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Dynamic model and performance analysis of landing buffer for bionic locust mechanism

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Acta Mechanica Sinica 2016年第3期32卷 551-565页

作者： Dian-Sheng Chen Zi-Qiang Zhang Ke-Wei Chen robotic institute Beihang University

The landing buffer is an important problem in the research on bionic locust jumping robots, and the different modes of landing and buffering can affect the dynamic performance of the buffering process significantly. Based on an experimental observation, the different modes of landing and buffering are determined, which include the different numbers of landing legs and different motion modes of legs in the buffering process. Then a bionic locust mechanism is established, and the springs are used to replace the leg muscles to achieve a buffering effect. To reveal the dynamic performance in the buffering process of the bionic locust mechanism, a dynamic model is established with different modes of landing and buffering. In particular, to analyze the buffering process conveniently, an equivalent vibration dynamic model of the bionic locust mechanism is *** the support forces of the ground to the leg links, which can be obtained from the dynamic model, the spring forces of the legs and the impact resistance of each leg are the important parameters affecting buffering performance, and evaluation principles for buffering performance are proposed according to the aforementioned parameters. Based on the dynamic model and these evaluation principles, the buffering performances are analyzed and compared in different modes of landing and buffering on a horizontal plane and an inclined plane. The results show that the mechanism with the ends of the legs sliding can obtain a better dynamic performance. This study offers primary theories for buffering dynamics and an evaluation of landing buffer performance,and it establishes a theoretical basis for studies and engineering applications.

关键词： Bionic locust mechanism Landing and buffering Dynamic model Buffering performance

Analysis and comparison of three leg models for bionic locust robot based on landing buffering performance

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Science China(Technological Sciences) 2016年第9期59卷 1413-1427页

作者： ZHANG ZiQiang CHEN DianSheng CHEN KeWei robotic institute in School of Mechanical Engineering and Automation Beihang University

Good landing buffering performance can reduce impact and vibration for the bionic locust jumping robot; thus, a landing buffer is important in evaluating the motion performance of the bionic locust robot. In particular, the legs of the robot are the main structures that realize the buffer; thus, its structure affects buffering performance. Three typical leg structure models are established based on the physiological analysis of the locust leg and research status, namely, bionic leg, multi-constraint leg, and arc legs. Kinematic and force analyses are conducted for these types of legs. Particularly, flexible deformation of leg link is considered in the analysis to describe the movement process accurately. In order to compare the buffering performance of these types of legs quantitatively, the performance indices with maximum buffering distance, the energy absorption capability, and the mechanical property are presented. Based on the performance indices, the structure parameters are analyzed and optimized. The buffering performance of the three leg structures is compared with the comprehensive performance of different structures in each best state. This study offers a quantitative analysis and comparison for different legs of bionic locust jumping robot based on landing buffering performance. Furthermore, a theoretical basis for future research and engineering applications is established.

关键词： bionic locust robot leg model buffering performance parameter optimization comparison study

Path planning of the robot assembly based on Voronoi diagram

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Journal of Harbin institute of Technology(New Series) 2008年第1期15卷 39-44页

作者：付庄赵言正 robotic Research institute Shanghai Jiaotong University

Based on the concepts of Voronoi diagram that describes geometry information of the robot assembly in C space, the position vector path parameter equation of the assembly movement between the step shaft and two-sided bearing bracket was given. And the path planning strategy of the component initiative assembly was put forward as well. Theoretical analysis proves that using the Voronoi diagram to do the geometry reasoning on the assembly space can evaluate the feasibility of the component assembly, and can present the reference position vector path of the component movement from the initial configuration to the objective configuration, therefore improves the flexibility of the robot initiative assembly.

关键词： Voronoi diagram initiative assembly position vector path planning

Wing load investigation of the plunge-diving locomotion of a gannet Morus inspired submersible aircraft

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Science China(Technological Sciences) 2014年第2期57卷 390-402页

作者： LIANG JianHong YAO GuoCai WANG TianMiao YANG XingBang ZHAO WenDi SONG Gang ZHANG YuCheng robotic institute School of Mechanical Engineering and Automation Beihang University

In this paper,we studied the wing root pivot joint’s radial load of a submersible airplane which imitates the locomotion of gannet’s Morus plunge-diving,by implementing a test device name *** housing of the device was designed by mimicking the morphology of a living gannet,and the folding wings were realized by the mechanism of variable swept back ***,the radial loads of the wing root were obtained under the conditions of different dropping heights,different sweptback angles and different water-entry inclination angles(i.e.,the angle between the longitudinal body axis and the water surface),and the relationships between the peak radial load and the above three parameters were analyzed and discussed *** the studied areas,the minimum peak radial load of the pivot joint is 50.93 N,while the maximum reaches up to1135.00 *** largest peak load would be generated for the situation of vertical water entry and zero wing sweptback *** it is of great significance to choose the three parameters properly to reduce the pivot joint’s radial load,i.e.,larger wing sweptback angle,smaller dropping height and water-entry inclination *** is also concluded that the peak radial load on the wing root is closely linear with the water-entry dropping height and the wing sweptback angle with a significant ***,the relationship between the wing load and the dropping height,water-entry inclination angle or wing sweptback angle,could be used to calculate the wing load about plunge-diving of a submersible aircraft,and the conclusions reveal the wing load characteristic of the gannet’s plunge process for the biologists.

