Article
Engineering, Mechanical
E. Thalmann, S. Henein
Summary: Flexure pivots offer advantages over traditional bearings in small-scale, high accuracy applications. This article presents a new triple crossed flexure pivot named TRIVOT that theoretically nullifies its parasitic center shift. The physical implementation shows a significant reduction in center shift compared to the widely used crossed flexure pivot.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
Article
Engineering, Multidisciplinary
Wei Dong, Qianjun Zhang, Dongfang Zhu, Tao Chen, Yongzhuo Gao
Summary: This paper presents the design, modeling, analysis, and test of a 2-DOF high-precision parallel pointing mechanism with large load capability. Utilizing flexure hinges as joints, it provides two tilting degrees of freedom and can be used in various engineering fields. The analytical static model was established using Castigliano's second theorem and validated through simulation and testing. The proposed design successfully achieves excellent pointing performance and large load capacity simultaneously.
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2023)
Article
Chemistry, Analytical
Jun Ren, Qiliang Li
Summary: A novel class of n-4R compliant parallel pointing mechanisms is proposed in this paper, and the compliance and kinetostatic model of the mechanism are established and analyzed. The accuracy of the models is verified through finite element analysis and simulations.
Article
Engineering, Mechanical
Lifang Qiu, Shenyuan Dai, Yanlin Li, Chongxiang Li
Summary: This paper introduces a design method to realize the transition of variable stiffness through contact interaction. A Contact-Aided Leaf Hinge (CALH) with passive variable stiffness is proposed and the configuration, modeling, and deformation process are detailed. The feasibility of the design is verified through experimental tests, and applications, parasitic motion, and coupling effects are discussed.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Tilok Kumar Das, Bijan Shirinzadeh, Ammar Al-Jodah, Mohammadali Ghafarian, Joshua Pinskier
Summary: This paper presents a compliant piezoelectric actuated microgripper for precise positioning tasks with a parasitic motion minimization approach and displacement transmission and amplification mechanisms for achieving linear output motion. The design is optimized for low parasitic motion and large output displacement, with experimental studies confirming the characteristics including low parasitic motion and high precision motion resolution.
MECHANISM AND MACHINE THEORY
(2021)
Article
Engineering, Mechanical
Bingrui Lv, Bin Lin, Zhongchen Cao, Bin Li, Guilian Wang
Summary: This paper reports the design, optimization, and application of a parallel three-degree-of-freedom micro-nano motion stage for vibration-assisted milling. This stage is driven by the piezoelectric effect to achieve precise position adjustment. The design of a compound differential branch chain solves the stiffness and deflection error issues of traditional branch chains. The mechanical properties of the stage are investigated through theoretical, numerical, and experimental methods, and the output displacement and natural frequency are optimized through orthogonal optimization. Open-loop tests on the prototype demonstrate the performance of the stage, including hysteresis, tracking, and decoupling. The effectiveness of the stage is further demonstrated through milling of typical microstructure surfaces.
MECHANISM AND MACHINE THEORY
(2022)
Review
Mathematics
Minh Tuan Pham, Song Huat Yeo, Tat Joo Teo
Summary: This paper presents the fundamental criteria for designing a three-legged compliant parallel mechanism (3L-CPM) with fully decoupled motions, regardless of degrees-of-freedom and the types of flexure element. The requirements for the flexure elements to achieve a diagonal stiffness/compliance matrix are identified and analyzed. The developed design criteria are used to evaluate the decoupled-motion capability of existing 3L-CPM designs.
Article
Engineering, Mechanical
Mattia Cera, Marco Cirelli, Luca Colaiacovo, Pier Paolo Valentini
Summary: This paper presents a novel pseudo-rigid model for describing the elasto-kinematic behavior of circular arc flexure hinges under a pure moment. The proposed model, based on kinematic study and second-order motion invariants, accurately describes the relative motion between the connected bodies. The model has been compared with analytical formulas and finite element models, showing good accordance even for large deflections.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Mechanical
Felix Harfensteller, Stefan Henning, Lena Zentner, Stephan Husung
Summary: Compliant mechanisms are widely used in precision engineering, measurement technology, and microtechnology due to their potential for reducing mass and assembly effort while increasing motion repeatability. However, the design process involves handling complex relationships and performing numerous analysis calculations, highlighting the need for efficient computational analysis models with short calculation times.
