A5071285863- Robotic Mechanisms and Dynamics
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Muscle activation and electromyography studies
- Iterative Learning Control Systems
- Stroke Rehabilitation and Recovery
- Teleoperation and Haptic Systems
- Dynamics and Control of Mechanical Systems
- Robot Manipulation and Learning
- Advanced Sensor and Energy Harvesting Materials
- Modular Robots and Swarm Intelligence
- Advanced Surface Polishing Techniques
- Probabilistic and Robust Engineering Design
- Mechanical Engineering and Vibrations Research
- Micro and Nano Robotics
- Piezoelectric Actuators and Control
- Hydraulic and Pneumatic Systems
- Vibration and Dynamic Analysis
- Advanced Materials and Mechanics
- Mechanics and Biomechanics Studies
- Control and Dynamics of Mobile Robots
- Total Knee Arthroplasty Outcomes
- Innovative Energy Harvesting Technologies
- Manufacturing Process and Optimization
- Spinal Cord Injury Research
Hefei University
2024-2025
Hefei University of Technology
2015-2024
Xidian University
2006-2024
China University of Mining and Technology
2009-2013
Zhejiang University
2012
University of Duisburg-Essen
2012
Soft actuators and microrobots that can move spontaneously continuously without artificial energy supply intervention have great potential in industrial, environmental, military applications, but still remain a challenge. Here, bioinspired MXene-based bimorph actuator with an asymmetric layered microstructure is reported, which harness natural sunlight to achieve directional self-locomotion. We fabricate freestanding MXene film increased through the graft of coupling agents into nanosheets....
Abstract Developing self‐oscillating soft actuators that enable autonomous, continuous, and directional locomotion is significant in biomimetic robotics fields, but remains great challenging. Here, an untethered photoactuators based on covalently‐bridged black phosphorus‐carbon nanotubes heterostructure with self‐oscillation phototactic under constant light irradiation designed. Owing to the good photothermal effect of phosphorus thermal deformation actuator components, new assembled by...
Abstract An automatic design platform capable of structural analysis, synthesis and the application parallel mechanisms will be a great aid in conceptual mechanisms, though up to now such has only existed as an idea. The work this paper constitutes part platform. Based on screw theory new representation method proposed here which builds one-to-one correspondence between strings representative characters kinematic structures symmetrical (SPMs), develops fully-automatic approach for mobility...
Abstract Cable-driven parallel robots (CDPRs) have been widely used in engineering fields because of their significant advantages including high load-bearing capacity, large workspace, and low inertia. However, the impact convergence speed solution accuracy optimization approaches on optimal performances can become a key issue when it comes to design CDPR applied storage space. An adaptive adjustment inertia weight particle swarm (AAIWPSO) algorithm is proposed for multi-objective CDPR. The...
This paper presents the design and verification of a piezoelectric energy harvester with compound two-stage force amplification frame compact footprint size to achieve high power output for stack. An improved conventional bridge-type is proposed beam, which able maintain large ratio while bearing loading force. Analytical model developed based on Euler-Bernoulli beam theory predict amplifier. The architectural parameters are optimally tuned largest ratio, so as obtain maximum stack under...
Abstract Based on the Chebyshev polynomial method (CPM) and interval theory, this paper establishes relationship between uncertain parameters dynamic response of a new cable-driven parallel robot (CDPR). Meanwhile, time-varying characteristic parameter in uncertainty analysis model is considered paper, effectively enhancing accuracy response. The mechanical design kinematic modeling are conducted, established based Lagrangian method. Thus, including length lifting arm L, angle rotation...
Abstract This paper presents the design, analysis, and development of a novel four degrees freedom (4-DOF) endoscopic robot with cable-driven multisegment flexible continuum mechanisms. The is mainly composed passive positioning arm, cable-pulley system, 3-DOF mechanism. forward inverse kinematics are derived based on constant curvature assumption, its working space, flexibility, preoperative incision determination method analyzed as well. Based hardware structure control strategy software...
This paper investigates dynamic simulation and trajectory tracking control of hybrid-driven planar five-bar parallel mechanism (HPPM). To begin with, a model dynamics based on MATLAB/SimMechanics is established. Then, traditional PD closed loop PD-type iterative learning the HPPM are designed. At end, SimMechanics carried out, which acquires angular, angular velocity, acceleration two driving links constraint reaction kinematic pairs at any time. In addition, performance compared with that...
This paper presents the mechanical design and control system of a material conveying mobile robot. The robot uses four-wheel driven chassis has omni-directional mobility. based on four Mecanum wheels is designed with damping suspension mechanism. A Siemens S7-1217C PLC extended modules used as lower-layer controller, while laptop computer upper-layer controller. algorithm for motion modes developed, performance tested hand box its three-axis potentiometer inside. At last, visual navigation...
Abstract Developing self‐oscillating soft actuators that enable autonomous, continuous, and directional locomotion is significant in biomimetic robotics fields, but remains great challenging. Here, an untethered photoactuators based on covalently‐bridged black phosphorus‐carbon nanotubes heterostructure with self‐oscillation phototactic under constant light irradiation designed. Owing to the good photothermal effect of phosphorus thermal deformation actuator components, new assembled by...
Abstract This paper demonstrates the mechanical design, analysis, and evaluation of a knee-ankle orthosis (KAO) for lower limb rehabilitation, including shape memory alloy (SMA) actuators DC brushless motor actuators. First, structure KAO is detailed, actuator system, transmission mechanism, monitoring device, processing method SMA Next, dynamic model spring in phase transition process established based on thermal constitutive SMA. In addition, output response knee joint under three working...
The external force sensing ability of the end-effector plays a significant role in restricting refine operation surgical robot. This paper proposes an self-sensing method based on cable-tension disturbance observer for four-degree-of-freedom (4-DoF) robot end-effector, which is actuated by three backdrivable cable-driven series elastic actuators (BCDSEAs). First, design introduced with experimental prototype 1-DoF flexible finger joint. Second, four kinds dynamic models joint are established...
Abstract This paper illustrates the development and experimental validation of a robotic ankle–foot orthosis (AFO) with series elastic actuator (SEA) magneto-rheological (MR) brake. First, biomechanics human ankle joint during walking is explained. Next, hardware design AFO introduced, including its mechanical structure, configuration, electronic system. The SEA primarily composed an electric motor, planetary gearbox, torsion spring, pair bevel gears. MR brake can modulate viscosity generate...
This paper proposes a new teleoperated telepresence robot system with high-fidelity haptic feedback for interaction work, such as pre-operation of explosive ordnance disposal (EOD). The includes master device and slave collaborative robot. enables the human operator to feel operation procedure when performing environmental task. system's kinematics dynamics models are derived, laying foundation control scheme design. To meet requirements EOD missions, hybrid motion mapping method including...
Abstract This article presents the design and optimization of a cable-driven parallel polishing robot (CDPPR) with kinematic error modeling introduces an improved nondominated sorting genetic algorithm II (NSGA-II) for multiobjective optimization. First, mechanical static CDPPR are conducted. Subsequently, transfer model is established based on evidence theory by considering change exit points cables, index derived to measure accuracy robot. Besides, another two performance indices including...
Abstract Achieving the high-precision control of cable-driven parallel robots (CDPRs) is complex because their structural properties. In this paper, a quintessential redundant CDPR designed as research subject, and continuous switching sliding mode controller based on workspace vision implemented to enhance accuracy stability trajectory tracking. addition, virtual prototype with uncertainties created in simulation analysis software ADAMS, co-simulation performed system Simulink validate...