欠驱动弹跳机器人最优运动姿态的驱动器配置

研究了具有一个被动关节的三关节单腿欠驱动弹跳机器人的轨迹规划问题。首先建立欠驱动机器人在着地阶段的动力学模型;然后采用数值迭代的方法,以主动关节驱动力矩最小为优化目标,得出了机器人各关节转角的运动规律;最后通过仿真得到三种驱动器配置情况下机器人的关节转角运动规律、姿态图以及驱动力矩,并对其进行了分析比较。结果表明：所提出的运动规划方法是可行的,采用髋关节和踝关节驱动是三种驱动器配置中最合理的情况。     

新型惯性式压电驱动机构的研究

基于控制移动机构和支撑面之间摩擦力的方法,提出了新型惯性冲击式压电陶瓷驱动机构的研究方案.分析了驱动机构的工作原理,驱动电压与驱动力、位移之间的关系,设计、制做了可实现直线往复运动的压电微型驱动器结构,并作了相关的性能测试.实验结果表明,采用简单的对称信号波形能驱动机构运动.直线驱动器最高速度可达1 mm/s,最大步长分辨率为20 nm,最大承载能力为1 000g.     

A biomimetic hand employing a dual actuation scheme

This paper presents a biomimetic hand that employs a hybrid actuation scheme that provides large grasping forces and swift motion. This hybrid hand is made up of a red muscle actuator used for grasping and a white muscle actuator used for fast and accurate movement. A parallel structure utilizing fully back-drivable linear motors has been adopted for the white muscle actuators. The red muscle actuators employ a Micro Hydraulic Compressor Converter (MHCC), hydraulic cylinder, and a tendon. The tendon structure enables a passive shape adaptation during the act of grasping an object. Safety in regards to impact is achieved through the back-drivability. The hybrid hand is comprised of two fingers and a thumb. The fingers and the thumb all have 2 degrees of freedom. The hybrid actuation is only applied to the fingers. The experiment results indicate that a grasping force of 94N is generated through the red muscle actuator and a 3 Hz sinusoidal motion is obtained from the white muscle actuator.     

新型多模式弹性驱动器的弹跳性能研究

基于人体肌肉的仿生驱动机制,提出一种多模式弹性驱动器,采用电动机带动丝杆螺母串联弹簧,结合相应的刹车离合装置,实现驱动器不同模式的运动,并对其运动模式进行分析;建立弹性强驱动器的动力学方程,进行简谐激励下的弹跳运动研究,并进行不同负载、不同弹性系数下的弹跳运动仿真分析;进行弹性驱动器的运动性能试验研究,分别对弹性驱动器的刹车力、连续弹跳及单次跳跃进行试验,结果表明,弹性驱动器能实现有效刹车,在简谐激励下能实现良好的连续弹跳,在输入的双曲正切信号控制下,能实现良好的单次弹跳;多模式弹性驱动器研究对对深入理解仿生驱动器的运动机理提供了重要的理论基础。     

往复压缩机气量调节系统气阀瞬态特性的研究

基于主动控制进气阀的气量调节系统具有调节范围大、节能效果好等优点,适用于工艺流程中大型压缩机。本文依据热、动力学理论建立了耦合阀片运动的往复压缩机热力学模型,模拟了气缸内气体瞬态压力变化规律及进气阀片运动特性。研究结果表明:调节工况下自动阀和强制阀方式同时存在,执行机构延迟关闭进气阀,使压力升高过程延迟,实现压缩机流量及功率的降低。执行机构在气阀完全打开后作用,不影响气阀打开过程,仅利用撤销时间控制压缩机气量。调节工况下阀片打开速度不变,但关闭速度增大,且阀片与阀座间的最大撞击速度随执行机构撤销角度的增大而增大。由于气阀打开及关闭存在时间延迟,执行机构撤销时间在主轴转角为160°~295°范围内变化时,已实现气量0~100%范围调节。     

A two-degree-of-freedom motor-powered gait orthosis for spinal cord injury patients

