Article
Mechanics
Sayat Ibrayev, Arman Ibrayeva, Nutpulla Jamalov, Aidos Ibrayev, Zhomart Ualiyev, Bekzat Amanov
Summary: Using a straight-line generating mechanism for a walking robot leg provides advantages such as energy efficiency and simplicity of control system compared to traditional bio-inspired leg designs. A six-link mechanism based on the design of lambda-type mechanism was proposed as a walking robot propeller, allowing for unlimited foot adaptation and a new analytical method of mechanism synthesis based on least square approximation was developed. This method avoids branching defect and improves transmission angle, resulting in higher efficiency and a walking robot with optimal leg design achieved through multicriteria optimization.
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES
(2023)
Article
Automation & Control Systems
Dingkun Guo, Larissa Wermers, Kenn R. Oldham
Summary: Among small-scale mobile robots, multimodal locomotion can help compensate for limited actuator capabilities. In this work, legged and rolling gaits are achieved by a 10 cm robot having just two degrees of freedom. The proposed design approach and control techniques may aid in design of further miniaturized robots reliant on transducers with small range of motion.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Chemistry, Multidisciplinary
Yue Gong, Li Yu, Xiaolin Lyu, Shixiang Zheng, Yan Yu, Piaopiao Zhou, Zhong-Zhen Luo, Zhigang Zou
Summary: The combination of hydrophobic and electrostatic interactions enables the fabrication of a solvent-free transparent poly(ionic liquid) elastomer (PILE). PILE possesses adjustable fracture strength, good elasticity, high stretchability, high toughness, fatigue resistance, underwater self-healing ability, underwater adhesion, and ionic conductivity. The transparent iontronic sensor generated from PILE can achieve multifunctional sensing, high sensitivity, and stability in human motion detection, and can transmit information underwater through stretching, pressing, and non-contact modes, showing great potential in underwater flexible iontronic devices.
ADVANCED FUNCTIONAL MATERIALS
(2023)
Article
Chemistry, Physical
Qinghao Guo, Wenguang Yang, Huibin Liu, Wenhao Wang, Zhixing Ge, Zheng Yuan
Summary: Inspired by the locomotor behaviors of a butterfly, researchers have developed an underwater soft robot that mimics its movements. This biomimetic robot is constructed using a deformable photo-responsive material and can achieve periodic wing movement and upward flight driven by visible light, as well as flying over obstacles and carrying objects.
Article
Chemistry, Physical
Qinghao Guo, Wenguang Yang, Huibin Liu, Wenhao Wang, Zhixing Ge, Zheng Yuan
Summary: Inspired by the locomotor behaviors of a butterfly, researchers have developed an underwater soft robot that imitates its movements. The robot is constructed using a deformable photo-responsive material and can achieve periodic wing movement driven by visible light, as well as overcome obstacles and carry objects during its ascent.
Article
Engineering, Electrical & Electronic
Cheonghwa Lee, Dawn An
Summary: With the development of AI technology and the increasing complexity of robot control systems, a new method based on reinforcement learning and artificial neural networks is proposed in this paper to replace the traditional FK and IK equations for robot manipulator control.
Article
Engineering, Multidisciplinary
HongPeng Yu, YingXiang Liu, Jie Deng, ShiJing Zhang, WeiShan Chen
Summary: This paper proposes a piezoelectric robot with continuous walking gait inspired by ants, which can achieve steady precision motion and has the ability of cross-scale velocity and displacement control.
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2023)
Article
Automation & Control Systems
Xiaoming Yue, Zhiyuan Chen, Zuoke Xu, Jing Liu
Summary: A new EDM milling method based on a 6-DOF serial robot is proposed in this study to address the issues of flexibility and size limitation in traditional methods. Through servo control strategies and wear compensation, the feasibility and effectiveness of this method in machining various types of workpieces are verified.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2022)
Article
Instruments & Instrumentation
Jianxing Li, Shijing Zhang, Yingxiang Liu, Jie Deng, Xuefeng Ma
Summary: An inertial impact locomotion robot (IILR) driven by piezoelectric bimorph actuators (PBAs) was developed for plane locomotion with multiple degrees of freedom. A simplified dynamic model and a prototype were established and tested to evaluate the robot's performance. The results showed that the IILR had a large carrying capability, multiple degrees of freedom, and no electromagnetic interference, making it suitable for precision positioning and carrying applications.
SMART MATERIALS AND STRUCTURES
(2022)
Article
Automation & Control Systems
Saad Jamshed Abbasi, Hamza Khan, Min Cheol Lee
Summary: In this study, two different control logics, sliding mode control with a sliding perturbation observer (SMCSPO) and integral sliding mode control (ISMC), have been designed for the position control of a robot with five degrees of freedom (DOFs). Both control schemes have been implemented in MATLAB/Simulink, and it has been observed that the ISMC controller has improved the tracking performance of the system.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Automation & Control Systems
Won-Bum Lee, Do -Won Kim, Jae-Bok Song
Summary: The payload capacity of mobile robot arms is limited due to the battery capacity, making it difficult to perform various tasks. A proposed 3-DOF CBM utilizing a spring balancer can efficiently enhance the payload performance of mobile robot arms with minimal increase in volume and mechanical complexity.
Article
Engineering, Mechanical
Mohamed A. Naeem, Samy F. M. Assal
Summary: This paper proposes a simple and effective 4-DOF cane robot for real-time fall prevention of elderly. It can work in normal walking and fall prevention modes, and utilizes genetic algorithm parameter tuning and model reference adaptive control to improve response time and adaptability for different users.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Automation & Control Systems
Kuppan Chetty Ramanathan, Deenadayalan Ganapathy, Joshuva Arockia Dhanraj, Manju Mohan
Summary: This work focuses on the design and development of a 6 degrees-of-freedom bipedal robot and its walking gaits, which resemble human lower limbs to aid humanoid locomotion. Two types of walking gaits, normal walking and crouch walking, are developed and modeled using forward and inverse kinematics techniques to ensure stable motion with static balance in different step sizes and walking conditions, both theoretically and experimentally.
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
(2021)
Article
Engineering, Mechanical
Xin Tian, Tieshi Zhao, XiaoXiao Peng, Erwei Li
Summary: A 5-degree of freedom hybrid robot is proposed in this paper, consisting of a symmetrical 4-limb parallel module in series with a single axis rotary spindle head. The mobility and kinematics of the hybrid mechanism were analyzed using screw theory. The singularity of the symmetrical 4-limb parallel module was studied and verified using the Grassmann linear geometry principle. A combinatorial numerical optimization algorithm combining the NLPQL algorithm with the Opt LHS algorithm was proposed to optimize the dimension parameters of the hybrid robot, increasing its workspace volume by 1.93 times.
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Pavel Laryushkin, Alexey Fomin, Anton Antonov
Summary: The research presents a kinematic analysis of a Delta-type parallel robot that allows its output link to rotate about a fixed axis. The article includes mobility analysis using screw theory, motion pattern verification, inverse kinematics, workspace analysis, singularity analysis, and trajectory planning. By considering two approaches, Jacobian matrices and actuation speeds/efforts, the paper provides similar results, confirming the validity of the techniques applied.
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
(2023)