MECHANISM AND MACHINE THEORY
(2022)
Article
Chemistry, Analytical
Pingping Sun, Zhike Xu, Long Jin, Xingxing Zhu
Summary: A novel linear piezo inertia actuator based on the transverse motion principle is introduced. By utilizing the transverse motion effect of two parallel leaf-springs, this actuator achieves large stroke movements at a high speed. The actuator consists of a rectangle flexure hinge mechanism, a piezo-stack, a base, and a stage. Experimental tests are conducted to investigate the actuator's output characteristics, such as loading capacity, voltage characteristic, and frequency characteristic. The results confirm that the designed actuator can achieve high speed and accuracy, making it suitable for applications requiring fast positioning and high accuracy.
Article
Automation & Control Systems
Zhichen Huo, Yanling Tian, Fujun Wang, Wei Zhang, Beichao Shi, Dawei Zhang
Summary: This article proposed a rotary platform based on the stick-slip principle for high precision angle adjusting, adopting a dual-driven working mode to achieve large circular motion stroke and high loading capacity. By designing a flexible mechanism with two driving feet and actuating piezoelectrics alternatively, the back-off phenomenon was effectively suppressed and loading capacity was improved. Theoretical analysis and finite element simulation were conducted on the flexible driving unit, and a dynamic model of dual-driven working mode was established in MATLAB/Simulink to investigate the influence of preloading coefficient and initial preloading force for design and optimization of stick-slip actuator. Further, a prototype was fabricated and experiments showed a maximum rotary speed of 48.3 mrad/s and loading capacity of 98.8 mN center dot m for the rotary platform.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Zhichen Huo, Yanling Tian, Fujun Wang, Wei Zhang, Beichao Shi, Dawei Zhang
Summary: This article presents a rotary platform based on the stick-slip principle, utilizing a dual-driven working mode to achieve high precision angle adjustment and improve loading capacity significantly.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Engineering, Multidisciplinary
Xing Shen, Lei Zhang, Dongmei Qiu
Summary: The lever-type mechanism is commonly used in precision engineering, but faces issues such as overstress and distortion of amplification ratios. This paper presents a novel combined compliant mechanism that optimizes design to achieve a large amplification ratio while keeping stress within acceptable limits.
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2021)
Article
Engineering, Mechanical
Yunsong Du, Pengchao Dang, Tiemin Li
Summary: This paper presents the systematic design and testing of a novel two-axial flexure-based vibration stage, demonstrating high repeated tracking accuracy and low measurement uncertainty.
JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES
(2022)
Article
Optics
Chol-Hyon Kim, Jong-Nam Kim, Sun-Chol Kim, Myong-Song Yun, Gyong-Jin Kim, Yong-Gil Han
Summary: This paper presents an integrated design process for optomechanical structures based on multidisciplinary optimization, which includes finite element analysis, optical analysis, and multidisciplinary optimization solver. This process can meet design requirements and improve the performance of optical systems.
Article
Robotics
Xiaobo Zhang, Jinguo Liu, Yangmin Li
Summary: This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, which uses a static and a dynamic curve to simultaneously constrain the macroshape of the manipulators. The reliability and effectiveness of the algorithm are verified through simulations.
Article
Automation & Control Systems
Haifeng Ma, Weixiang Liu, Zhenhua Xiong, Yangmin Li, Zhanqiang Liu, Yuxin Sun
Summary: This article presents a novel predefined-time barrier function adaptive sliding-mode control strategy for robust control of disturbed systems. The proposed method enables global predefined-time convergence and allows users to set the ultimate bound and convergence time. It has been demonstrated to be effective through numerical simulations and experimental investigations.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2022)
Article
Computer Science, Information Systems
Sukun Tian, Miaohui Wang, Ning Dai, Haifeng Ma, Linlin Li, Luca Fiorenza, Yuchun Sun, Yangmin Li
Summary: This study proposes a new two-stage generative adversarial network (GAN) to reconstruct a dental crown surface, addressing the challenge of restoring the masticatory function of broken teeth. Experimental results show that the proposed framework outperforms existing deep learning methods in functional occlusal surface reconstruction. The designed dental crown has sufficient anatomical morphology and clinical applicability.
IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS
(2022)
Article
Robotics
Bingxiao Ding, Xuan Li, Yangmin Li
Summary: This paper proposes a configuration of constant force mechanism (CFM) referring to positive and negative stiffness combination method to achieve variable constant force output. By adjusting preloading displacement, the CFM can provide the required force regulation. Analytical models and parametric sensitivity analysis are used to optimize the physical structures, and experimental studies verify the proposed principle.
Article
Automation & Control Systems
Ruobing Wang, Yanlin Xie, Xigang Chen, Yangmin Li
Summary: This article presents a novel method for time-optimal time scaling (TOTS) with third-order constraints in robot manipulators. The method formulates the problem as a four-stage optimization involving linear programming, exploiting the special structure of the problem. The proposed method generates a second-order optimal velocity profile, identifies points violating third-order constraints, and eliminates constraint violations through numerical integration. A bisection search algorithm is used to determine switching points. Numerical examples and experimental tests verify that the proposed method outperforms state-of-the-art approaches in terms of solution quality and computation time.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Yanlin Xie, Yangmin Li, Chifai Cheung, Xiao Xiao, Xigang Chen, Ruobing Wang
Summary: We have developed a foldable compliant XY precision positioning stage with good decoupling property for precision applications. The stage design incorporates a compliant rolling-contact element (CORE) to achieve compactness. We have determined the input stiffness using matrix method and verified it with conventional stiffness modeling. Through finite element analysis, we have selected the preferable amplifier to magnify the limited output displacement of the actuator. The assembled stage was then tested using ANSYS software and a prototype was also fabricated for experimental performance testing. The results showed that the controlled stage achieved a settling time of 70 ms without overshooting and a resolution of 2 μm with small tracking errors within +/- 1 μm in circular-contouring tests.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2023)
Article
Engineering, Chemical
Tingting Ye, Yangmin Li
Summary: In the last decades, the rapid development of transfer printing technology has created a potential demand for 2-DOF rotation stages. The use of compliant mechanisms in 2-DOF decoupled rotation stages has proven to be advantageous in decoupling modeling, improving motion accuracy, and simplifying control methods. A novel 2-DOF decoupled rotation stage was synthesized, with the critical components being the topological arrangement and a new decoupled compound joint. Finite element analysis (FEA)-based neural network modeling and optimization were applied to predict rotation strokes, coupling ratios, and optimize structural parameters. FEA simulations were then conducted to investigate the static and dynamic performances of the proposed rotation stage, demonstrating larger rotation strokes, lower coupling ratios, and higher natural frequencies compared to other works.
Article
Robotics
Ye Shan, Bingxiao Ding, Jianhua Zhong, Yangmin Li
Summary: In this paper, a serial two-degree-of-freedom compliant constant force microgripper (CCFMG) is presented to address coupling motion issues and achieve a large constant force output. Various displacement amplification mechanisms and constant force modules are utilized to compensate stroke of piezoelectric actuators and achieve a constant force output. The performance of the proposed CCFMG is investigated using pseudo-rigid body models and finite element analysis, showing a significant improvement in stroke and decoupling rates.
Article
Acoustics
Bingxiao Ding, Xuan Li, Shih-Chi Chen, Yangmin Li
Summary: In this paper, a rigid-flexible coupling quasi-zero-stiffness (QZS) vibration isolator with high-static-low-dynamic stiffness (HSLDS) characteristics is proposed. The QZS isolator is achieved by combining a compliant constant-force mechanism of diamond-shape mechanism and a nonlinear bi-stable beam in parallel. Analytical models and finite element analysis are used to evaluate the isolator's performance and identify optimal design parameters. The results show that the QZS isolator effectively isolates low-frequency vibrations.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Review
Instruments & Instrumentation
Bingxiao Ding, Xuan Li, Chenglin Li, Yangmin Li, Shih-Chi Chen
Summary: This paper presents a comprehensive review of mechanical design and synthesis methods for piezo-actuated compliant micro-positioning stages. It focuses on discussing key concepts and advances in the mechanical design of these stages, including flexure design, kineto-static modeling, actuators, material selection, and functional mechanisms. The paper also identifies important issues and future directions for the development of compliant micro-positioning stages.
