In this paper, a rotational leg-type miniature robot with a bioinspired actuated middle joint and a tail is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotat...In this paper, a rotational leg-type miniature robot with a bioinspired actuated middle joint and a tail is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined by 3D simulation within the seven candidates that selected by a newly proposed metric. It also has unique characteristics inspired by biological structures： a middle joint and a tail. An actuated middle joint allows the frontal body to be lifted or lowered, which was inspired by a flexible body joint of animals, to climb higher obstacles. Effectiveness of the middle joint was analytically verified by the geometric analysis of the robot. Additionally, a multi-functional one Degree Of Freedom （1-DOF） tail was added; the tail prevented the body being easily flipped, while allowed the robot to climb higher obstacles. A bristle-inspired micro structure was attached to the tail to enhance straightness of locomotion. Body size of the robot was 158 mm × 80 mm × 85 mm and weighed 581 g including a 7.4 V Li-Polymer battery. The average velocity of the robot was 2.74 m·s ^-1 （17.67 body lengths per second） and the maximum height of an obstacle that the robot could climb was 106 mm （2.5 times of leg length）, which all were verified by experiments.展开更多
The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this pro...The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.展开更多
This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body...This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.展开更多
文摘In this paper, a rotational leg-type miniature robot with a bioinspired actuated middle joint and a tail is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined by 3D simulation within the seven candidates that selected by a newly proposed metric. It also has unique characteristics inspired by biological structures： a middle joint and a tail. An actuated middle joint allows the frontal body to be lifted or lowered, which was inspired by a flexible body joint of animals, to climb higher obstacles. Effectiveness of the middle joint was analytically verified by the geometric analysis of the robot. Additionally, a multi-functional one Degree Of Freedom （1-DOF） tail was added; the tail prevented the body being easily flipped, while allowed the robot to climb higher obstacles. A bristle-inspired micro structure was attached to the tail to enhance straightness of locomotion. Body size of the robot was 158 mm × 80 mm × 85 mm and weighed 581 g including a 7.4 V Li-Polymer battery. The average velocity of the robot was 2.74 m·s ^-1 （17.67 body lengths per second） and the maximum height of an obstacle that the robot could climb was 106 mm （2.5 times of leg length）, which all were verified by experiments.
基金supported by the National Natural Science Foundation of China (52175100,51975394)the Natural Science Foundation of Jiangsu Province (BK20211336).
文摘The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.
文摘This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.
