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force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness force distribution

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Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain

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Journal of Bionic Engineering 2014年第2期11卷 176-187页

作者： He Zhang Yubin Liu Jie Zhao Jie Chen Jihong Yan State Key Lab of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on force distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.

关键词： hexapod robot structure optimization posture control force distribution force compensation

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Theoretical study of the nonlinear force-loading control in single-molecule stretching experiments

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Communications in Theoretical Physics 2024年第4期76卷 167-175页

作者： Xingyu Qi Zilong Guo Shimin Le Hu Chen Research Institute for Biomimetics and Soft Matter Fujian Provincial Key Lab for Soft Functional Materials ResearchDepartment of PhysicsXiamen UniversityXiamen 361005China Center of Biomedical Physics Wenzhou InstituteUniversity of Chinese Academy of SciencesWenzhou 325000China

force spectrum measurements with constant loading rates are widely used in single-molecule manipulation experiments to study the mechanical stability and force response of ***-dependent transition rates can be obtained from the transition force distribution,but it is limited to the force range with non-zero force *** constant loading rate control can be realized with magnetic tweezers,the loading rate range is limited due to the slow movement of permanent ***-linear exponential and exponential squared force loading functions are more feasible in magnetic tweezers,while there is no theoretical result available for these two kinds of non-linear force loading *** this study,we solved the unfolding process of a protein following Bell's model under nonlinear exponential and exponential squared force loading functions,which offer a broader range of unfolding force distribution compared to the traditional constant loading rate ***,we derived two force loading functions,which can produce uniform unfolding force *** research contributes fundamental equations for the analysis of experimental data obtained through single-molecule manipulation under nonlinear force loading controls,paving the way for the use of nonlinear force control in magnetic tweezer experiments.

关键词： single-molecule manipulation magnetic tweezers force loading transition rates force distribution

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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

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Effect of the Reaction Field on Molecular forces and Torques Revealed by an Image-Charge Solvation Model

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Communications in Computational Physics 2013年第1期13卷 129-149页

作者： Wei Song Yuchun Lin Andrij Baumketner Shaozhong Deng Wei Cai Donald JJacobs Departments of Bioinformatics and Genomics University of North Carolina at CharlotteCharlotteNC 28262USA Departments of Physics and Optical Science University of North Carolina at CharlotteCharlotteNC 28262USA Departments of Mathematics and Statistics University of North Carolina at CharlotteCharlotteNC 28262USA On leave from Institute for Condensed Matter Physics 1 Svientsitsky Str.Lviv 79011Ukraine

We recently developed the Image-Charge Solvation Model(ICSM),which is an explicit/implicit hybrid model to accurately account for long-range electrostatic forces in molecular dynamics simulations[Lin et al.,***.,131,154103,2009].The ICSM has a productive spherical volume within the simulation cell for which key physical properties of bulk water are reproduced,such as density,radial distribution function,diffusion constants and dielectric *** the reaction field(RF)is essential,it typically accounts for less than 2% of the total electrostatic force on a water *** observation motivates investigating further the role of the RF within the *** this report we focus on distributions of forces and torques on water molecules as a function of distance from the origin and make extensive tests over a range of model parameters where Coulomb forces are decomposed into direct interactions from waters modeled explicitly and the *** torques due to the RF typically account for 20% of the total torque,revealing why the RF plays an important role in the dielectric properties of simulated ***,it becomes clear that the buffer layer in the ICSM is essential to mitigate artifacts caused by the discontinuous change in dielectric constants at the explicit/implicit interface.

关键词： Image charges reaction field force distribution torque distribution dipole moment

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