REVIEW OF SCIENTIFIC INSTRUMENTS
(2023)
Article
Robotics
Ruobing Wang, Yangmin Li
Summary: This paper proposes a real-time model predictive control (MPC) scheme for motion planning and control of cable-driven parallel robots (CDPRs). The proposed scheme minimizes path following error and maximizes path progress by optimizing control inputs and timing law of desired path. Experimental results demonstrate that the proposed method outperforms traditional trajectory scaling method in terms of motion accuracy and smoothness.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Remote Sensing
Li Ding, Guibing Zhu, Yangmin Li, Yaoyao Wang
Summary: This paper focuses on the design, modeling, and control of an unmanned aerial manipulator (UAM) for water sampling. A novel cable-driven UAM is designed, which reduces the inertia ratio of the manipulator. The quadrotor and manipulator are controlled separately using backstepping control and fast terminal sliding mode control techniques. Disturbance observer and extended state observer serve as compensators. Simulation results show the superior performance of the proposed controllers in water quality sampling.
Article
Automation & Control Systems
Weixiang Liu, Haifeng Ma, Zhanqiang Liu, Zhenhua Xiong, Yangmin Li
Summary: In this article, a new saturation-tolerant predefined space-time super twisting control (SPSSTC) method is proposed for saturated systems. The method is based on time-based barrier function and saturation-tolerant indicator. It ensures the saturation-tolerant predefined space-time convergence and allows for explicit assignment of convergence accuracy and time. The method reduces control gain overestimation and its effectiveness is demonstrated through simulations and experiments on a piezoelectric fast steering mirror.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Electrical & Electronic
Shufan Liao, Bingxiao Ding, Yangmin Li
Summary: This paper introduces modular MPSs using designed standardized modules to address the performance and cost issues of flexure-based MPSs, as well as to accommodate complex spatial configurations. Case studies on static and dynamic performances of modular MPSs with different modules and materials are presented, validating their better flexibility and functionality for further applications.
Article
Engineering, Electrical & Electronic
Ruobing Wang, Yanlin Xie, Xigang Chen, Yangmin Li
Summary: This paper presents a study on a novel suspended CDPR robot that generates Schonflies motions, focusing on its kinematic and dynamic modeling and workspace analysis. The paper introduces the architecture of the robot, solves the inverse and forward kinematic problems, derives the dynamic equation, and determines the robot's dynamic feasible workspace. Experimental results on a prototype of the robot validate the proposed models and workspace analysis.
Article
Computer Science, Interdisciplinary Applications
Shenglin Wang, Jingqiong Zhang, Peng Wang, James Law, Radu Calinescu, Lyudmila Mihaylova
Summary: In Industry 5.0, Digital Twins provide flexibility and efficiency for smart manufacturing. Deep learning techniques are used to enhance the Digital Twin framework, enabling the detection and classification of human operators and robots during the manufacturing process. The framework shows promising results in accurately detecting and classifying actions of human operators and robots in various scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yi Liu, Junpeng Qiu, Jincheng Wang, Junhe Lian, Zeran Hou, Junying Min
Summary: In this study, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating and iterative path compensation method were used to reduce forming forces and achieve high-precision forming.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zequn Zhang, Yuchen Ji, Dunbing Tang, Jie Chen, Changchun Liu
Summary: This paper proposes a digital twin system for human-robot collaboration (HRC) that overcomes the limitations of current methods and improves the overall performance. The system includes a human mesh recovery algorithm and uncertainty estimation to enhance the system's capabilities. Experimental results demonstrate the superiority of the proposed methods over baseline methods. The feasibility and effectiveness of the HRC system are validated through a case study involving component assembly.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Junmin Park, Taehoon Kim, Chengyan Gu, Yun Kang, Joono Cheong
Summary: This paper proposes a highly reliable and accurate collision estimator for robot manipulators in human-robot collaborative environments using the Bayesian approach. By assuming robot collisions as dynamic Markov processes, the estimator can integrate prior beliefs and measurements to produce current beliefs in a recursive form. The method achieves compelling performance in collision estimation with high accuracy and no false alarms.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Meng Wang, Kaixuan Chen, Panfeng Wang, Yimin Song, Tao Sun