关键词： submersible aircraft mimic gannet water entry plunge diving sweptback wing load investigation

MODELING OF MICROMANIPULATION ROBOT IN VIRTUAL ENVIRONMENT

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Acta Metallurgica Sinica(English Letters) 2004年第2期17卷 194-198页

作者： F.S.Tan L.N.Sun W.B.Rong J.Zhu robotic Research institute,Harbin institute of Technology,Harbin 150001,China robotic Research institute Harbin Institute of TechnologyHarbin 150001China

Micromanipulation has been recognized to be very difficult due to the inefficiency oftraditional micromanipulation methods. The paper present a general framework formicromanipulation robot based on virtual reality technology. The significance of in-troducing virtual reality into micromanipulation is analyzed, and the current researchin this field is reviewed. Based on this, we propose a micromanipulation system thatintegrates virtual environment with vision feedback and force feedback. The systemrealizes vision close-loop control and force close-loop control to enhance the perfor-mance of micromanipulation device. A graphics modelling method is proposed for amicroassembly task. Hardware and software implementation is described and discus-sion about the research is presented.

关键词： micromaniqulation virtual reality vision feedback force feedback microassembly

Bionic Mechanism and Kinematics Analysis of Hopping Robot Inspired by Locust Jumping

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Journal of Bionic Engineering 2011年第4期8卷 429-439页

作者： Diansheng Chen Junmao Yin Kai Zhao Wanjun Zheng Tianmiao Wang robotic institute Beihang University Beijing 100191 P. R. China

A flexible-rigid hopping mechanism which is inspired by the locust jumping was proposed, and its kinematic characteris- tics were analyzed. A series of experiments were conducted to observe locust morphology and jumping process. According to classic mechanics, the jumping process analysis was conducted to build the relationship of the locust jumping parameters. The take-offphase was divided into four stages in detail. Based on the biological observation and kinematics analysis, a mechanical model was proposed to simulate locust jumping. The forces of the flexible-rigid hopping mechanism at each stage were ana- lyzed. The kinematic analysis using pseudo-rigid-body model was described by D-H method. It is confirmed that the proposed bionic mechanism has the similar performance as the locust hind leg in hopping. Moreover, the jumping angle which decides the jumping process was discussed, and its relation with other parameters was established. A calculation case analysis corroborated the method. The results of this paper show that the proposed bionic mechanism which is inspired by the locust hind limb has an excellent kinematics performance, which can provide a foundation for design and motion planning of the hopping robot.

关键词： hopping robot flexible-rigid mechanism bionic mechanism kinematics

Mechanism of Locust Air Posture Adjustment

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Journal of Bionic Engineering 2015年第3期12卷 418-431页

作者： Diansheng Chen Kewei Chen Ziqiang Zhang Benguang Zhang robotic institute in School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

Stimulated locusts often tumble during the jumping process. Locusts can also recover their bodies in the air for flight or landing stability. To increase jumping distance and avoid landing collision of bio-inspired jumping robots, the mechanism of air posture adjustment of locusts is examined in this research. This mechanism can be used to improve the stability of robot. The abdomen swings, wing motions, and the variations in body angle are recorded by a high-speed camera when locusts free fall in air with normal or upside-down initial posture. Results indicate that the wings and abdomen are mainly utilized for air posture adjustment. Moreover, abdomen swing and forewing rotation have positive effects on body pitch. However, locusts have dif- ficulty in recovering their bodies from the upside-down posture without wings, although the body pitch caused by unpredictable perturbation in air can be compensated through abdomen swing. Consequently, body roll is attributed to the wing motion, which is related to two factors, namely, the different flapping amplitudes of the wings on both sides, and the different flapping velocities of wings during the upstroke and downstroke periods. This research may provide reference for the design of jumping robots.

关键词： locusts air posture adjustment abdomen swing asymmetric flapping wings

DEVELOPMENT OF A SHAPE-SHIFTING MOBILE ROBOT FOR URBAN SEARCH AND RESCUE

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Chinese Journal of Mechanical Engineering 2008年第2期21卷 31-35页

作者： YE Changlong MA Shugen LI Bin School of Machinery and Automobile Shenyang Institute of Aeronautical Engineering Shenyang 110034 China robotic Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Center for Promotion of COE Program Ritsumeikan University Shiga-ken 525-8577 Japan robotic Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China robotic Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.

关键词： Urban search and rescue Modular-unit Shape-shifting robot Environment adaptation

Modeling Method and Application of Rational Finite Element Based on Absolute Nodal Coordinate Formulation

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Acta Mechanica Solida Sinica 2018年第2期31卷 207-228页

作者： Chao Ma Cheng Wei Jing Sun Bin Liu Beijing Key Laboratory of Intelligent Space robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Department of Aerospace Engineering Harbin Institute of Technology

In multibody system dynamics, the absolute nodal coordinate formulation （ANCF） uses power functions as interpolating polynomials to describe the displacement field. It can get accurate results for flexible bodies that undergo large deformation and large rotation. However, the power functions are irrational representation which cannot describe the complex shapes precisely, especially for circular and conic sections. Different from the ANCF representation, the rational absolute nodal coordinate formulation （RANCF） utilizes rational basis functions to describe geometric shapes, which allows the accurate representation of complicated displacement and deformation in dynamics modeling. In this paper, the relationships between the rational surface and volume and the RANCF finite element are provided, and the generalized transformation matrices are established correspondingly. Using these transformation matrices, a new four-node three-dimensional RANCF plate element and a new eight-node three-dimensional RANCF solid element are proposed based on the RANCF. Numerical examples are given to demonstrate the applicability of the proposed elements. It is shown that the proposed elements can depict the geometric characteristics and structure configurations precisely, and lead to better convergence in comparison with the ANCF finite elements for the dynamic analysis of flexible bodies.

关键词： Multibody system dynamics Absolute nodal coordinate formulation Flexible deformation Spline representation Rational finite element