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Tuning of Multi-stability Profile and Transition Sequence of Stacked Miura-Origami Metamaterials

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Acta Mechanica Solida Sinica 2023年第4期36卷 554-568页

作者： Haiping Wu Hongbin Fang Institute of AI and robotics Fudan UniversityShanghai 200433China MOE Engineering Research center of AI and robotics Fudan UniversityShanghai 200433China Shanghai Engineering Research center of AI and robotics Fudan UniversityShanghai 200433China

Multi-stable origami structures and metamaterials possess unique advantages and could exhibit multiple stable three-dimensional configurations,which have attracted widespread research interest and held promise for applications in many *** a great deal of attention has been paid to the design and application of multi-stable origami structures,less knowledge is available about the transition sequence among different stable configurations,especially in terms of the fundamental mechanism and the tuning *** fill this gap,with the multi-stable dual-cell stacked Miura-ori chain as a platform,this paper explores the rules that govern the configuration transition and proposes effective methods for tuning the transition ***,by correlating the energy evolution,the transition paths,and the associated force-displace-ment profiles,we find that the critical extension/compression forces of the component cells play a critical role in governing the transition ***,we summarize the rules for predicting the transition sequence:the component cell that first reaches the critical force during quasi-static extension or compression will be the first to undergo a configuration *** on these findings,two methods,i.e.,a design method based on crease-stiffness assignment and an online method based on internal pressure regulation,are proposed to tune the stability profile and the transition sequence of the multi-stable origami *** crease-stiffness design approach,although effective,cannot be employed for online tuning once the prototype has been *** pressure-based approach,on the other hand,has been shown experimentally to be effective in adjusting the constitutive force-displacement profiles of the component cells and,in turn,tuning the transition sequence according to the summarized *** results of this study will advance the state of the art of origami mechanics and promote the engineering applications of mu

关键词： Origami metamaterial Bi-stability Origami mechanics Pneumatic origami Snap-through transition

Type synthesis principle of minor-mobility parallel manipulators

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Science China(Technological Sciences) 2002年第3期45卷 241-248页

作者：黄真李秦川 robotics Research center Yanshan University Qinhuangdao China

This paper originally presents a systematic general type synthesis principle of minor-mobility parallel manipulators. Based on the properties and geometrical conditions of structure constraint of minor-mobility parallel manipulators, this principle will be a cornerstone in solving the problem of type synthesis of minor-mobility parallel manipulators. Many mechanisms have been synthesized by this principle, which illustrated the validity and universality of this principle.

关键词： parallel manipulator, type synthesis, design theory.

The relationship between physical human-exoskeleton interaction and dynamic factors:using a learning approach for control applications

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Science China(Information Sciences) 2014年第12期57卷 5-17页

作者： TRAN Huu-Toan CHENG Hong LIN Xi Chuan DUONG Mien-Ka HUANG Rui center for robotics University of Electronic Science and Technology of China

During a human-exoskeleton collaboration,the interaction torque on exoskeleton resulting from the human cannot be clearly determined and conducted by normal physical *** is because the torque depends not only on direction and orientation of both human-operator and exoskeleton but also on the physical properties of each *** this paper,we present our investigations on the relationship between the interaction torques with the dynamic factors of the human-exoskeleton systems using state-of-the-art learning techniques(nonparametric regression techniques)and provide control applications based on the *** data was collected from various human-operators when they were attached to the designed exoskeleton to perform unconstraint motions with and without *** results showed that regardless of how the experiments were done and which learning method was chosen,the resulting interaction could be best represented by time varying non-linear mappings of the operator’s angular position,and the exoskeleton’s angular position,velocity,and acceleration during *** finding has been applied to advanced controls of the lower exoskeletal robots in order to improve their performance while interacting with human.

关键词： physical human-robot interaction lower limb assistance lower exoskeleton non-parametric learning impedance control

Environmental contact modeling for the earthworm-like robot via the novel elementary mechanical network

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Science China(Technological Sciences) 2022年第6期65卷 1366-1382页

作者： HE KunPeng ZHANG XiaoXu Institute of AI and robotics Fudan UniversityShanghai 200433China Shanghai Engineering Research center of AI&robotics Fudan UniversityShanghai 200433China MOE Engineering Research center of AI&robotics Fudan UniversityShanghai 200433China

The earthworm-like robot is designed for prospective applications such as disaster rescue and pipeline detection in natural ***,current studies on the interaction modeling between the earthworm-like robot and the environment only consider rigid *** simplification limits the reliability of dynamic analysis and locomotion optimization on soft surfaces,such as ***,developing a method for refined contact modeling for the earthworm-like robot and describing the contact effect induced by the soft environmental medium is *** this end,this paper proposes a new modeling architecture called the elementary mechanical network(EMN).EMN is constructed as fractal structures for the convenience of network ***,elementary mechanical elements,such as the damper,spring,and slider,are parallelly connected to constitute a basic ***,the modules are serially linked to create a ***,the groups are parallelly assembled to form the *** is also proven to be equivalent to recurrent neural networks in specific ***,EMN inherits the advantages of physical interpretability from mechanical elements and universal approximability from conventional *** addition,particle swarm optimization and Boolean operation are employed for network weight training and topological *** examples show that using EMNs with identical initial structures can accurately describe diverse empirical models in the minimum *** is applied for contact modeling for the earthworm-like locomotion robot in the dry sand based on such *** experiment measures the normal and tangential ground reaction forces with different sinkage depths and locomotion *** results reveal a common law that the contact effect in the dry sand is similar to Coulomb *** proposed EMN does not require prior system knowledge and promises a minimal physical representation,thus encouraging a succes

