capably moving on both ground and rail was adopted as the robot’s carrier,a visual servo unit was used to identify and locate the mature fruits bunch,and the end-effector to hold and separate the fruit bunch was designed based on the stalk’s mechanical *** field test of the new developed robot was conducted and the results were *** successful harvest rate of the robot was 83%,however,each successful harvest averagely needed 1.4 times attempt,and a single successful harvesting cycle cost 8 s excluding the time cost on moving.

关键词： cherry tomato harvesting robot visual servo configuration design field test

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