摘要：The sensing capabilities of a soft arm are ofparamount importance to its overall performance as they allow precise control of the soft arm and enhance its interactionwith the surrounding environment. However, the actuationand sensing of a soft arm are not typically integrated into amonolithic structure, which would impede the arm’s movement and restrict its performance and application scope. Toaddress this limitation, this study proposes an innovativemethod for the integrated design of actuator structures andsensing. The proposed method combines the art of kirigamiwith soft robotics technology. In the proposed method, sensorsare embedded in the form of kirigami structures into actuatorsusing laser cutting technology, achieving seamless integrationwith a soft arm. Compared to the traditional amanogawakirigami and fractal-cut kirigami structures, the proposedmiddle-cut kirigami (MCK) structure does not buckle duringstretching and exhibits superior tensile performance. Based onthe MCK structure, an advanced interdigitated capacitivesensor with a high degree of linearity, which can significantlyoutperform traditional kirigami sensors, is developed. Theexperimental results validate the effectiveness of the proposedsoft arm design in actual logistics sorting tasks, demonstratingthat it is capable of accurately sorting objects based on sensorsignals. In addition, the results indicate that the developedcontinuum soft arm and its embedded kirigami sensors havegreat potential in the field of logistics automation *** work provides a promising solution for high-precisionclosed-loop feedback control and environmental interaction ofsoft arms.

摘要：Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

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：Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

摘要：Bacteria with helical flagella show an ideal mechanism to swim at low Reynolds number. For application of artificial mi- croswimmers, it is desirable to identify effects of structural and geometrical parameters on the swimming performance. In this study, a double-end helical swimmer is proposed based on the usual single-end helical one to improve the forward-backward motion symmetry, The propulsion model of the artificial helical microswimmer is described. Influences of each helix parameter on the swimming velocity and propulsion efficiency are further analyzed. The optimal design for achieving a maximum propulsion velocity of submillimeter scale swimmers is performed based on some constraints. An experimental setup consisting of three-pair of Helmholtz coils is built for the helical microswimmers. Experiments of microswimmers with several groups of parameters were performed, and the results show the validity of the analysis and design.

摘要：The mimic of aesthetics, fianction, and rehabilitation application makes the prosthetic hand design an interdisciplinary, synthetic work. Prosthetic hands should be designed in a comprehensive consideration with a synthetic framework from multiple areas. In this case, a synthetic framework containing 12 anthropomorphism indexes is established and utilized to understand the human hand characteristic and quantifiably evaluate the anthropomorphism of a prosthetic hand. Our quantified evaluation results show that a Global Anthropomorphic Score （GAS） of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the Degrees Of Freedom （DOF） are found to be the lowest three anthropomorphism evaluation indexes in all 12 indexes. In addition, a design priority is proposed based on the quantified evaluation results and contributes to a prosthetic hand design. Moreover, our correlation analysis results between each index and GAS show that, compared with the conventional evaluation index-grasp gesture, the rotation axis distribution index has a stronger distinguishing capability to the hand performance. Finally, a flowchart of prosthetic hand design was presented for a designer to design a prosthetic hand with a high anthropomorphism.

摘要：This study presents a piezoelectric rotary actuator which is equipped with a bionic driving mechanism imitating the cen- tipede foot. The configuration and the operational principle are introduced in detail. The movement model is established to analyze the motion of the actuator. We establish a set of experimental system and corresponding experiments are conducted to evaluate the characteristics of the prototype. The results indicate that the prototype can be operated stably step by step and all steps have high reproducibility. The driving resolutions in forward and backward motions are 2.31 grad and 1.83 μrad, respectively. The prototype can also output a relatively accurate circular motion and the maximum output torques in forward and backward directions are 76.4 Nmm and 70.6 Nmm, respectively. Under driving frequency of 1 Hz, the maximum angular velocities in forward and backward directions are 1029.3 grad·s^-1 and 1165 μrad·s^-1 when the driving voltage is 120 V. Under driving voltage of 60 V, the angular velocities in forward and backward motions can be up to 235100 grad·s^-1 and 153650 μrad·s^-1 when the driving frequency is 1024 Hz. We can obtain the satisfactory angular velocity by choosing a proper driving voltage and frequency for the actuator.

摘要：This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or ***,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed ***,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front *** cutter refitted by an angle grinder is able to cut through 10 mm diameter steel *** electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 *** results validate the capability of the two rescue robots.

摘要：The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

摘要：A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was *** the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism *** on the idea of design for control(DFC),a novel kind of multi-objective optimization model was *** were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition *** indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the *** cross-section area and length of the linkages were chosen as the design ***-II algorithm was introduced to solve this complex multi-objective optimization *** criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution ***,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was *** results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO *** control performances of the linear and nonlinear controllers were also *** can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.