A number of orthoses have been developed to restore stance and walking in paraplegic subjects. Compliance, however, has been limited, mainly owing to walking effort. Use of the forces produced by actuators is an effective way to solve the problem of the considerable effort required for orthotic gait, namely high muscular effort and high energy expenditure. The purpose of the present study was to investigate the effects of assistance by external actuators on the orthotic gait of spinal cord injury (SCI) patients. Two kinds of linear actuator were developed by using direct current (d.c.) motors for assisting the knee and hip joint of a gait orthosis. They were mounted on the knee and hip joint of a commercial advanced reciprocating gait orthosis (ARGO), and a new two-degree-of-freedom externally powered gait orthosis was thus developed. The orthosis was assessed through inter-subject experiments on five male adult complete SCI patients. Owing to the short training period available for the assisted gait, simultaneous operation of both joint actuators was not conducted: either the knee actuation or the hip actuation was executed only. Thus, the knee actuator and the hip actuator were assessed with a T12 subject and with subjects for T5, T8, T11, and T12 respectively. The motions of the gaits, assisted by the linear actuators, were measured by a Vicon 370 system, and the general gait parameters and compensatory motions were evaluated. Results demonstrated that (a) all subjects could walk without falling, assisted either by the knee or the hip actuator; (b) both the knee and hip joint actuator increased the gait speed and the step length; (c) the knee flexion produced by the orthosis improved the dynamic cosmesis of walking; and (d) lateral compensatory motions as well as vertical ones tended to decrease when the hip joint was assisted, which could contribute to a reduction in walking effort.     

Design of a novel knee joint for an exoskeleton with good energy efficiency for load-carrying augmentation

When a linear actuator is used for rotation motion by a knee joint of an exoskeleton, the specifications of the joint range of motion (ROM) and joint torque change according to how the linear actuator are attached. Moreover, while the linear actuator generates a constant amount of force, the joint torque generated by the actuator changes according to the joint angle, which causes the torque contraction. This makes it difficult to meet the required torque and ROM for walk and stand-to-sit and sit-to-stand (STS) motions while carrying a load. To solve these problems we propose a novel knee joint for an exoskeleton with good energy efficiency during walk and STS motions while carrying a load. The mechanism is composed of a four-bar linkage and an elastic element. Based on an analysis of human motion, the design variables of the joint were optimized and the feasibility of the optimized variables was verified through the simulation. The findings from the simulation results suggest that combining a four-bar linkage with a linear actuator allows a large ROM and good torque performance of the knee joint for walk and STS motions. Moreover, the energy efficiency can be improved because the spring mounted parallel to the actuator can store the energy dissipated as negative work and recycle the energy as positive work.     

压电驱动柔性铰链机构传动实现超精密定位

简单介绍压电元件和柔性铰链的概念与特点。列举压电元件与柔性铰链机构结构实现超精密定位的典型例子，包括超精密测量、超精密加工、光学自动聚焦和大行程超精密定位。为使超精密定位工作台的结构紧凑，提出单驱动多自由度运动机构。应用蠕动式的运动原理可合成机构上的多自由度运动，并实现大行程运动。设计了对称结构的柔性铰链机构实现导向功能。制造和装配了微小型平面工作台。     

冗余驱动闭链弓形五连杆动力学建模与优化

研究了冗余驱动闭链弓形五连杆动态翻滚过程中驱动力矩协调分配的问题。建立了闭链弓形五连杆运动学分析模型,分别对驱动杆件和约束杆件的速度、加速度进行分析,得到各杆件的加速度矩阵和角加速度矩阵,进而得到各杆件的合力及力矩,从而获得该机构的牛顿-欧拉动力学方程。采用伪逆法对各驱动力矩进行协调分配,使瞬时驱动力矩2范数最小。给定机构动态翻滚过程的关节轨迹,分别计算非冗余驱动和冗余驱动方式下的驱动力矩,计算结果表明,冗余驱动方式可以显著减小最大瞬时驱动力矩。     

Coupled-disturbance-observer-based position tracking control for a cascade electro-hydraulic system

The disturbance suppression is one of the most common control problems in electro-hydraulic systems. especially largely an unknown disturbance often obviously degrades the dynamic performance by biasing the desired actuator outputs (e.g., load forces or torques). In order to reject the dynamic disturbances in some multi-degree-of-freedom manipulators driven by electro-hydraulic actuators, this paper proposes a state feedback control of the cascade electro-hydraulic system based on a coupled disturbance observer with backstepping. The coupled disturbance observer is designed to estimate both the independent element and the coupled element of the external loads on each electro-hydraulic actuator. The cascade controller has the ability to compensate for the disturbance estimating, as well as guarantees the system state error convergence to a prescribed steady state level. The effectiveness of the proposed controller for the suppression of largely unknown disturbances has been demonstrated by comparative study, which implies the proposed approach can achieve better dynamic performance on the motion control of Two-Degree-of-Freedom robotic arm.     

Resonator combined with a piezoelectric actuator for chemical analysis by force microscopy

A high frequency silicon resonator for dynamic scanning force microscopy is combined with an integrated piezoelectric actuation element for large displacements. A high resonance frequency is required for imaging on the nanometer scale, and a large displacement is needed for the chemical analysis of the material at the end of the probe. The small piezoelectric resonator is formed at the end of a long piezoelectric actuator using a silicon micromachining technology. The resonator can be oscillated at 96.4 kHz, and the actuator generates a maximum displacement of 15 microm at the end of the probe. The dynamic-mode scanning force microscopy capability, using the integrated piezoelectric resonator, is demonstrated on a 2 microm pitch Au grating.     

