Articles | Volume 12, issue 1
https://doi.org/10.5194/ms-12-661-2021
© 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-12-661-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
15 Jun 2021
Research article |
| 15 Jun 2021
| 15 Jun 2021
An innovative equivalent kinematic model of the human upper limb to improve the trajectory planning of exoskeleton rehabilitation robots
Qiaolian Xie
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, 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
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, 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
Qingxin Zeng
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, 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
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, 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
Zhijia Shen
Institute of Rehabilitation Engineering and Technology, School of Medical Instrument and Food Engineering, 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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Resource coordination and allocation strategies are proposed to reduce the probability of failure by aiming at the problem that the robot cannot continue to work after joint failure. Taking the planar 4R redundant robot as an example, the algorithm control is compared. Based on reasonable modeling and physical verification, the results show that the method of optimal resource coordination and allocation is effective.
Xiaomeng Chu, Yali Liu, and Hong Zeng
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Said Ghani Khan
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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.
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Short summary
This paper proposes a new 13 degrees of freedom equivalent kinematic model for the human upper limb and fully considers the movement characteristics of human upper limbs in anatomy. The proposed model can be utilized to analyze the human upper limb workspace and joint motions. Furthermore, the model can effectively evaluate the existing upper limb exoskeleton and provide suggestions for structural improvements in line with human motion.
This paper proposes a new 13 degrees of freedom equivalent kinematic model for the human upper...
