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Singularity analysis and avoidance for an SSRMS-type reconfigurable space manipulator with a non-spherical wrist and two lockable passive telescopic links

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Chinese Journal of Aeronautics 2024年第8期37卷 435-459页

作者： Zhiyuan ZHAO Xiaohang YANG Yuntao LI Zichun XU Jingdong ZHAO Hong LIU state key laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China

This study focuses on addressing kinematic singularity analysis and avoidance issues for a space station remote manipulator system(SSRMS)-type reconfigurable space *** manipulator is equipped with a non-spherical wrist and two lockable passive telescopic links(LPTLs),which enable it to have both active revolute and passive prismatic joints and operate in two distinct *** begin with the kinematic singularity analysis,the study derives the differential kinematic equations for the manipulator and identifies the dominant Jacobian matrix that causes ***,an in-depth analysis of singularities from multiple perspectives is ***,a kinematic singularity map method is proposed to capture the distribution of singularities within the reachable ***,the influence of the two LPTLs on singularities is thoroughly ***,a new method based on the matrix rank equivalence principle is introduced to determine singularity conditions,enabling the identification of all the singular configurations for the SSRMS-type reconfigurable ***,this method significantly reduces computational complexity,and the singularity conditions obtained have more concise *** the singularity avoidance problem,a novel method is developed,which simultaneously addresses the requirements of real-time performance,high precision,and the avoidance of both kinematic singularities and joint limit *** from these excellent properties,the proposed method can effectively resolve the singularity issues encountered separately by the SSRMS-type reconfigurable manipulator in its two operational *** typical simulations validate the utility of all the proposed methods.

关键词： Reconfigurable space manipulator Redundant manipulator Kinematics Singularity analysis Singularity avoidance

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A versatile humanoid robot platform for dexterous manipulation and human-robot collaboration

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 526-540页

作者： Xin Shu Fenglei Ni Xinyang Fan Shuai Yang Changyuan Liu Baoxu Tu Yiwei Liu Hong Liu state key laboratory of robotics and system Harbin Institute of TechnologyHarbinChina

Humanoid robots have attracted much attention by virtue of their compatibility with human ***,biped humanoids with immense promise still cannot function steadily and reliably in real-world settings in the current ***,rationally combining a humanoid robot with different stable mobile platforms is a favoured solution for diverse ***,a new versatile humanoid robot platform,aiming to provide a generic solution that can be flexibly deployed in diverse scenarios,for example,indoors and fields is *** humanoid robot platform incorporates multimodal perception,and extensible interfaces on hardware and software,allowing it to be rapidly integrated with different mobile platforms and end-effectors,only through easyto-assemble ***,the platform has achieved impressive integration,lightness,dexterity,and strength in its class,with human-like size and rich perception,targeted to have human-intelligent manipulation skills for human-engineered ***,this article elaborates on the reasoning behind the design choices,and outlines each ***,the essential performance of the platform is successfully demonstrated in a set of experiments with precise and dexterous manipulation,and human–robot collaboration requirements.

关键词： intelligent robots robotics

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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU state key laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU state key laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

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Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan state key laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

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Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

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Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN state key laboratory of robotics and system Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

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Design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG state key laboratory of robotics and systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

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On the Polygonal Wear Evolution of Heavy-Haul Locomotive Wheels due to Wheel/Rail Flexibility and Its Mitigation Measures

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 40-61页

作者： Yunfan Yang Feifan Chai Pengfei Liu Liang Ling Kaiyun Wang Wanming Zhai state key laboratory of Mechanical Behavior and system Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