含变自由度力自适应复位组合柔顺副的汽车门锁机构

基于提出的新型变自由度组合柔顺副,构建了具有奇异位置运动确定和力适应复位特征的变自由度柔顺五杆机构。根据不同驱动方式和不同限位边界,该柔顺机构可实现铰链四杆机构、平面五杆机构、曲柄摇块机构和摆动导杆机构4种运动模式及模式间切换。为了单驱动实现电动开启、电动保险,新型柔顺机构构造的电动开启支链通过多运动模式完成汽车门锁的多工况确定运动及复位运动。各工况下柔顺副扭簧中心槽内的漂移量作为机构柔顺适应性指标,可衡量柔顺支链与其他支链的运动兼容性。     

Modeling and nonlinear analysis of a micro-switch under electrostatic and piezoelectric excitations with curvature and piezoelectric nonlinearities

In this paper, a comprehensive model of a micro-switch with both electrostatic and piezoelectric excitations, which accounts for the nonlinearities due to inertia, curvature, electrostatic forces and piezoelectric actuator is presented to demonstrate the mechanical characteristics of such a micro-system. Dynamic equations of this model are derived by the Lagrange method. Static analysis of this model is performed with five modes through the Galerkin method. The micro-switch beam is assumed as an elastic Euler-Bernoulli beam with clamped-free end conditions. The electrostatic actuation results are compared with other existing experimental and numerical results. Whereas the major drawback of electrostatically actuated micro-switches is the high driving voltage, using the piezoelectric actuator in these systems can provide less driving voltage and control the pull-in voltage. The study demonstrates that when the ratio of electrostatic actuation distance to length of micro-switch is small, the nonlinear piezoelectric term has a significant effect on the pull-in phenomenon. There are three ways to influence the design and control of the mechanical characteristics of this micro-switch: the softening effect due to electrostatic actuation, the hardening effect due to piezoelectric actuation, and varying the length and thickness of the piezoelectric actuator.     

Optimal load of robotic manipulator with joint elasticity using accuracy and actuator constraints

A computational technique for obtaining the maximum load-carrying capacity for a robotic manipulator with joint elasticity, subject to accuracy and actuator constraints, is described. Full load motions and increased productivity are linked in the industrial applications of many robotic manipulators; the maximum load carrying capacity which can be achieved by a manipulator during a given trajectory is limited by a number of factors. The dynamic properties of a manipulator, its actuator limitations, and joint elasticity (transmissions, reducers, and servo drive system) are probably the most important factors. This paper presents a strategy for determining dynamic load carrying capacity (DLCC), subject to both accuracy and actuator constraints, where a series of cubical bounds centred at the desired trajectory is used in the end-effector oscillation constraint while a typical d.c. motor speed-torque characteristics curve is used in the actuator constraint. The technique which considers the full nonlinear manipulator dynamics, actuator constraints, and accuracy constraints permits the manipulator user to specify the trajectory completely. Finally, a numerical example involving a two-link manipulator with joint flexibility using this method is presented and the results are discussed.     

Periodic and chaotic motions of a harmonically forced piecewise linear system

The dynamics of a harmonically excited single degree-of-freedom linear system with a feedback control, in which the actuator is subjected to dead zone and saturation constraints, is investigated in detail. The controlled system is mathematically modeled by a set of three piecewise linear equations. It is found that the system may exhibit nine types of symmetric and asymmetric period-one motions, which are characterized by a different number of crossing dead zone and saturation region per cycle. A solution for the symmetric period-one motion with a doubly crossing dead zone and saturation region is analytically constructed and its stability characteristics is examined. Other types of dynamic response such as sub-harmonic periodic motions and chaotic motions, found through numerical simulations, are also presented.     

具有偏置结构的非对称惯性压电旋转驱动器

为改善惯性压电驱动器输出性能,提出了一种新型具有偏置结构的非对称惯性压电旋转驱动器。在非对称夹持的基础上,定义了一种偏置结构。为了解偏置结构对驱动器输出性能的影响,建立了机构的力学模型方程,推导并仿真分析了驱动器的动力学特性。设计、制作了试验样机,搭建了试验系统;进行了试验测试并与无偏置结构驱动器进行了性能对比。结果表明:偏置距离为15mm时,驱动器输出步距角速度最大。与无偏置结构驱动器相比,驱动电压为100V、23Hz时,驱动器输出最大角速度从3.48rad/s增加至5.39rad/s,增幅达54.88%,驱动器最大驱动力矩从2.41N·mm增加至3.62N·mm,增幅达50.2%;驱动电压为100V,4Hz时,驱动器稳定运行时的承载量达1 300g。理论与试验结果表明,提出的有偏置结构的驱动器具有输出步距角速度和驱动力矩更大的特点。     

