Articles | Volume 12, issue 1
https://doi.org/10.5194/ms-12-639-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-639-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
10 Jun 2021
Research article |
| 10 Jun 2021
| 10 Jun 2021
Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector
Qiaoling Meng
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Zongqi Jiao
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Hongliu Yu
CORRESPONDING AUTHOR
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Weisheng Zhang
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
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There are still many meteorite craters and boulders on the surface of Mars and the Moon that cannot be accessed by existing planetary exploration robots. To solve this issue, this paper proposes a four-link rocker-suspension planetary exploration robot that has both the reliability and low complexity of wheeled rovers and competent terrain adaptability and obstacle-crossing performance.
Bowen Yu and Chunli Xie
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In this study, we introduce an innovative diagnostic framework tailored to industrial bearings that facilitates automated feature extraction and enables end-to-end fault detection. Our validation across multiple bearing vibration datasets confirms the framework's superiority in handling complex and non-stationary signals in industrial environments.
Jinhang Wang, Lairong Yin, Ronghua Du, Long Huang, and Juan Huang
Mech. Sci., 15, 31–45, https://doi.org/10.5194/ms-15-31-2024, https://doi.org/10.5194/ms-15-31-2024, 2024
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A rope-climbing robot (RCR) can reciprocate on a rope. To address poor load capacity and adaptability, this study designs a dual-rope crawler type RCR for use as a new type of transportation equipment in hilly, mountainous, and plateau areas. The crawler rope-climbing mechanism is a combination of a chain drive and the rope-climbing foot. With overhead rope parabolic theory to kinematically analyze the RCR system, the robot motion trajectory model and tilt angle equation are established.
Yu Rong, Xingchao Zhang, Tianci Dou, and Hongbo Wang
Mech. Sci., 14, 567–577, https://doi.org/10.5194/ms-14-567-2023, https://doi.org/10.5194/ms-14-567-2023, 2023
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This paper presents a new method to design a new mechanism with fewer moving joints and greater bearing capacity. These machinery-manufacturing, parts-processing, and other fields have a wide range of application prospects.
Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang
Mech. Sci., 14, 413–427, https://doi.org/10.5194/ms-14-413-2023, https://doi.org/10.5194/ms-14-413-2023, 2023
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Yu Rong, Tianci Dou, and Xingchao Zhang
Mech. Sci., 14, 399–412, https://doi.org/10.5194/ms-14-399-2023, https://doi.org/10.5194/ms-14-399-2023, 2023
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Xiaomeng Chu, Yali Liu, and Hong Zeng
Mech. Sci., 14, 305–314, https://doi.org/10.5194/ms-14-305-2023, https://doi.org/10.5194/ms-14-305-2023, 2023
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Humanoid robots are stepping into the social environment. However, smooth and safe operation is still a challenge. Faults in robotics, whether mechanical or electrical, are still inevitable. In this work, we present a fault-tolerant scheme for a humanoid robotic arm, to minimize the damage if a joint fails during normal operation or during human–robot interaction or cooperation.
Bo Han, Yuxian Yao, Yuanzhi Zhou, Yundou Xu, Jiantao Yao, and Yongsheng Zhao
Mech. Sci., 14, 193–207, https://doi.org/10.5194/ms-14-193-2023, https://doi.org/10.5194/ms-14-193-2023, 2023
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A double-layer ring truss deployable antenna mechanism is proposed, which is connected by a scissor-like structure. The degrees of freedom, six-dimensional velocity, and acceleration are calculated using spiral theory, and the dynamic model is established. Simulation software is used to verify the simulation, and the prototype is made at a reduced scale. Because the satellite antenna is very important, we decided to study the supporting frame.
Qiaolian Xie, Qiaoling Meng, Wenwei Yu, Rongna Xu, Zhiyu Wu, Xiaoming Wang, and Hongliu Yu
Mech. Sci., 14, 159–170, https://doi.org/10.5194/ms-14-159-2023, https://doi.org/10.5194/ms-14-159-2023, 2023
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This paper presents a novel soft bionic elbow exoskeleton based on shape metal alloy (SMA) actuators (Sobee-SMA). The exoskeleton adopts a bionic design, combining active deformation material SMA and high elastic material rubber band to simulate the contraction and relaxation of the elbow skeletal muscle. According to the static analysis of the human–exoskeleton coupling model and experiments, the exoskeleton provides elbow-assisted motion and ensures the safety of the thermal heating process.
