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Task-Oriented Topology System Synthesis of reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 89-109页

作者： Youcheng Han Ziyue Li Gaohan Zhu Weizhong Guo Jianzhong Yang Wei Liu State Key Lab of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Beijing Institute of Spacecraft System Engineering Beijing 100094China

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to *** with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force *** reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission *** reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure *** identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological ***,simulation verifies the whole task implementation process to ensure the reasonability of design.

关键词： Legged mobile lander Topology synthesis Active and passive metamorphoses Finite screw Metamorphic joint reconfigurable mechanism

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reconfigurable Muscle Strength Training Robot with Multi-mode Training for 17 Joint Movements

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Journal of Bionic Engineering 2023年第1期20卷 212-224页

作者： Jianfeng Li Qiulin Fang Mingjie Dong Xi Rong Liwei Jiang Ran Jiao Beijing Key Laboratory of Advanced Manufacturing Technology Faculty of Materials and ManufacturingBeijing University of TechnologyBeijing100124People’s Republic of China The Affiliated Hospital of Qingdao University Qingdao266000People’s Republic of China The CSSC System Engineering Research Institute Beijing100094People’s Republic of China

Different from limb rehabilitation training,the purpose of muscle strength training is to reduce muscle atrophy and increase muscle strength and tolerance through strength training of limb muscles,and then improve the muscle strength level of muscles(groups),mainly for sports fitness and muscle strengthening groups and patients with muscle atrophy or muscle weakness caused by various *** this paper,we developed a new reconfigurable muscle strength training robot,a bionic robot by imitating physicians to conduct muscle strength training for patients,which was developed with six training modes for 17 joint movements,that is,the shoulder flexion/extension,the shoulder internal/external rotation,the shoulder adduction/abduction,the elbow flexion/extension,the wrist supination/pronation,the wrist flexion/extension,the wrist radial/ulnar deviation,the hip flexion/extension,the hip internal/external rotation,the hip adduction/abduction,the knee flexion/extension,the ankle dorsiflexion/plantarflexion,the ankle adduction/abduction,the ankle inversion/eversion,the waist flexion/extension,the waist left/right rotation,and the waist left/right *** reconfigurable mechanism was designed with fully electric adjuster and reconfigurable adaptors deployed on the driving unit,and six training modes were developed,namely,continuous passive motion,active exercise,passive–active exercise,isotonic exercise,isometric exercise and isokinetic *** with knee joint and elbow joint have shown that the developed reconfigurable muscle strength training robot can realize the multi-mode trainings for the 17 joint movements.

关键词： reconfigurable mechanism Bionic robot Muscle strength training 17 joint movements Multi-mode trainings

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The Human Ankle-Foot Complex as a Multi-Configurable mechanism during the Stance Phase of Walking

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Journal of Bionic Engineering 2010年第3期7卷 211-218页

作者： Amaraporn Boonpratatong School of Mechanical Aerospace and Civil EngineeringUniversity of Manchester

The objective of this study is to investigate the biomechanical functions of the human ankle-toot complex during the stancephase of walking. The three-dimensional (3D) gait measurement was conducted by using a 3D infrared multi-camera system anda force plate array to record the Ground Reaction Forces (GRF) and segmental motions simultaneously. The ankle-foot complexwas modelled as a four-segment system, connected by three joints: talocrural joint, sub-talar joint and metatarsophalangeal *** subject-specific joint orientations and locations were determined using a functional joint method based on the particleswarm optimisation algorithm. The GRF moment arms and joint moments acting around the talocrural and sub-talar joints werecalculated over the entire stance phase. The estimated talocrural and sub-talar joint locations show noticeable obliquity. Thekinematic and kinetic results strongly suggest that the human ankle-foot complex works as a mechanical mechanism with twodifferent configurations in stance phase of walking. These lead to a significant decrease in the GRF moment arms therebyincreasing the effective mechanical advantages of the ankle plantarflexor muscles. This reconfigurable mechanism enhancesmuscle effectiveness during locomotion by modulating the gear ratio of the ankle plantarflexor muscles in stance. This studyalso reveals many factors may contribute to the locomotor function of the human ankle-foot complex, which include not only itsre-configurable structure, but also its obliquely arranged joints, the characteristic heel-to-toe Centre of Pressure (COP) motionand also the medially acting GRF pattern. Although the human ankle-foot structure is immensely complex, it seems that itsconfiguration and each constitutive component are well tuned to maximise locomotor efficiency and also to minimise risk ofinjury. This result would advance our understanding of the locomotor function of the ankle-foot complex, and also the intrinsicdesign of the ankle-

关键词： ankle foot talocrural joint sub-talar joint metatarsophalangeal joint ground reaction force moment arm reconfigurable mechanism

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A novel line-symmetric Goldberg 6R linkage with bifurcation property

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Journal of Central South University 2020年第12期27卷 3754-3767页

作者： LI Lei LI Teng-fei DAI Jian-sheng WANG Rui-qin Key Lab for mechanism Theory and Equipment Design of Ministry of Education International Centre for Advanced Mechanisms and RoboticsTianjin UniversityTianjin 300350China Centre for Robotics Research School of Natural Sciences and MathematicsKing’s College LondonUniversity of LondonLondon WC2R 2LSUnited Kingdom

This paper proposes a novel reconfigurable Goldberg 6R linkage,conformed to the construction of variant serial Goldberg 6R linkage,while simultaneously satisfying the line-symmetric Bricard *** isomeric mechanism of this novel reconfigurable mechanism is obtained in combination with the isomerization *** geometrically constrained conditions result in variable motion branches of the *** on the singular value decomposition of the Jacobian matrix,the motion branches and branch bifurcation characteristics are analyzed,and the schematics of bifurcations in joint space is *** novel 6R linkage features one Goldberg 6R motion branch,two line-symmetric Bricard 6R motion branches,and one Bennett motion *** regards to the line-symmetric Bricard 6R motion branches,a similar function for the disassembly and recombination process can be achieved by reconstructing an intermediate configuration through ***,the isomerized generalized variant Goldberg 6R linkage is explicated in a similar *** as a bridge,reconfigurability connects two families of overconstrained mechanisms.

关键词： overconstrained mechanism reconfigurable mechanism SVD method bifurcation characteristics

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