Large stroke and high precision positioning using iron–gallium alloy (Galfenol) based multi-DOF impact drive mechanism

A miniature-positioning device with a large stroke motion has attracted more and more attentions in these years because of the intensive development in precision engineering. In this paper, we have achieved the large stroke actuating and the high precision positioning, as well as realized a multi-degree-of-freedom in-plane motion using the developed Galfenol impact drive mechanism (IDM) actuator. In order to enhance the system robustness, two pieces of U-shape Galfenol (iron–gallium alloy) have been employed as the driving elements with a bias magnetic field contributed by a permanent magnet to generate the swing motion that amplifies the propelling inertia force. The current amplitude modulation has been applied in the precision positioning of the actuator under the quasi-static condition because of the motion step-size fineness. The results show that the actuator is able to achieve a sub-micrometer positioning accuracy that has reached the measurement limit of our setup. Meanwhile, the frequency modulation method has been explored in the large stroke actuation with a high motion speed. We have found out that this design is capable of achieving an accurate positioning without the frequency modulation because of the intrinsic fine step-size of the actuator. In addition, a rectangular in-plane motion has been realized with the image-based control for the multi-degree-of-freedom positioning. The actuator has an inductive impedance with a resistance of 3.796 Ω and an inductance of 0.4697 mH. Under the present driving ratings, the power consumption is smaller than 1.97 W while the reactive power can be ignored. Moreover, the experimental load analysis indicates that the design can achieve a maximum carry-load-to-weight ratio of 6.5.     

基于混合驱动的大行程快速刀具伺服设计与控制

为获得高精度大行程快速刀具伺服（Long-range fast tool servo,LFTS）系统,以柔性铰链为运动导向机构,提出一种基于洛伦兹电磁力与压电混合串联驱动的LFTS系统构成策略。对于该混合驱动,基于洛伦兹力的音圈电机用于实现大行程运动,而高频响压电则对其进行高精度动态补偿。针对压电驱动,为提高系统输出刚度及寄生运动抑制能力,提出一种改进的具有完全对称构型的桥式柔性放大机构。两种驱动的垂直布置构型及压电驱动的完全对称性有效降低了驱动间动力学耦合。基于试凑法和智能优化算法,结合机-电-磁理论模型分别优化获得了音圈电机及压电驱动系统关键参数,并采用有限元仿真验证了设计的正确性。为获得高精度运动跟踪,提出音圈电机开环逆动力学控制及压电驱动闭环补偿LFTS整体运动误差的控制策略,借助所辨识系统动力学模型最优设计了相应控制器。最终,通过试验样机开闭环性能测试,验证了系统设计与控制策略的有效性。     

航空发动机碰摩故障的非线性动力学分析

考虑系统的陀螺效应,建立含碰摩故障的滚动轴承支撑的系统动力学模型.利用打靶法分析系统在不同碰摩间隙下的分叉和混沌行为.分析表明系统随着碰摩间隙的增大,经历了混沌运动、周期运动、拟周期运动、再到混沌运动、最后进入正常周期运动的过程,且碰摩间隙对系统的动力学行为有较大的影响.     

Design of a slider-crank leg mechanism for mobile hopping robotic platforms

Legged locomotion has been widely researched due to its effectiveness in overcoming uneven terrains. Due to previous efforts there has been much progress in achieving dynamic gait stability and as the next step, mimicking the high speed and efficiency observed in animals has become a research interest. The main barrier in developing such a robotic platform is the limitation in the power efficiency of the actuator: the use of pneumatic actuators produce sufficient power but are heavy and big; electronic motors can be compact but are disadvantageous in producing sudden impact from stall which is required for high speed legged locomotion. As a new attempt in this paper we suggest a new leg design for a mobile robot which uses the slider-crank mechanism to convert the continuous motor rotation into piston motion which is used to impact the ground. We believe this new mechanism will have advantage over conventional leg mechanism designs using electronic motors since it uses the continuous motion of the motor instead of sudden rotation movements from stall state which is not ideal to draw out maximum working condition from an electronic motor. In order to control impact timing from the periodic motion of the piston a mechanical passive clutch trigger mechanism was developed. Dynamic analysis was performed to determine the optimal position for the mechanical switch position of the clutch trigger mechanism, and the results were verified through simulation and experiment. Development of a legged locomotion with two degrees of freedom, slider-crank mechanism for impact and additional actuation for swing motion, is proposed for future work.