A portable six-wheeled mobile robot with reconfigurable body and self-adaptable obstacle-climbing mechanisms

Mobile robots can replace rescuers in rescue and detection missions in complex and unstructured environments and draw the interest of many researchers. This paper presents a novel six-wheeled mobile robot with a reconfigurable body and self-adaptable obstacle-climbing mechanisms, which can reconfigure itself to three locomotion states to realize the advantages of terrain adaptability, obstacle crossing ability and portability. Design criteria and mechanical design of the proposed mobile robot are firstly presented, based on which the geometry of the robot is modelled and the geometric constraint, static conditions and motion stability condition for obstacle crossing of the robot are derived and formulated. Numerical simulations are then conducted to verify the geometric passing capability, static passing capability and motion stability and find feasible structure parameters of the robot in obstacle crossing. Further, a physical prototype of the proposed mobile robot is developed and integrated with mechatronic systems and remote control. Using the prototype, field experiments are carried out to verify the feasibility of the proposed design and theoretical derivations. The results show that the proposed mobile robot satisfies all the criteria set and is feasible for applications in disastrous rescuing scenarios.

The method of predicting the maintenance time of mechanical products based on Virtual Prototype

Aim: To predict the mechanical product maintenance time is difficult in the situation of lack of physical prototype or similar products’ statistics in stage of design Method: According to the theory of time accumulative estimation method, a product maintenance time prediction method framework based on virtual prototype was constructed, which described the prediction process. The virtual maintenance environment which contains virtual prototype, virtual human and maintenance tools was developed. The virtual human’s position and posture information during the maintenance process was obtained by implementing VBScript language. Result: Basic maintenance motions that constitute the whole maintenance process were classified into 4 categories: body movement, upper limb movement, grasp/replace and operation. Based on MODAPTS (Modular arrangement of predetermined time standard) method and virtual maintenance simulation, corresponding time prediction methods for each categories were proposed. Discussion: Take a maintenance dissassembly and assembly task of engine as an example, through the comparison between the measured actual maintenance time and predicted time of several methods, feasibility and effectiveness of proposed method are verified

WORKSPACE ANALYSIS OF A FLAME INTRA-ROW WEEDING ROBOT IN VEGETABLE FIELD AND NUMERICAL SIMULATION OF PROPANE COMBUSTION

In order to improve the seed filling performance of mechanical hole type seed metering device with high speed, a vertical disc metering device was designed with seed agitator to improve the seed filling probability. Discrete element simulation method and physical prototype bench tests were used to simulate and analyse the seed metering process. The structure parameters of the seed agitators were optimized by the quadratic orthogonal rotation central composite design test. The results showed that: 1) the addition of seed agitator had a significant influence on the MIS (miss index), among which the concave type had the lowest MIS, and it was the highest without agitator; 2) for concave type agitator, the optimal value of depth and angle were 3.1 mm and 60.5°, respectively; 3) the physical prototype tests showed that the QFI (quality of feed index) was more than 95% under the speed of 2-10 km/h, and the MIS was less than 1%, which meets the requirements of precision sowing.

KISS (Keep It Sustainable and Smart): A Research and Development Program for a Zero-Emission Small Crafts

This paper reviews a state-of-the-art zero emission propulsion system for a battery-powered small craft. The main aspects considered are the available propulsion systems, energy storage, and dock battery charging. This underlying activity is part of the KISS project, a research and development program in the frame of the EU-funded “Piano Operativo Regionale CALABRIA FESR-FSE 2014–2020 ASSE I–PROMOZIONEDELLA RICERCA E DELL’INNOVAZIONE”, which is aimed at designing and building a physical prototype. Its hull form is based on previous research conducted by the authors, and the powering performances were preliminarily predicted by CFD simulation. The KISS project represents a successful example of an electric small craft with performances and a mission profile comparable to competitors with conventional propulsion. Such a target has been achieved by a concurrent design that considers the hull form, engine, propulsion system, and energy storage onboard. Safety issues and the regulatory frame are also highlighted.

Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation

This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this paper presents theoretical aspects regarding the kinematics and dynamics of the markers attached to the flexible bodies built in a specifically developed MSC.ADAMS model. Three simulation hypotheses are considered: (a) rigid kinematic elements without friction in couplings, (b) rigid kinematic elements with friction in couplings, and (c) kinematic elements as deformable solids with friction in couplings. Experimental results obtained by using the physical prototype of ASPIRE are presented. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ASPIRE robot modules have been obtained by dynamic simulation in MSC.ADAMS and compared with those determined experimentally. The comparison shows that the allure of the variation curve of the moment obtained by simulation is similar to that obtained experimentally. The difference between the maximum experimental value and that obtained by simulation is less than 1%. A finite element analysis (FEA) of the structurally optimized flexion/extension robot module is performed. The results demonstrate the operational safety of the ASPIRE robot, which is structurally capable of supporting the stresses to which it is subjected.

Structural Design, Simulation and Experiment of Quadruped Robot

This paper carried out a series of designs, simulations and implementations by using the physical-like mechanism of a bionic quadruped robot dog as a vehicle. Through an investigation of the walking mechanisms of quadrupeds, a bionic structure is proposed that is capable of omnidirectional movements and smooth motions. Furthermore, the kinematic and inverse kinematic solutions based on the DH method are explored to lay the foundation for the gait algorithm. Afterward, a classical compound pendulum equation is applied as the foot-end trajectory and inverse kinematic solutions are combined to complete the gait planning. With appropriate foot–ground contact modeling, MATLAB and ADAMS are used to simulate the dynamic behavior and the diagonal trot gait of the quadruped robot. Finally, the physical prototype is constructed, designed and debugged, and its performance is measured through real-world experiments. Results show that the quadruped robot is able to balance itself during trot motion, for both its pitch and roll attitude. The goal of this work is to provide an affordable yet comprehensive platform for novice researchers in the field to study the dynamics, contact modeling, gait planning and attitude control of quadruped robots.

Simulation and optimization of steady-state heat transfer property measurement platform

This paper studies the measurement technology of heat transfer coefficient of building envelope, explores the main factors affecting the measurement of heat transfer coefficient, uses ANSYS Icepak software to simulate the steady-state heat transfer property measurement platform model, and establishes the virtual prototype of the product. The product design based on Icepak replaces the test on the physical prototype with the simulation on the virtual prototype, We should reduce or even cancel the manufacturing of physical prototype, shorten the R & D process, and cut R & D costs with the improvement of design quality. Through the comparison and analysis with the experimental data of the offline detection platform, the feasibility of using Icepak to simulate the equipment is proved. The software is used to simulate the ther-mal environment in the hot box. Through comparison and analysis, the most uniform upper wi-nd steady-state thermal environment scheme is found.

Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior

In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in some applications. We propose a tensegrity-inspired robotic manipulator that can replicate the kinematic behavior of the human leg. The design of the hip and knee resembles the musculoskeletal connections within the human body. Our implementation represents muscles, tendons and ligament connections as cables, and bones as rods. This particular design manipulates muscles to replicate a human-like gait, which demonstrates its potential for use as an anatomically correct assistive device (prosthetic, exoskeleton, etc.). Using the [EJ]OpenSim 3.0 simulation environment, we estimated the kinematics and structural integrity of the proposed flexural joint design and determined the actuation strategies for our prototype. Kinematics for the prototype include the mechanical limitations and constraints derived from the simulations. We compared the simulation, physical prototype, and human leg behaviors for various ranges of motion and demonstrated the potential for using [EJ]OpenSim 3.0 as a flexible–rigid modeling and simulation environment.

Transmission Design of Bevel Gear with Arbitrary Crossed Axes and Its Application in the Knotter

The bevel gear transmission with crossed axes is widely used, but there are the difficulty of tooth profile calculation and modeling in the design and manufacturing process. This paper analyzes firstly the parameter solving equation of the bevel gear pair with arbitrary crossed axes. Based on the meshing principle of the bevel gear pair and numerical analysis method, the meshing equations of the bevel gear pair with crossed axes are derived, which provide the calculation models for the design of spatial bevel gear tooth surface. Taking the bevel gear pair with crossed axes in two kinds of the knotter as two design examples, the geometric parameters of the bevel gear pair in the knotter are solved, and the mathematical models of the tooth surface are programmed and calculated by using MATLAB. Through the graphic display of the tooth surface point set under MATLAB software and the 3D modeling function of Pro/Engineering software, the accurate 3D models of the bevel gear tooth surface are established. The meshing transmission simulations of the established bevel gear pair are respectively carried out by using ADAMS, and their physical prototype and transmission tests are also implemented. The test results showed that the transmission of the designed bevel gear pair is accurate and stable, which proves the correctness of the derived calculation model of the tooth surface of the bevel gear with crossed axes.