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The performance of the robot mimicking water striders is mainly influenced by the driven mechanism, trajectory of actuating legs and hydrophobic property of the material. Clarify the forces exerted on the hydrophobic legs helps optimize the rowing trajectory and performance of the water striders. Limited by the complex fluid dynamics on air-water interface and the lack of the relevant theories, the...
In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation...
At present, the research of robots imitating water strider is mainly focusing on imitating the skating movement of the insects. In contrast, the jumping motion of water striders needs a sufficiently large driving force to lift the body detaching from the water surface, which is easy to break the hydrophobic property of the material and result in the sinking of the robot, so there is few research on...
Most of morphing aircrafts control the flight attitude by the deformation of aircraft wing, however morphing UAV is not limited to the deformation of the wing. This paper studies cyclic variable pitch propeller system which can generate control torque. According to mathematical model of cyclic variable pitch propeller based on propeller blade element theory, the study analyzes the principle and researches...
Aiming at mimicking water strider's water-surface locomotion, this study proposes a new miniature surface tension-driven robot. A key feature of this robot is that its actuating legs possess ellipse-like spatial trajectories like water strider by using a cam-link mechanism, and never pierces water surface when rowing. A set of simple models and equations are proposed to analyze the interaction forces...
At present, the manipulator for the elderly and disabled has the shortcomings of long production cycle, poor versatility and cannot meet the requirements of individual differences. The modular idea is presented to the design of manipulator system. A rotary joint module is developed with the advantages of small size, light weight and large torque. It integrates mechanical structure, drive, control...
Water strider is an amazing insect that can effortlessly float, quickly run and jump on a water surface without drowning. It's of great challenge and interest to design and fabricates a micro robot that can walk on a water surface like water strider to carry out aquatic tasks such as water quality monitoring, aquatic exploration, water search and rescue. In this study, we designed a new type of biologically...
Through the establishment of the elbow biomechanical model, it can provide theoretical guide for rehabilitation therapy on the upper limb of the human body. A biomechanical model of the elbow joint can be built by the connection of muscle force model and elbow dynamics. But there are many undetermined coefficients in the model like the optimal joint angle and optimal muscle force which are usually...
An elbow biomechanical model can provide theoretical guidance for the rehabilitation of the human arm. Researches on the mechanism of elbow movement are developed mainly through analysis of surface electromyographic (sEMG), but the signals that were captured are redundant, without the consideration of muscle groups, while output of the model are mostly muscle force or torque, which is not intuitive...
This paper presented a novel compliant actuator used for lower limb exoskeletons. The compliant joint consists of a series elastic actuator (SEA) and parallel elastic (PE) unit. SEA has various advantages as the actuator of assistive exoskeletons, such as low output impedance, impact absorption, precise force control and high stability. We designed and fabricated a novel SEA as the primary joint actuator...
In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator...
In this paper, a new actuator system of the ducted-fan Uninhabited Aerial Vehicle(DFUAV) is presented. The actuator system consists of four rotary cylinders which are symmetrically installed at bottom of inside duct. The force used for attitude stabilization is generated by the interaction between the surface of rotary cylinder and the downwash, which is known as Magnus effect. In this paper, the...
Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical...
The mathematic model of single valve train, lagrangian formulation, is built up. Through it, the dynamic characteristics of the single valve train are simulated with MATLAB. The result indicates that the deformation of some parts of the valve train affects their dynamic coupling. So the acceleration of valve and contact force between the cam and running pulley fluctuate severely. The valve train dynamic...
A reliable and efficient multi-robot coordination strategy is proposed to accomplish area exploration task in unknown environment. This approach is an improved one based on social potential field (SPF) model and market-based (MD) approach to coordinate the movement of multiple robots. Unlike traditional SPF, our model is a non-continuous one in time. In this approach, non-continuous SPF and market-driven...
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