Wei Zhang, Zhen Liu, Wenrui Liu, Jianwei Sun, and He Lu
Mech. Sci., 14, 125–142, https://doi.org/10.5194/ms-14-125-2023, https://doi.org/10.5194/ms-14-125-2023, 2023
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A new method to solve the motion generation problem of a spherical four-bar crank slider rigid-body guidance mechanism is introduced. According to the amplitude and phase of the position output and direction output of the mechanism, the method of establishing the mechanism output characteristic database is given. Then the solution method of size parameters is given. According to the database and solution method, the motion generation is realized.
Yuan Huan, Gongchang Ren, Xiangyu Su, and Weizhi Tian
Mech. Sci., 14, 111–123, https://doi.org/10.5194/ms-14-111-2023, https://doi.org/10.5194/ms-14-111-2023, 2023
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A reconfigurable multi-link mechanism is proposed, and based on the multi-link mechanism and the roller fingertip structure, an end effector is designed to manipulate geometric soft fabrics. The working principle of the reconfigurable multi-link mechanism, the structure and grasping mode of the end effector are introduced in detail, and the kinematics analysis and simulation of the end effector are carried out.
Pan Zhou, Jiantao Yao, Hongyu Zhang, Xuanhao Zhang, Shuaiqi kong, and Kunming Zhu
Mech. Sci., 14, 99–109, https://doi.org/10.5194/ms-14-99-2023, https://doi.org/10.5194/ms-14-99-2023, 2023
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Lightweight and stable continuum robot design is a challenge. We propose a 65 g continuum robot formed using cruciform-arranged elastic sheets. It has low coupling, better bending characteristics in the deformation direction, and a large load capacity in the non-deformation direction, providing a new configuration for lightweight and dexterous continuum robots. Its kinematics model accuracy is experimentally verified. Nucleic acid detection demonstration proves its dexterity and adaptability.
Da Song, Xinlei Xiao, Gang Li, Lixun Zhang, Feng Xue, and Lailu Li
Mech. Sci., 14, 19–32, https://doi.org/10.5194/ms-14-19-2023, https://doi.org/10.5194/ms-14-19-2023, 2023
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The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is mainly used for interactive training between an astronaut and a virtual environment. This haptic interactive robot can accurately simulate the motion and mechanical characteristics of objects in a microgravity environment and can safely interact with astronauts.
Minghui Zhang and Yiming Su
Mech. Sci., 14, 1–13, https://doi.org/10.5194/ms-14-1-2023, https://doi.org/10.5194/ms-14-1-2023, 2023
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A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed for moving on complex terrain. The walking model is established to study the kinematics characteristics and obstacle-surmounting performance of the mechanism. The stability cone method is used to evaluate the rollover stability and anti-interference ability in order to ensure the normal operation of the mechanism.
Guoxing Zhang, Jianliang He, Jinwei Guo, and Xinlu Xia
Mech. Sci., 13, 1019–1029, https://doi.org/10.5194/ms-13-1019-2022, https://doi.org/10.5194/ms-13-1019-2022, 2022
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The closed-form dynamics equation of the 1.8 m aperture parallel antenna is established. The relationship between the mechanism's natural frequency, displacement response, and resonance frequency is obtained. Based on the dynamic model, the closed-loop motion control strategy of the parallel antenna mechanism is established. The tracking error of the pitch and azimuth motion of the parallel antenna in the workspace is within ±0.05°.
Jinnan Lu and Yang Liu
Mech. Sci., 13, 979–990, https://doi.org/10.5194/ms-13-979-2022, https://doi.org/10.5194/ms-13-979-2022, 2022
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Aiming at the potential safety problems caused by the looseness of bucket teeth of the electric shovel, we propose an improved YOLOX algorithm. After introducing the dilated CBAM, the deep separable convolution, and model compression, the mAP is decreased by 0.33 %, the detection speed is increased by 11.9 fps, and the model volume is reduced to 29.46 % of the YOLOX model. It provides a theoretical basis and technical support for the development of intelligent mines and mining intelligence.
Qiang Yin, Junpeng Yu, Shaoyun Song, Yonglin Zhang, Gang Zhao, Zhiqiang Hao, and Ao Hu
Mech. Sci., 13, 961–978, https://doi.org/10.5194/ms-13-961-2022, https://doi.org/10.5194/ms-13-961-2022, 2022
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In order to store grain in large warehouses, a process is required that will prevent the effects of mildew and heat. Real-time monitoring of the grain status is needed. Using the information obtained from the monitoring system, corresponding measures were taken for the heating and mildew points in the grain pile. We proposed a drill which is a granary grain condition detector. It can be equipped with temperature, CO2, and humidity sensors and gather information by entering the grain pile.
