Abstract Multi-degree-of-freedom (DOF) precision positioning stages (PPS) based on displacement amplifiers are commonly designed and used in engineering applications. However, the equivalent load cross-coupling effects these PPS can adversely impact kinematic performance of amplifiers, resulting a significant reduction accuracy. To this end, novel mathematical model has been developed chain-based compliance matrix (CMM) beam constraint model, enabling precise calculation amplification ratio...

Purpose The purpose of this study is to ensure the successful implementation a landing cushion for new generation armored vehicles with significantly enhanced quality. Furthermore, introduce high-precision cushioning analysis model. Design/methodology/approach To accurately analyze performance vehicles, nonlinear finite element dynamics model considering complex travel system was established. considered influence various factors measure dynamic response difference between proposed and...

This paper presents an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The is mostly (80 vol.%) while driven by four geared servo motors. robot's body legs were 3D printed with gyroid infill using a flexible material, enabling it to conform the environment passively stabilize during in multi-terrain environments. In addition, we simulated real-time simulation. With tuned gaits simulation, real can locomote at speed of...

This paper presents a coupling dynamic model that is based on spring-damping contact for modeling and analyzing the physical interaction between soft exoskeleton finger. The physiological structure biomechanical of finger were introduced. According to movement mechanism finger, bionic prototype single-finger model, which driven by shape memory alloy (SMA) wire, was designed, its mechanical established. A used expound an force human-robot with model. experiment carried out verify determine...

In this study, a hybrid iteration force density method (HIFDM) was proposed to ensure both tension uniformity and accuracy of an antenna mesh reflector. Based on genetic algorithm (GA), the boundary cable reflector net optimized, which further improved precision The static model large deployable structure established using finite element (FEM), thus, iterative strategy for form-finding proposed, considered influence elastic deformation structure. results showed that HIFDM effective...

Purpose This paper aims to improve the kinematic modeling accuracy of a spatial three-degrees-of-freedom compliant micro-motion parallel mechanism by proposing modified method based on structural matrix (SMM). Design/methodology/approach analyzes problem that torsional compliance equation circular notched hinge is no longer applicable because it subject bilateral restrained torsion. The introducing relative length coefficient. input coupling effect, which often neglected, considered in...

Abstract Due to the inherent unpredictability of geological conditions, tunnelling operations are often at risk encountering water inrushes. Such incidents can lead construction delays, impose financial strains and pose significant safety threats workers involved. Water‐bearing formations main triggers for such incidents, with factors as positioning, quantity permeability distribution these being key predicting occurrence severity inrush disasters. By leveraging complex interplay among...

Abstract A high deployment ratio, large aperture, lightweight design, and precision are the trends in development of future deployable antennas. To meet mission requirements spaceborne antennas, a parabolic cylindrical antenna support mechanism composed multiple rectangular modules is constructed, kinematic modeling method for multi-module linkage proposed. Based on structure principles antenna, spatial geometric model constructed. By integrating Denavit-Hartenberg (D-H) robotics theory,...

In this paper, a new composite controller (feedforward + feedback) is proposed for the trajectory tracking control of piezo-driven bridge displacement amplifier. A hysteresis model considering dynamic effects established based on modified Bouc–Wen (MBW) model, which can describe asymmetry and frequency-dependence behaviors. The effectiveness verified by experimental comparison. feedforward designed to compensate nonlinearity inverse multiplicative structure model. feedback with Kalman...

This paper presents a novel fractional-order adaptive gain fixed-time convergent super-twisting-algorithm (FOAFSTA). The proposed FOAFSTA has the property of convergence. Compared with other Super-Twisting-Algorithm-like algorithms, it still faster convergence speed and stronger robustness even under larger disturbance. new law can reduce overestimation gain. Based on Lyapunov theory, time is estimated. corresponding comparative simulation demonstrates effectiveness superiority FOAFSTA.

<abstract> To solve integrals in the absolute nodal coordinate method and address difficulty applying it to an arbitrary-section beam, this paper focuses on two methods involving single integrals:the invariant matrix Gerstmayr method, with cross-section characteristics by interpolation of a discrete function. Such demonstrate that can be applied beam. The Euler–Bernoulli beam used engineering structures is characterised symmetrical cross-section, small section size, zero odd negligible...

We present an open-source untethered quadrupedal soft robot platform for dynamic locomotion (e.g., high-speed running and backflipping). The is mostly (80 vol.%) while driven by four geared servo motors. robot's body legs were 3D printed with gyroid infill using a flexible material, enabling it to conform the environment passively stabilize during on multi-terrain environments. In addition, we simulated in real-time simulation. With tuned gaits simulation, real can locomote at speed of 0.9...

Abstract In this paper, a fast numerical iterative algorithm is proposed based on the Pseudo-Rigid-Body-Model and geometric method to deal with problem of offset-type flexible Delta mechanism forward kinematics multiple solutions without analytical solutions. kinematics, quartic kinematic equations are reduced quadratic ones by variable substitution. As simplest nonlinear equations, can be represented coefficient matrices which suitable for computer calculation. And due operational...

Compared with the traditional docking mechanism, a low-impact mechanism (LIDM) has big advantage, that is, LIDMs can realize by controlling movement of driving rods in real-time. In this process, load sensing ring (LSR) chaser spacecraft is adjusted real-time according to position and attitude target spacecraft, which requires LIDM high transmission efficiency, so LSR be changed rapidly under motion respond requirements control system as soon possible. paper, efficiency solution an...