This study reported two new species:Newsteadia multipori Zheng&Wu,sp.nov.,collected from pine needle litter in Guizhou Province,are described and illustrated for its adult female,male,and first-,second-and third-i...This study reported two new species:Newsteadia multipori Zheng&Wu,sp.nov.,collected from pine needle litter in Guizhou Province,are described and illustrated for its adult female,male,and first-,second-and third-instar nymphs;N.chebalingensis Zheng&Wu,sp.nov.,collected from broad leaf litter in Guangdong Province,are described and illustrated for its adult female and first-instar nymph.Identification keys are provided to the adult females of Newsteadia species known in China and to the adult males of Newsteadia species known worldwide.展开更多
Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot usin...Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this requirement.In this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was performed.An experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning accuracy.The speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µm.Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.展开更多
基金supported by the National Natural Science Foundation of China(32270476)。
文摘This study reported two new species:Newsteadia multipori Zheng&Wu,sp.nov.,collected from pine needle litter in Guizhou Province,are described and illustrated for its adult female,male,and first-,second-and third-instar nymphs;N.chebalingensis Zheng&Wu,sp.nov.,collected from broad leaf litter in Guangdong Province,are described and illustrated for its adult female and first-instar nymph.Identification keys are provided to the adult females of Newsteadia species known in China and to the adult males of Newsteadia species known worldwide.
基金This work was supported by the State Key Laboratory of Robotics and System(HIT),China(Grant No.SKLRS-2022-KF-09).The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
文摘Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this requirement.In this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was performed.An experimental system was established to examine the output characteristics of the proposed robot.Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning accuracy.The speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µm.Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.