Yongping Liu and Dengqiu Ma
Mech. Sci., 13, 909–920, https://doi.org/10.5194/ms-13-909-2022, https://doi.org/10.5194/ms-13-909-2022, 2022
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Firstly, the tooth surface modification method based on the parabolic forming blade and cutter inclination was proposed. Next, the modified tooth surface equation was deduced and the 3D reconstruction of the modified tooth surface is realized. Then, the influence of modification parameters on tooth surface curvature characteristics was analysed. Finally, the tooth contact analysis model was established to discuss the influence of modification parameters on the elliptical contact area.
Yongming Liu, Lei Fu, Zhuanzhe Zhao, Qiang Ma, Yujian Rui, and Zhen Zhang
Mech. Sci., 13, 855–866, https://doi.org/10.5194/ms-13-855-2022, https://doi.org/10.5194/ms-13-855-2022, 2022
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The coaxiality–geometric hysteresis model of the RV reducer transmission system is established, and the model is simulated and analyzed with Adams software. The results show that coaxiality is one of the main error factors affecting hysteresis. This research can provide a theoretical basis and reference materials for the measurement and design of RV reducer hysteresis, as well as the design of the RV reducer performance high-precision detection device and its adjustment mechanism.
Gang Chen, Zhenyu Wang, Jiajun Tu, and Donghai Wang
Mech. Sci., 13, 831–842, https://doi.org/10.5194/ms-13-831-2022, https://doi.org/10.5194/ms-13-831-2022, 2022
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In the research and development process of underwater motion control of the beaver-like robot, the hind leg and tail are the main actuators. In order to estimate the driving force of the robot autonomously during underwater movement, we propose this model, which can quickly and easily infer the force of the hind leg on the body. The correctness of this model is verified by experiments and simulations.
Chia-Wei Juang, Chi-Shiun Jhuang, and Dar-Zen Chen
Mech. Sci., 13, 817–830, https://doi.org/10.5194/ms-13-817-2022, https://doi.org/10.5194/ms-13-817-2022, 2022
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This paper proposes a spring efficiency assessment and the efficient use of springs methods for a static spring-balanced manipulator. Gravity is balanced by springs; however, it also contains counter-effects between springs. Conceptually, with fewer counter-effects between springs, there is less burden on the spring system, which means that the springs are used more efficiently. Through adjustment of the springs' attachment and parameters, a method to use springs efficiently is developed.
Yi Zheng, Minghua Liu, Baoshun Li, Guoqing Ma, and Maohua Xiao
Mech. Sci., 13, 725–733, https://doi.org/10.5194/ms-13-725-2022, https://doi.org/10.5194/ms-13-725-2022, 2022
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In order to improve the structural performance of the out-of-pipe pipe-climbing robot, the out-of-pipe pipe-climbing robot is optimized. The structure and size of the robot was optimized. Static and modal analyses were then performed on key robot components and ANSYS was used for topology optimization. It was found the weight of the optimized frame and clamping arm were respectively reduced by 24 % and 20 %, and the maximum stress was respectively reduced by 46 % and 20 %.
Ruoyu Tan, Jieji Zheng, Bin Yu, Baoyu Li, Dapeng Fan, and Xin Xie
Mech. Sci., 13, 687–699, https://doi.org/10.5194/ms-13-687-2022, https://doi.org/10.5194/ms-13-687-2022, 2022
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A novel hollow-ring permanent magnet brake integrated in robot joints is proposed, which allows the brake to require much less axial space and provides more than 1.5 times braking torque for the same volume as the conventional electromagnetic-spring friction brake. A coupled dynamics model of the proposed brake is developed from machine-electric-magnetic aspects. The 3D model of the brake is simulated through finite-element software. The theoretical models are verified through experiments.
Yingxian Wang, Rongjiang Cui, and Jinxi Chen
Mech. Sci., 13, 585–591, https://doi.org/10.5194/ms-13-585-2022, https://doi.org/10.5194/ms-13-585-2022, 2022
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This paper use the topological characteristic constants for isomorphism identification, such as the power value sequence (PVS), least distance matrix sequence (LDMS), and loop number (LN). The fourth PVS, the LDMS, and the LN are compared and arranged in descending order, forming a strong complementary chain. Our results show that solving the problem of the isomorphism identification of the kinematic chain (KC) based on graph theory definition has no advantage in efficiency.