关键词： bioinspired locomotion robot data-driven modeling reconfigurable network soft terrain system identification

STUDY OF REGULARITY OF GENERAL-LINEAR-COMPLEX SINGULARITY OF 3/6-STEWART MECHANISM

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Chinese Journal of Mechanical Engineering 2003年第3期16卷 325-328页

作者： Li Yanwen Huang Zhenrobotics research center,Yanshan University,Qinhuangdao 066004, China robotics research center Yanshan University Qinhuangdao 066004

The general-linear-complex singularity of Stewart mechanism is a veryimportant problem in the parallel manipulator. Its general regularity is not found yet during thepast two decades. St-Onge and Gosselin pointed Out that the singularity locus of the Stewartmechanism at some given orientations of the moving platform should be polynomial expressions withvaried degrees in 2000, but they didn't formulate the expression. Based on the kinematicssingularity principle and the geometry condition proposed by Huang Zhen in 1999, firstly thesingularity equation in degree two is derived. It is a hyperbola when the orientation of the movingplatform is given. This result is also proved using screw theory. Then some singularity surfaces aregotten in three-dimensional space. This result is of important significance.

关键词： Stewart mechanism General-linear-complex Singular configuration

Optimal measurement configurations for kinematic calibration of six-DOF serial robot

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Journal of Central South University 2011年第3期18卷 618-626页

作者：黎田孙奎谢宗武刘宏 State Key Laboratory of robotics and System Harbin Institute of Technology Institute of robotics and Mechatronics G erman Aerospace Center

An optimal measurement pose number searching method was designed to improve the pose selection *** optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by *** root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were *** optimal number of the configuration set corresponding to the least RMS of pose error was then *** based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less *** optimal pose set including optimal 25 measurement configurations is found during the *** errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.

关键词： serial robot pose selection pose number kinematic calibration observability index

METH0D USED IN SINGULARITY RESEARCH BASED 0N KINEMATICS AND ITS EXAMPLE IN APPLICATION

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Chinese Journal of Mechanical Engineering 2004年第2期17卷 161-165页

作者： Li Yanwen Huang Zhen robotics Research center,Yanshan University,Qinhuangdao 066004, China robotics Research center Yanshan University Qinhuangdao 066004

First the kinematic principle of singularity is proved, that is theintersecting point of three normal planes of three velocities at three non-collinear points in arigid body lying in the plane determined by the three corresponding points. It is a sufficient andnecessary condition that the velocities of three non-collinear points in a rigid body can determinea screw motion of the body. Based on this principle, a simple and direct new method to distinguishthe singularity of the parallel manipulator is derived. With this new kinematic method, the 3-RPSparallel manipulator is studied. Its singularity loci are obtained for some orientations for thefirst time and verified with Grassmann line geometry and screw theory and the force Jacobian matrix.

关键词： Parallel manipulator 3-RPS Kinematic method Singularity

Theory of loop algebra on multi-loop kinematic chains and its application

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Science China(Technological Sciences) 2007年第4期50卷 437-447页

作者： HUANG Zhen DING HuaFeng robotics Research center Yanshan UniversityQinhuangdao 066004China

Based on the mathematic representation of loops of kinematic chains, this paper proposes the " ⊕ " operation of loops and its basic laws and establishes the basic theorem system of the loop algebra of kinematic chains. Then the basis loop set and its determination conditions, and the ways to obtain the crucial perimeter topological graph are presented. Furthermore, the characteristic perimeter topo-logical graph and the characteristic adjacency matrix are also developed. The most important characteristic of this theory is that for a topological graph which is drawn or labeled in any way, both the resulting characteristic perimeter topological graph and the characteristic adjacency matrix obtained through this theory are unique, and each has one-to-one correspondence with its kinematic chain. This character-istic dramatically simplifies the isomorphism identification and establishes a theoretical basis for the numeralization of topological graphs, and paves the way for numeralization and computerization of the structural synthesis and mechanism design further. Finally, this paper also proposes a concise isomorphism identifica-tion method of kinematic chains based on the concept of characteristic adjacency matrix.

关键词： kinematic chain loop algebra perimeter topological graph isomorphism identification

A general methodology for mobility analysis of mechanisms based on constraint screw theory

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Science China(Technological Sciences) 2009年第5期52卷 1337-1347页

作者： Zhen Huang JingFang Liu DaXing Zeng robotics Research center Yanshan University Qinhuangdao 066004 China

It is well known that the traditional Grübler-Kutzbach formula fails to calculate the mobility of some classical mechanisms or many modern parallel robots,and this situation seriously hampers mechani-cal *** seek an efficient and universal method for mobility calculation has been a heated topic in the sphere of *** modified Grübler-Kutzbach criterion proposed by us achieved success in calculating the mobility of a lot of highly complicated mechanisms,especially the mobility of all recent parallel mechanisms listed by Gogu,and the Bennett mechanism known for its particular *** wide applications of the criterion,a systematic methodology has recently *** paper systematically presents the methodology based on the screw theory for the first time and ana-lyzes six representative puzzling *** addition,the methodology is convenient for judgment of the instantaneous or full-cycle mobility,and has become an effective and general method of great scientific value and practical *** the first half,this paper introduces the basic screw theory,then it presents the effective methodology formed within this *** second half of this paper presents how to apply the methodology by analyzing the mobility of several puzzling ***,this paper contrasts and analyzes some different methods and interprets the essential reason for validity of our methodology.

关键词： mobility analysis redundant constraint parallel mechanism