Wheel polygonal wear can immensely worsen wheel/rail interactions and vibration performances of the train and track,and ultimately,lead to the shortening of service life of railway *** present,wheel/rail medium-or high-frequency frictional interactions are perceived as an essential reason of the high-order polygonal wear of railway wheels,which are potentially resulted by the flexible deformations of the train/track system or other external *** this work,the effect of wheel/rail flexibility on polygonal wear evolution of heavy-haul locomotive wheels is explored with aid of the long-term wheel polygonal wear evolution simulations,in which different flexible modeling of the heavy-haul wheel/rail coupled system is ***,the mitigation measures for the polygonal wear of heavy-haul locomotive wheels are *** results point out that the evolution of polygonal wear of heavy-haul locomotive wheels can be veritably simulated with consideration of the flexible effect of both wheelset and *** of mixed-line operation of heavy-haul trains and application of multicut wheel re-profiling can effectively reduce the development of wheel polygonal *** research can provide a deep-going understanding of polygonal wear evolution mechanism of heavy-haul locomotive wheels and its mitigation measures.

关键词： Heavy-haul locomotive Wheel polygonal wear Wheel/rail flexibility Long-term polygonal wear evolution Mitigation measures

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Dynamics modeling and electromechanical coupling characteristics analysis of cage induction motors

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Science China(Technological Sciences) 2024年第3期67卷 709-724页

作者： ZHOU ZiWei CHEN ZaiGang ZHAI WanMing state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

Induction motors, as typical electromechanical energy conversion devices, have received limited attention in previous studies on electromechanical coupling vibrations, precise modeling, and the use of electromechanical coupling effects for fault diagnosis and condition assessment in motor drive systems. This study proposes a comprehensive model of cage induction motors that integrates the multiple coupled circuit model with a rotor-bearing dynamics model. The model accounts for the linear increase in the magnetomotive force across the slot and incorporates the skidding characteristics of bearings in the rotor-bearing system. By calculating the time-varying mutual inductance parameters based on the air-gap distribution in the vibration environment, the electromechanical coupling vibration of the cage motor is investigated. Furthermore, this study examines the electromechanical coupling vibration characteristics influenced by various factors, including bearing clearances, radial loads, and the vertical excitation frequencies of the stators. The results show that the proposed model improves the excitation inputs for the electrical and mechanical systems of the motor compared with conventional models. Increased bearing clearance and radial load affect the current and torque similarly but have opposite effects on the slip ratio. This study provides a deeper understanding of electromechanical coupling mechanisms and facilitates the use of such phenomena for fault diagnosis and condition assessment in motor-driven systems.

关键词： cage induction motors rotor-bearing dynamics mutual inductance electromechanical testing current signal analysis

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Influence of vibration on the lubrication effect of a splash-lubricated gearbox

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第4期25卷 324-339页

作者： Yi LIU Kailin ZHANG Shuai SHAO Hongxu XIANG Zhijian YE state key laboratory of Rail Transit Vehicle system Southwest Jiaotong UniversityChengdu 610031China

In this study,we investigate the effect of rail vibrations on the lubrication and efficiency of a splash-lubricated gearbox;specifically,the gearbox of a rail-transit vehicle.A high-fidelity 3D numerical model of the gearbox in a moving reference system is described,as well as computational fluid dynamics(CFD)simulations of the gearbox with different vibration *** effects of rotational speed,oil-immersion depth,and different oil-injection volume rates on lubrication and efficiency are *** propose a method of evaluating the internal lubrication condition of a splash-lubricated gearbox and quantitatively compare the effects of different operating parameters on lubrication and ***,our experiment to verify the feasibility of the simulation method is *** results show that with vibration,the churning loss and oil supply for the bearings are significantly higher than those under static *** addition,among different vibrational directions,lateral vibration has the greatest influence on the lubrication condition and efficiency of the *** the studied railway-vehicle gearbox,the best lubrication condition is achieved at a rotational speed of 1600 r/min and an oil-immersion depth of two times the tooth height(***).Rotational speed is the operating parameter that has the most significant effect on the lubrication and efficiencyofthegearbox.

关键词： Comprehensive lubrication evaluation Churning loss Moving reference system Splash lubrication Vibrational excitation Gearbox

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