Hongbin Deng

Study on climbing locomotion mechanism of snake robot with universal unit

Snake robot with universal unit is presented and studied in this paper. The universal unit greatly improves snake robots dexterity in space, complexities in actions and varieties in kinetic pattern. The balance principle of the snake robot during climbing is analyzed. To imitate a biological snake to climb, inchworm locomotion gait along the direction of isometric spiral curve is adopted. Motion parameters functions of the snake robot are derived.

Turning strategy of snake-like robot based on serpenoid curve under cloud assisted smart conditions

This paper presents a turning strategy of snake-like robot based on Serpenoid curve. By using four criteria to judge turning control approaches on the basis of serpenoid curve, three commonly used turning control approaches (i.e., central value modulation method, phase modulation method and amplitude modulation method) are first analyzed. Then the tangent control approach and the combination control approach are used to solve turning challenges such as deficiency in maintaining the serpenoid curve, limited turning angle, discontinuous joint angle, large turning radius and large amplitude of joint angle variation during and after turning. These approaches were tested and verified by using a snake-like robot prototype. It is found that the proposed approaches work well for the turning locomotion of the snake-like robot. The present turning strategy provides an important alternative for locomotion control of the snake-like robot.

Study on construction of 3-loop expandable mechanism and simulation

To facilitate the application of foldable scissor-like element in engineering domain, this article focuses on the design of 3-loop expandable mechanism. The property of angulated element is revealed first to contribute to the modeling of theoretical model with 3-loop, and the concept of four expandable angulated elements sharing one square adaptor is then introduced to build the mechanical system. In order to verify the mechanical model, the kinetic simulation is conducted to make a comparison between theoretical and mechanical model. After validation, system identification method is used to obtain the transfer function of the expandable system based on the measured data. Finally, the primary experiment proves the feasibility of the expandable mechanism.

Parametric analysis for the reliable operations of electromechanical actuators

Eliable analysis of electromechanical systems is a worldwide challenging uestion, since there are much complex coupling relations among various system parameters. In this paper, we propose an analytical framework for reliable operations of electromechanical systems. Firstly we build a mathematical model for the motor-actuator system using basic conservative relations of physical laws. And then we conduct the analysis for two main parametric relations between motor voltage, rotational speed of actuator and reduction ratio of gear cluster. Finally, based on the results in the simulation, several conclusions are drawn for the guidance of motor selection and system optimization.

Design and dynamic modelling of a coaxial-rotor system

Coaxial-rotor configuration with the compact structure and vertical take-off ability make itself a good configuration to execute highly difficult task. In this paper, the structural design of coaxial-rotor system is introduced, and we discuss the control principle behind coaxial configuration. Then, the dynamic modeling is presented based on the combination of considering two rotors as dynamics model and the fuselage as the rigid body. Finally, the simulation is conducted to demonstrate the effectiveness of the modeling.