摘要：Most insects and hummingbirds can generate lift during both upstroke and downstroke with a nearly horizontal flapping stroke plane,and perform precise hovering ***,most birds can utilize tails and muscles in wings to actively control the flight performance,while insects control their flight with muscles based on wing root along with wing’s passive *** on the above flight principles of birds and insects,Flapping Wing Micro Air Vehicles(FWMAVs)are classified as either bird-inspired or insect-inspired *** this review,the research achievements on mechanisms of insect-inspired,hoverable FWMAVs over the last ten years(2011-2020)are *** also provide the definition,function,research status and development prospect of hoverable *** discuss it from three aspects:bio-inspiration,motor-driving mechanisms and intelligent actuator-driving *** this,research groups involved in insect-inspired,hoverable FWMAV research and their major achievements are summarized and classified in ***,trends and challenges about the mechanism are compiled and ***,this paper presents conclusions about research on mechanical structure,and the future is discussed to enable further research interests.

摘要：Urgent requirements of medical devices Precision medicine has gradually become a development strategy in many countries and attracted worldwide attention in recent years due to the increasing concerns in public *** the definition of precision medicine has less or more difference from the viewpoints of different fields,the demands on the properties of medical devices or medical materials involving biocompatibility and anti-thrombosis are gradually growingmuch more diverse and much more urgent than ever[1].This trend brings up many new research topics about materials,mechanical systems and sensors to develop advanced medical *** to design and on-demand fabricate the bio-materials,bio-interface and bio-systems to meet the urgent demands of medical devices is still a challenge for us.

摘要：Reconfigurable mechanisms can deliberately reconfigure themselves by rearranging the connectivity of components to meet the different requirements of *** and origami-derived mechanisms are two kinds of typical reconfigurable mechanisms,which have attracted increasing attention in the field of mechanisms since they were *** the in dependent design level,innovation,and international competitive powers of reconfigurable mechanical products is *** related significant innovation research and application achievements periodically will shed light on research directions and promote academic *** paper presents an overview of recent developments in innovation design of reconfigurable mechanisms in China,including metamorphic and origami mechanisms and their typical *** future development trends are analyzed and forecasted.

摘要：随着人工智能技术的发展,无人机的应用场景趋向多元,人们对无人机的需求也不仅仅满足于简单的飞行任务,而是赋予其飞行机器人的角色,对其自主导航、复杂环境下的定位以及智能协同方面提出了更高的要求。针对室内场景下的定位需求,融合视觉与惯性数据实现了多旋翼飞行机器人的室内定位。在视觉前端加入图像增强算法以提高图像灰度对比度,减少了光流跟踪的误匹配点数。提出了一种基于图像信息的特征点提取和图像帧发布策略提高了定位精度,解决了室内环境下的定位漂移问题。针对飞行机器人室内自主跟踪及降落任务,设计了基于视觉定位的飞行机器人自主降落系统。在Gazebo中搭建飞行机器人模型仿真验证自主降落系统有效性,在EuRoC数据集下对定位算法进行对比评估,搭建飞行机器人平台在真实场景下进行室内定位实验,完成了室内场景下平台自主跟踪及降落任务,并采用运动捕捉系统获取的定位真值数据进行了误差分析,结果表明该定位技术满足室内场景下的自主跟踪及降落任务需求。

摘要：A root hinge drive assembly is preferred in place of the classical viscous damper in a large solar array *** has advantages including better deployment control and higher *** the traditional single degree of freedom model should be improved.A multiple degrees of freedom dynamics model is presented for the solar arrays deployment to guide the drive assembly *** established model includes the functions of the torsion springs,the synchronization mechanism and the lock-up impact.A numerical computation method is proposed to solve the dynamics coupling *** considering the drive torque requirement calculated by the proposed model,a root hinge drive assembly is developed based on the reliability engineering design methods,and dual actuators are used as a redundancy ***-efficiency is introduced and the major factors influencing the（pseudo-）efficiency of the gear mechanism designed with high reduction ratio are studied for further test data analysis.A ground prototype deployment test is conducted to verify the capacity of the drive *** test device consists of a large-area solar array system and a root hinge drive *** RHDA development time is about 43 *** theoretical drive torque is compared with the test values which are obtained according to the current data and the reduction efficiency analysis,and the results show that the presented model and the calibration methods are proper enough.

