A5012464622- Robotic Mechanisms and Dynamics
- Geotechnical Engineering and Underground Structures
- Piezoelectric Actuators and Control
- Railway Engineering and Dynamics
- Iterative Learning Control Systems
- Advanced Measurement and Metrology Techniques
- Prosthetics and Rehabilitation Robotics
- Civil and Geotechnical Engineering Research
- Mechanical stress and fatigue analysis
- Teleoperation and Haptic Systems
- Dynamics and Control of Mechanical Systems
- Structural Engineering and Vibration Analysis
- Engineering Structural Analysis Methods
- Fault Detection and Control Systems
- Advanced machining processes and optimization
- Scientific Measurement and Uncertainty Evaluation
- Advanced Numerical Analysis Techniques
- Hydraulic and Pneumatic Systems
- Scoliosis diagnosis and treatment
- Manufacturing Process and Optimization
- Vibration and Dynamic Analysis
Ningbo Institute of Industrial Technology
2020-2025
Chinese Academy of Sciences
2020-2025
Tongji University
2023-2024
University of Chinese Academy of Sciences
2021-2023
Shanghai University
2021
The compliant control of a flexible joint relies on the accurate external torque information and effective internal disturbance compensation. To achieve this, most prior works use built-in sensor lumped observer based single encoder. This increases weight cost system. In this article, novel dual-disturbance (DDOB) encoder feedbacks from both motor link sides is proposed so that friction are estimated compensated separately without sensor. Thereby, feedforward–feedback–DDOB composite scheme...
Abstract The flexure joints are proposed to replace the rigid assembly between cross-arm and moving carriages of dual-drive H-type gantry (DHG) for higher reliability fine rotational alignments. In literature, joint DHG is modeled as an ideal linear torsional spring, resulting in inaccurate estimation cross-arm’s angle. this study, a generalized analytical kinetostatic model flexure-linked built by considering geometric nonlinearities. expressions beam coefficients obtained from either...
Till now, most calibration methods only compensate geometric error caused by inaccurate kinematic parameters, while the desired accuracy may still not be achieved when robot is performing long-stroke, heavy-duty loading and unloading tasks. In this paper, a generalized semi-analytical beam deformation model firstly proposed for Cartesian to non-geometric due structural under both distributed concentrated loads. The adjustment factors are introduced in deal with over-constrained boundary...
The girder end region is one of the weak points affecting operational stability and safety on kilometer-level railway bridges, featuring continuous track irregularities spanning over tens meters, often suffering from substandard ballast quality. Addressing two issues, taking a span suspension bridge as case, local characteristics dynamic were analyzed at regions long-span bridges. First, distribution was based results special tests conducted under extreme environmental temperatures. Then,...
Embedded turnout is one of the key facilities in embedded track network modern tram systems. In this study, damping performance and stiffness an are tested on site. A multi-rigid body dynamics model a finite-element established, two models coupled based wheel-rail contact theory for area. Next, dynamic responses passing through analyzed. The results show that has favorable performance. high variable section rails at switch frog would lead to increase force. When passes turnout, vertical...
Robot calibration is to enhance absolute positioning accuracy within robotic task space. Traditional method build the geometric error model and identify deviation of kinematic parameters. In this paper, a hybrid analytical data-driven non-geometric modeling approach proposed after compensated. It intended satisfy higher requirements when heavy-duty Cartesian robot performs metal finishing tasks under different load conditions. Analytical deterministic Beam Deformation built firstly remove...
The H-type Cartesian robot is widely used in highspeed and high-precision industrial automation intelligent manufacturing. A dual-drive with a pair of replaceable flexible joints on two ends its cross-beam designed. Such design effectively reduces the concentrated stress at junctions between moving carriages cross beam during high-speed repetitive motion. To correctly access degree freedom stage, prismatic-revolute pseudo-rigid-body model developed to equivalently replace joint. In this way,...