Summary: In this study, a novel teleoperation machining mode and control strategy were proposed to improve efficiency and accuracy in small batch production of large casting parts. By using variable motion mapping and elastic compensation, constant cutting force was achieved, and the workpiece was protected by employing forbidden virtual fixtures and movement constraints on the slave robot.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zhaoyu Li, Dong He, Xiangyu Li, Xiaoke Deng, Pengcheng Hu, Jiancheng Hao, Yue Hou, Hongyu Yu, Kai Tang
Summary: This paper presents a novel algorithm for planning a five-axis inspection path for arbitrary freeform surfaces. By converting the inspection path planning problem into a set-covering problem, the algorithm generates a near-minimum set of inspection paths that satisfy necessary constraints. Both computer simulation and physical inspection experiments confirm the effectiveness and advantages of the proposed method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hang Zhang, Wenhu Wang, Shusheng Zhang, Yajun Zhang, Jingtao Zhou, Zhen Wang, Bo Huang, Rui Huang
Summary: This paper introduces a novel framework based on deep reinforcement learning for generating machining process routes for designated parts. The framework utilizes graph representations of parts and employs convolutional graph neural networks for effective processing. Experimental results demonstrate the ability of the proposed method to generate efficient machining process routes and overcome limitations of traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Regina Kyung-Jin Lee, Hao Zheng, Yuqian Lu
Summary: Future manufacturing will witness a shift towards collaboration and compassion in human-robot relationships. To enable seamless knowledge transfer, a unified knowledge representation system that can be shared by humans and robots is essential. The Human-Robot Shared Assembly Taxonomy (HR-SAT) proposed in this study allows comprehensive assembly tasks to be represented as a knowledge graph that is understandable by both humans and robots. HR-SAT incorporates rich assembly information and has diverse applications in process planning, quality checking, and human-robot collaboration.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Jianhui He, Lefeng Gu, Guilin Yang, Yiyang Feng, Silu Chen, Zaojun Fang
Summary: This paper presents a new modular kinematic error model for collaborative robots and proposes a portable self-calibration device to improve their positioning accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hongwei Sun, Jixiang Yang, Han Ding
Summary: This paper proposes an asymmetrical FIR filter-based tool path smoothing algorithm to fully utilize the joint drive capability of robot manipulators. The algorithm considers the pose-dependent dynamics and constraints of the robot and improves motion efficiency by over 10% compared to traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Dongsheng Ge, Huan Zhao, Yiwei Wang, Dianxi Li, Xiangfei Li, Han Ding
Summary: This paper focuses on learning a stable force control policy from human demonstration during contact transients. Based on the analysis of human demonstration data, a novel human-inspired force control strategy called compliant dynamical system (CDS) is proposed. The effectiveness of the proposed method is validated through simulation and real-world experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Xuepeng Huang, Zhenzhong Wang, Lucheng Li, Qi Luo
Summary: This study models the stiffness of a robot and modifies the tool influence function (TIF) with the Preston equation in order to achieve uniform surface quality in robotic bonnet polishing (RBP) of optical components. Experimental results validate the accuracy of the modified model.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Mario D. Fiore, Felix Allmendinger, Ciro Natale
Summary: This paper presents a constraint-based programming framework for task specification and motion optimization. The framework can handle constraints on robot joint and Cartesian coordinates, as well as time dependency. It also compares with existing methods and provides numerical support through illustrative examples and case studies.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yongxue Chen, Yaoan Lu, Ye Ding
Summary: This paper presents an optimization method for directly generating a six-degree-of-freedom toolpath for robotic flank milling. By optimizing the smoothness of the toolpath and the stiffness of the robot, the efficiency, accuracy, and finish of the machining are improved.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Chungang Zhuang, Haoyu Wang, Han Ding
Summary: This article proposes an end-to-end pipeline for synchronously regressing potential object poses from an unsegmented point cloud. It extracts point pair features and uses a voting architecture for instance feature extraction, along with a 3D heatmap for clustering votes and generating center seeds. An attention voting module is also employed to adaptively fuse point-wise features into instance-wise features. The network demonstrates robustness and improved performance in pose estimation.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