摘要：The optimization of metamorphic mechanisms is different from that of the conventional mechanisms for its characteristics of multi-configuration. There exist complex coupled design variables and constraints in its multiple different configuration optimization models. To achieve the compatible optimized results of these coupled design variables, an optimization method for metamorphic mechanisms is developed in the paper based on the principle of multidisciplinary design optimization（MDO）. Firstly, the optimization characteristics of the metamorphic mechanism are summarized distinctly by proposing the classification of design variables and constraints as well as coupling interactions among its different configuration optimization models. Further, collaborative optimization technique which is used in MDO is adopted for achieving the overall optimization performance. The whole optimization process is then proposed by constructing a two-level hierarchical scheme with global optimizer and configuration optimizer loops. The method is demonstrated by optimizing a planar five-bar metamorphic mechanism which has two configurations,and results show that it can achieve coordinated optimization results for the same parameters in different configuration optimization models.

摘要：This article introduces the working principles of a spacecraft hatch including its operating process and moving trajectory. On this basis, an operating mechanism is designed to execute automatic open and close action of the hatch and measure the operating torques. Analysis on the mechanism＇s configuration and topological structure of each phase of movement proves that it is a typical variable freedom mechanism. The mechanism manipulates the hatch in accordance with the moving trajectory requirements through configuration transformation. Kinematic analysis and simulation of some typical configurations show that the velocity differences among mechanism components themselves and the components and their abutting components could exert influences on its working stability during configuration transformation. To solve the problem, stability conditions of configuration transformation are proposed. Appropriate control models are established for the output velocity curves of the driving servo motor and solved based on the stability conditions and rules of movement. Results from another simulation demonstrate that the proposed control models ensure smooth configuration transform and stable operation.

摘要：提出了一种既可实现飞行功能又可实现壁面运动的多旋翼多功能空中机器人。设计了机器人的结构,分析了其工作原理,研究了机器人腿式壁面行走模式下腿/足与壁面接触时的机体动力学。结合多旋翼推进的机理对机器人在壁面运动模式下的步态进行了规划,基于非线性轨迹线性化控制(TLC)法设计了空中机器人在步态过程中的姿态稳定控制器。在MATLAB环境下对机器人的腿式壁面运动进行了仿真分析研究,仿真结果表明了所设计的步态及其稳定控制方法的可行性。

摘要：Chinese Chang＇e lunar exploration project aims to collect and return subsurface lunar soil samples at a minimum penetration depth of 2 m in 2017. However, in contrast to those on the Earth, automated drilling and sampling missions on the Moon raise the risk of burning bits. Test-beds are required for testing the thermal properties of drill tools in a lunar environment. In this paper, a novel temperature measuring method based on thermocouples and a slip ring was proposed. Furthermore, a data acquisition system for a drilling process was designed. A vacuous, cryogenic, and anhydrous soil environment simulating the lunar surface was established. A drilling test-bed that can reach a depth of 2.2 m was developed. A control strategy based on online monitoring signals was proposed to improve the drilling performance. Vacuum and non-vacuum experiments were performed to test the temperature rising effect on drill tools. When compared with the non-vacuum experiment, the vacuum temperature rise resulted in a 12 ℃ increase. These experimental results provide significant support for Chinese lunar exploration missions.

摘要：基于7杆闭环机构提出一种新型四棱锥单元,其可作为一种基本可展机构单元,组合成大型可展机构。利用机构学方法研究,分析了单元机构的自由度、运动学和奇异性,给出了单元组合方法并基于四棱锥单元机构设计了一平板式可展开收拢机构,最后计算了机构的伸缩比。分析结果表明,这种单元机构组合方便简单,组合后的机构自由度为1,便于机构的展开收拢控制。当机构完全展开时,由于其奇异特性,机构有较好的力学性能。利用这种单元可以设计出新型大型可展开收拢机构,在航空航天领域有很好的应用前景。