Zhanxin Xie and Zheng Yan
Mech. Sci., 13, 559–575, https://doi.org/10.5194/ms-13-559-2022, https://doi.org/10.5194/ms-13-559-2022, 2022
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Robotic ultrasonic scanning needs to apply an appropriate force for a long time during the acquisition process. Excessive contact force may lead to deformation and even hurt the patient, while insufficient force would lead to poor image quality. We proposed a varying rate hybrid position–impedance control strategy, which can partly play the role of an ultrasound sonographer and serve as a medical assistant to reduce their workload.
Dake Tian, Haiming Gao, Lu Jin, Rongqiang Liu, Yu Zhang, Chuang Shi, and Jiewei Xu
Mech. Sci., 13, 519–533, https://doi.org/10.5194/ms-13-519-2022, https://doi.org/10.5194/ms-13-519-2022, 2022
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Space deployable antenna is a new type of space structure, and one of the key payloads of spacecraft, which is widely used in mobile communication, navigation and remote sensing, deep space exploration, military reconnaissance, and other fields of science and technology and national defense. Aiming at the urgent need for the development of space deployable antenna with large aperture and a high storage rate, a new configuration of a multifold rib modular deployable antenna mechanism is proposed.
Xuesong Dai, Yongde Zhang, Jingang Jiang, Bing Li, and Sihao Zuo
Mech. Sci., 13, 399–409, https://doi.org/10.5194/ms-13-399-2022, https://doi.org/10.5194/ms-13-399-2022, 2022
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Transrectal prostate brachytherapy (BT) can effectively treat prostate cancer. During the operation, doctors need to hold the ultrasound probe for repeated adjustments, which makes it difficult to ensure the efficiency, accuracy, and safety of the operation. We designed an 11 DOF (degrees of freedom) active and passive transrectal BT robot based on the analysis of the transrectal prostate BT process.
Maria Paterna, Stefania Magnetti Gisolo, Carlo De Benedictis, Giovanni Gerardo Muscolo, and Carlo Ferraresi
Mech. Sci., 13, 387–398, https://doi.org/10.5194/ms-13-387-2022, https://doi.org/10.5194/ms-13-387-2022, 2022
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We present a novel exoskeleton based on deformable pneumatic actuators, known as McKibben muscles or artificial muscles. The aim of this system is to support a worker during overhead tasks, in which they need to lift the arms and hold that position for a long time. Simulations have been performed, starting from a mathematical model of the exoskeleton and of the artificial muscle. A first architecture of the complete device is also presented.
Weiwei Hong, Jinxi Chen, Bingliang Ye, and Rongjiang Cui
Mech. Sci., 13, 353–359, https://doi.org/10.5194/ms-13-353-2022, https://doi.org/10.5194/ms-13-353-2022, 2022
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To obtain all mechanical schemes, scholars in this field have proposed an innovative design method using kinematic chain configuration synthesis. However, the existing innovative design method easily produces redundant design schemes. We analyze the similar component discrimination method for mechanisms from the perspective of graph theory and apply it to the specialization of topological graphs to solve the problem of redundant design schemes.
Ying Lin, Qian Chen, Haijun Zhang, Ye Ma, Wenlian Zeng, Guojun Wei, Hongxiang Wang, and Maohua Xiao
Mech. Sci., 13, 225–237, https://doi.org/10.5194/ms-13-225-2022, https://doi.org/10.5194/ms-13-225-2022, 2022
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A positioning system for ultra-wideband (UWB) electric micro-tillers suitable for complex greenhouse environments was designed as the basis for realising unmanned micro-tillers to address the problem of frequent safety accidents of existing micro-tillers. The positioning system of the greenhouse electric micro-tiller designed in this paper demonstrates a stable performance and positioning accuracy to meet the needs of greenhouse rotary tillage operations.
Xinyan Qin, Bo Jia, Jin Lei, Jie Zhang, Huidong Li, Bo Li, and Zhaojun Li
Mech. Sci., 13, 257–273, https://doi.org/10.5194/ms-13-257-2022, https://doi.org/10.5194/ms-13-257-2022, 2022
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Power line inspection not only wastes human and material resources, but also has a high-risk factor for manual inspection of power lines. Therefore, based on previous researchers, we designed a novel power line inspection robot. We also investigate walking stability of the robot on the line when encountering working conditions with crossing wind, since the power line is about 50–60 m from the ground and the inspection robots are greatly affected by wind.
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Short summary
This paper proposes a novel, 4 degrees of freedom, end-effector-based upper limb rehabilitation robot with space training. The robot can assist the human upper limb in performing rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Different from the desktop-type end-effector-based robot, the proposed robot can provide a wide range of shoulder flexion/extension training and cover the range of movement of the human upper limb.
This paper proposes a novel, 4 degrees of freedom, end-effector-based upper limb rehabilitation...
